2025-08-22T16:32:40.867Z,1755880360.867 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T16:32:41.180Z,1755880361.180 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T16:32:41.180Z,1755880361.180 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T16:32:41.181Z,1755880361.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:32:41.238Z,1755880361.238 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:32:41.239Z,1755880361.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:32:41.490Z,1755880361.490 [DAT](INFO): DAT read: user:127>

2025-08-22T16:32:41.491Z,1755880361.491 [DAT](INFO): DAT read: Tx time:16:32:42.4988

2025-08-22T16:32:41.492Z,1755880361.492 [DAT](INFO): Ping request sent.
2025-08-22T16:32:41.492Z,1755880361.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:32:41.492Z,1755880361.492 [DAT](INFO): publishing transmit ping time
2025-08-22T16:32:41.492Z,1755880361.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-08-22T16:32:41.744Z,1755880361.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252541
2025-08-22T16:32:41.994Z,1755880361.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502811
2025-08-22T16:32:42.246Z,1755880362.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754822
2025-08-22T16:32:42.499Z,1755880362.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007037
2025-08-22T16:32:42.751Z,1755880362.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259661
2025-08-22T16:32:43.003Z,1755880363.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510866
2025-08-22T16:32:43.255Z,1755880363.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763235
2025-08-22T16:32:43.507Z,1755880363.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880
2025-08-22T16:32:43.759Z,1755880363.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266891
2025-08-22T16:32:44.011Z,1755880364.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029
2025-08-22T16:32:44.262Z,1755880364.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770816
2025-08-22T16:32:44.515Z,1755880364.515 [DAT](INFO): DAT read: Rx Time:16:32:45.0327

2025-08-22T16:32:44.516Z,1755880364.516 [DAT](INFO): Rx dataTimestamp_ set to:1755880364.515544
2025-08-22T16:32:44.517Z,1755880364.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024909
2025-08-22T16:32:44.766Z,1755880364.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274761
2025-08-22T16:32:45.019Z,1755880365.019 [DAT](INFO): DAT read: Range 11 to 50 : 97.2 m  (Round-trip  129.7 ms) speed  0.1 m/s

2025-08-22T16:32:45.020Z,1755880365.020 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:32:50.534Z,1755880370.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:33:00.531Z,1755880380.531 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 680.30, 789.70, 724.42
2025-08-22T16:33:03.298Z,1755880383.298 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:33:11.490Z,1755880391.490 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:33:14.038Z,1755880394.038 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:33:23.558Z,1755880403.558 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:33:28.476Z,1755880408.476 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 709.40, 871.69, 631.49
2025-08-22T16:33:32.902Z,1755880412.902 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm (2 active estimators).
2025-08-22T16:33:40.233Z,1755880420.233 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  +119   -31,  +119,  +505,   -31,A
2025-08-22T16:33:41.395Z,1755880421.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:33:41.518Z,1755880421.518 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:33:41.519Z,1755880421.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:33:41.774Z,1755880421.774 [DAT](INFO): DAT read: user:128>

2025-08-22T16:33:41.775Z,1755880421.775 [DAT](INFO): DAT read: Tx time:16:33:42.7987

2025-08-22T16:33:41.775Z,1755880421.775 [DAT](INFO): Ping request sent.
2025-08-22T16:33:41.775Z,1755880421.775 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:33:41.776Z,1755880421.776 [DAT](INFO): publishing transmit ping time
2025-08-22T16:33:41.776Z,1755880421.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:33:42.026Z,1755880422.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250983
2025-08-22T16:33:42.279Z,1755880422.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503124
2025-08-22T16:33:42.530Z,1755880422.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955
2025-08-22T16:33:42.783Z,1755880422.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007241
2025-08-22T16:33:43.035Z,1755880423.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259305
2025-08-22T16:33:43.286Z,1755880423.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951
2025-08-22T16:33:43.538Z,1755880423.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762985
2025-08-22T16:33:43.793Z,1755880423.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017180
2025-08-22T16:33:44.046Z,1755880424.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270956
2025-08-22T16:33:44.299Z,1755880424.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523630
2025-08-22T16:33:44.551Z,1755880424.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775047
2025-08-22T16:33:44.802Z,1755880424.802 [DAT](INFO): DAT read: Rx Time:16:33:45.3456

2025-08-22T16:33:44.803Z,1755880424.803 [DAT](INFO): Rx dataTimestamp_ set to:1755880424.802682
2025-08-22T16:33:44.803Z,1755880424.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028014
2025-08-22T16:33:45.055Z,1755880425.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279254
2025-08-22T16:33:45.312Z,1755880425.312 [DAT](INFO): DAT read: 16:33:45.3456 LVL= 32688, 24817, 29618, 31667, AGC= 73, IDX=  66,-0.36, 1.631,-2.936,-3.110, 2.777, PHS=-1.045, 0.614, 0.352, RAW= 278.5,   1.0, CAL= 277.1,  -4.5, ROT= 232.9,   4.5

2025-08-22T16:33:45.313Z,1755880425.313 [DAT](INFO): got valid direction response:
 16:33:45.3456 LVL= 32688, 24817, 29618, 31667, AGC= 73, IDX=  66,-0.36, 1.631,-2.936,-3.110, 2.777, PHS=-1.045, 0.614, 0.352, RAW= 278.5,   1.0, CAL= 277.1,  -4.5, ROT= 232.9,   4.5

2025-08-22T16:33:45.314Z,1755880425.314 [DAT](INFO): DAT read: Bearing 276.8, -85.2 (Local)

2025-08-22T16:33:45.314Z,1755880425.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.8, -85.2 (Local)

2025-08-22T16:33:45.315Z,1755880425.315 [DAT](INFO): DAT read: Range 11 to 50 : 107.0 m  (Round-trip  142.7 ms) speed -0.4 m/s

2025-08-22T16:33:45.316Z,1755880425.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:33:45.317Z,1755880425.317 [DAT](INFO): direction in FSK: [-0.601349,-0.795125,-0.078459]
2025-08-22T16:33:45.317Z,1755880425.317 [DAT](INFO): publishing direction and range info
2025-08-22T16:33:51.887Z,1755880431.887 [CTD_Seabird](ERROR): Failed to parse device response: 70,4523.38
2025-08-22T16:33:53.745Z,1755880433.745 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-08-22T16:33:53.746Z,1755880433.746 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-08-22T16:33:53.746Z,1755880433.746 [ThrusterHE] Communications Fault, FailCount= 1
2025-08-22T16:33:53.746Z,1755880433.746 [ThrusterHE](ERROR): Communications Fault
2025-08-22T16:33:53.750Z,1755880433.750 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-08-22T16:33:54.120Z,1755880434.120 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-08-22T16:33:54.120Z,1755880434.120 [ThrusterHE](INFO): Powering down
2025-08-22T16:33:54.791Z,1755880434.791 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-08-22T16:33:54.915Z,1755880434.915 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-08-22T16:33:54.920Z,1755880434.920 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-08-22T16:33:54.920Z,1755880434.920 [ThrusterHE] No Fault, FailCount= 1
2025-08-22T16:33:55.470Z,1755880435.470 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:34:00.458Z,1755880440.458 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-08-22T16:34:22.578Z,1755880462.578 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.023094
2025-08-22T16:34:22.617Z,1755880462.617 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:34:22.617Z,1755880462.617 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:34:22.618Z,1755880462.618 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:34:22.618Z,1755880462.618 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:34:22.626Z,1755880462.626 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:34:22.626Z,1755880462.626 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:34:22.627Z,1755880462.627 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T16:34:23.026Z,1755880463.026 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T16:34:23.026Z,1755880463.026 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T16:34:23.026Z,1755880463.026 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:34:23.026Z,1755880463.026 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:34:23.026Z,1755880463.026 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:34:23.422Z,1755880463.422 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:34:23.422Z,1755880463.422 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:34:23.422Z,1755880463.422 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:34:23.423Z,1755880463.423 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:34:23.423Z,1755880463.423 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:34:23.582Z,1755880463.582 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:34:33.227Z,1755880473.227 [Radio_Surface](INFO): Powering down
2025-08-22T16:34:41.601Z,1755880481.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:34:41.802Z,1755880481.802 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:34:41.802Z,1755880481.802 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:34:42.055Z,1755880482.055 [DAT](INFO): DAT read: user:129>

2025-08-22T16:34:42.055Z,1755880482.055 [DAT](INFO): DAT read: Tx time:16:34:43.0486

2025-08-22T16:34:42.056Z,1755880482.056 [DAT](INFO): Ping request sent.
2025-08-22T16:34:42.056Z,1755880482.056 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:34:42.056Z,1755880482.056 [DAT](INFO): publishing transmit ping time
2025-08-22T16:34:42.057Z,1755880482.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:34:42.307Z,1755880482.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250743
2025-08-22T16:34:42.558Z,1755880482.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502680
2025-08-22T16:34:42.811Z,1755880482.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754773
2025-08-22T16:34:43.063Z,1755880483.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006759
2025-08-22T16:34:43.315Z,1755880483.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259050
2025-08-22T16:34:43.567Z,1755880483.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510725
2025-08-22T16:34:43.819Z,1755880483.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762745
2025-08-22T16:34:44.071Z,1755880484.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014893
2025-08-22T16:34:44.323Z,1755880484.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266921
2025-08-22T16:34:44.575Z,1755880484.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518728
2025-08-22T16:34:44.827Z,1755880484.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770760
2025-08-22T16:34:45.079Z,1755880485.079 [DAT](INFO): DAT read: Rx Time:16:34:45.6006

2025-08-22T16:34:45.079Z,1755880485.079 [DAT](INFO): Rx dataTimestamp_ set to:1755880485.079027
2025-08-22T16:34:45.080Z,1755880485.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024073
2025-08-22T16:34:45.331Z,1755880485.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275197
2025-08-22T16:34:45.588Z,1755880485.588 [DAT](INFO): DAT read: 16:34:45.6006 LVL= 32752, 23441, 25698, 32755, AGC= 70, IDX= 470, 0.38,-1.833,-0.795, 0.140, 0.149, PHS=-1.881,-0.900,-0.053, RAW= 242.4,  32.3, CAL= 246.1,  41.7, ROT= 263.9, -41.7

2025-08-22T16:34:45.589Z,1755880485.589 [DAT](INFO): got valid direction response:
 16:34:45.6006 LVL= 32752, 23441, 25698, 32755, AGC= 70, IDX= 470, 0.38,-1.833,-0.795, 0.140, 0.149, PHS=-1.881,-0.900,-0.053, RAW= 242.4,  32.3, CAL= 246.1,  41.7, ROT= 263.9, -41.7

2025-08-22T16:34:45.590Z,1755880485.590 [DAT](INFO): DAT read: Bearing 333.1, -37.7 (Local)

2025-08-22T16:34:45.590Z,1755880485.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1, -37.7 (Local)

2025-08-22T16:34:45.591Z,1755880485.591 [DAT](INFO): DAT read: Range 11 to 50 : 110.9 m  (Round-trip  147.9 ms) speed -0.3 m/s

2025-08-22T16:34:45.592Z,1755880485.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:34:45.593Z,1755880485.593 [DAT](INFO): direction in FSK: [-0.079341,-0.742411,0.665230]
2025-08-22T16:34:45.593Z,1755880485.593 [DAT](INFO): publishing direction and range info
2025-08-22T16:34:53.706Z,1755880493.706 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:34:54.126Z,1755880494.126 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:34:54.711Z,1755880494.711 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-22T16:34:54.711Z,1755880494.711 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:35:24.830Z,1755880524.830 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:35:25.834Z,1755880525.834 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:35:41.915Z,1755880541.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:35:42.159Z,1755880542.159 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:35:42.159Z,1755880542.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:35:42.413Z,1755880542.413 [DAT](INFO): DAT read: user:130>

2025-08-22T16:35:42.415Z,1755880542.415 [DAT](INFO): DAT read: Tx time:16:35:43.4485

2025-08-22T16:35:42.416Z,1755880542.416 [DAT](INFO): Ping request sent.
2025-08-22T16:35:42.416Z,1755880542.416 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:35:42.417Z,1755880542.417 [DAT](INFO): publishing transmit ping time
2025-08-22T16:35:42.420Z,1755880542.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002959
2025-08-22T16:35:42.662Z,1755880542.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246173
2025-08-22T16:35:42.917Z,1755880542.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500550
2025-08-22T16:35:43.171Z,1755880543.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904
2025-08-22T16:35:43.425Z,1755880543.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008464
2025-08-22T16:35:43.675Z,1755880543.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258334
2025-08-22T16:35:43.927Z,1755880543.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510295
2025-08-22T16:35:44.179Z,1755880544.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763168
2025-08-22T16:35:44.434Z,1755880544.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016981
2025-08-22T16:35:44.682Z,1755880544.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266053
2025-08-22T16:35:44.940Z,1755880544.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523336
2025-08-22T16:35:45.187Z,1755880545.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771085
2025-08-22T16:35:45.442Z,1755880545.442 [DAT](INFO): DAT read: Rx Time:16:35:46.0470

2025-08-22T16:35:45.443Z,1755880545.443 [DAT](INFO): Rx dataTimestamp_ set to:1755880545.442364
2025-08-22T16:35:45.445Z,1755880545.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028341
2025-08-22T16:35:45.691Z,1755880545.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274286
2025-08-22T16:35:45.961Z,1755880545.961 [DAT](INFO): DAT read: 16:35:46.0470 LVL= 32752, 27697, 32754, 32755, AGC= 70, IDX= 404,-0.41,-2.060, 0.090,-1.481,-0.440, PHS=-1.518, 0.576,-1.085, RAW= 318.7,  20.5, CAL= 318.1,  25.4, ROT= 191.9, -25.4

2025-08-22T16:35:45.962Z,1755880545.962 [DAT](INFO): got valid direction response:
 16:35:46.0470 LVL= 32752, 27697, 32754, 32755, AGC= 70, IDX= 404,-0.41,-2.060, 0.090,-1.481,-0.440, PHS=-1.518, 0.576,-1.085, RAW= 318.7,  20.5, CAL= 318.1,  25.4, ROT= 191.9, -25.4

2025-08-22T16:35:45.963Z,1755880545.963 [DAT](INFO): DAT read: Bearing  91.5, -29.4 (Local)

2025-08-22T16:35:45.963Z,1755880545.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5, -29.4 (Local)

2025-08-22T16:35:45.964Z,1755880545.964 [DAT](INFO): DAT read: Range 11 to 50 : 145.8 m  (Round-trip  194.4 ms) speed -0.4 m/s

2025-08-22T16:35:45.965Z,1755880545.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:35:45.966Z,1755880545.966 [DAT](INFO): direction in FSK: [-0.883922,-0.186271,0.428935]
2025-08-22T16:35:45.967Z,1755880545.967 [DAT](INFO): publishing direction and range info
2025-08-22T16:35:54.039Z,1755880554.039 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive] Stopped
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:35:54.040Z,1755880554.040 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-22T16:35:54.041Z,1755880554.041 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-22T16:35:54.041Z,1755880554.041 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-22T16:35:54.041Z,1755880554.041 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-22T16:35:54.041Z,1755880554.041 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-22T16:35:54.454Z,1755880554.454 [lineCaptureHoming:RepeatHack] Stopped
2025-08-22T16:35:54.454Z,1755880554.454 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-22T16:35:54.454Z,1755880554.454 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-22T16:35:54.454Z,1755880554.454 [lineCaptureHoming:Lap] Running Loop=1
2025-08-22T16:35:54.455Z,1755880554.455 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-22T16:35:54.455Z,1755880554.455 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-22T16:35:54.879Z,1755880554.879 [lineCaptureHoming:Lap:A] Stopped
2025-08-22T16:35:54.879Z,1755880554.879 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-22T16:35:54.879Z,1755880554.879 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-22T16:35:55.245Z,1755880555.245 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-22T16:35:55.245Z,1755880555.245 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T16:35:55.246Z,1755880555.246 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T16:35:55.247Z,1755880555.247 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-22T16:35:55.248Z,1755880555.248 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T16:35:55.248Z,1755880555.248 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T16:35:55.248Z,1755880555.248 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T16:35:55.248Z,1755880555.248 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T16:35:55.248Z,1755880555.248 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T16:35:55.249Z,1755880555.249 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T16:35:55.249Z,1755880555.249 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T16:35:55.249Z,1755880555.249 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T16:35:55.249Z,1755880555.249 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:35:55.250Z,1755880555.250 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:35:55.250Z,1755880555.250 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:35:55.251Z,1755880555.251 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-22T16:35:55.251Z,1755880555.251 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-22T16:35:55.681Z,1755880555.681 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T16:35:55.681Z,1755880555.681 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:35:55.681Z,1755880555.681 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T16:35:55.683Z,1755880555.683 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 145.800003 m (mode  0.000000 count ).
2025-08-22T16:35:55.683Z,1755880555.683 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T16:35:55.683Z,1755880555.683 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T16:35:55.686Z,1755880555.686 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-22T16:35:55.686Z,1755880555.686 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-22T16:35:55.954Z,1755880555.954 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:35:56.053Z,1755880556.053 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T16:35:56.053Z,1755880556.053 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T16:35:56.054Z,1755880556.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:35:56.056Z,1755880556.056 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-22T16:35:56.056Z,1755880556.056 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-22T16:35:56.298Z,1755880556.298 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:35:56.299Z,1755880556.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:35:56.463Z,1755880556.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T16:35:56.463Z,1755880556.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T16:35:56.465Z,1755880556.465 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-22T16:35:56.465Z,1755880556.465 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-22T16:35:56.554Z,1755880556.554 [DAT](INFO): DAT read: user:131>

2025-08-22T16:35:56.555Z,1755880556.555 [DAT](INFO): DAT read: Tx time:16:35:57.5484

2025-08-22T16:35:56.556Z,1755880556.556 [DAT](INFO): Ping request sent.
2025-08-22T16:35:56.557Z,1755880556.557 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:35:56.557Z,1755880556.557 [DAT](INFO): publishing transmit ping time
2025-08-22T16:35:56.559Z,1755880556.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002735
2025-08-22T16:35:56.803Z,1755880556.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246394
2025-08-22T16:35:56.897Z,1755880556.897 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T16:35:56.897Z,1755880556.897 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:35:56.897Z,1755880556.897 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T16:35:56.897Z,1755880556.897 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:35:56.899Z,1755880556.899 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-22T16:35:56.899Z,1755880556.899 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T16:35:56.900Z,1755880556.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:35:56.901Z,1755880556.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:35:56.901Z,1755880556.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:35:56.901Z,1755880556.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T16:35:56.901Z,1755880556.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:35:56.901Z,1755880556.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:35:56.921Z,1755880556.921 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T16:35:56.922Z,1755880556.922 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:35:56.922Z,1755880556.922 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T16:35:56.922Z,1755880556.922 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T16:35:56.922Z,1755880556.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:35:56.922Z,1755880556.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:35:56.923Z,1755880556.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T16:35:56.924Z,1755880556.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T16:35:56.924Z,1755880556.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:35:56.924Z,1755880556.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:35:56.924Z,1755880556.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T16:35:56.958Z,1755880556.958 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:35:57.054Z,1755880557.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498371
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T16:35:57.285Z,1755880557.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:35:57.286Z,1755880557.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T16:35:57.287Z,1755880557.287 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T16:35:57.287Z,1755880557.287 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T16:35:57.287Z,1755880557.287 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:35:57.288Z,1755880557.288 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.634727 m.
2025-08-22T16:35:57.307Z,1755880557.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750485
2025-08-22T16:35:57.559Z,1755880557.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003129
2025-08-22T16:35:57.811Z,1755880557.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254536
2025-08-22T16:35:58.064Z,1755880558.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507567
2025-08-22T16:35:58.118Z,1755880558.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:35:58.183Z,1755880558.183 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:35:58.184Z,1755880558.184 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:35:58.314Z,1755880558.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758327
2025-08-22T16:35:58.571Z,1755880558.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014442
2025-08-22T16:35:58.823Z,1755880558.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266461
2025-08-22T16:35:59.075Z,1755880559.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518686
2025-08-22T16:35:59.327Z,1755880559.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770449
2025-08-22T16:35:59.580Z,1755880559.580 [DAT](INFO): DAT read: Rx Time:16:36:00.2149

2025-08-22T16:35:59.580Z,1755880559.580 [DAT](INFO): Rx dataTimestamp_ set to:1755880559.579704
2025-08-22T16:35:59.581Z,1755880559.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024979
2025-08-22T16:35:59.831Z,1755880559.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274532
2025-08-22T16:36:00.086Z,1755880560.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528858
2025-08-22T16:36:00.141Z,1755880560.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:00.340Z,1755880560.340 [DAT](INFO): DAT read: 16:36:00.2149 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 107, 0.00,-2.311,-0.968,-2.013,-2.358, PHS= 0.149, 1.435, 0.302, RAW= 323.8, -28.7, CAL= 323.3, -32.5, ROT= 186.7,  32.5

2025-08-22T16:36:00.341Z,1755880560.341 [DAT](INFO): got valid direction response:
 16:36:00.2149 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 107, 0.00,-2.311,-0.968,-2.013,-2.358, PHS= 0.149, 1.435, 0.302, RAW= 323.8, -28.7, CAL= 323.3, -32.5, ROT= 186.7,  32.5

2025-08-22T16:36:00.342Z,1755880560.342 [DAT](INFO): DAT read: Bearing 163.4, -15.0 (Local)

2025-08-22T16:36:00.342Z,1755880560.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.4, -15.0 (Local)

2025-08-22T16:36:00.344Z,1755880560.344 [DAT](INFO): DAT read: Range 11 to 50 : 196.8 m  (Round-trip  262.4 ms) speed -0.6 m/s

2025-08-22T16:36:00.344Z,1755880560.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:00.345Z,1755880560.345 [DAT](INFO): direction in FSK: [-0.837632,-0.098399,-0.537300]
2025-08-22T16:36:00.345Z,1755880560.345 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:00.349Z,1755880560.349 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:00.349Z,1755880560.349 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:00.349Z,1755880560.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:00.586Z,1755880560.586 [DAT](INFO): DAT read: user:132>

2025-08-22T16:36:00.587Z,1755880560.587 [DAT](INFO): DAT read: Tx time:16:36:01.5984

2025-08-22T16:36:00.587Z,1755880560.587 [DAT](INFO): Ping request sent.
2025-08-22T16:36:00.588Z,1755880560.588 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:00.588Z,1755880560.588 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:00.589Z,1755880560.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001315
2025-08-22T16:36:00.839Z,1755880560.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251259
2025-08-22T16:36:01.091Z,1755880561.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900
2025-08-22T16:36:01.345Z,1755880561.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757115
2025-08-22T16:36:01.594Z,1755880561.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006849
2025-08-22T16:36:01.839Z,1755880561.839 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T16:36:01.847Z,1755880561.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259016
2025-08-22T16:36:02.099Z,1755880562.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933
2025-08-22T16:36:02.351Z,1755880562.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762858
2025-08-22T16:36:02.531Z,1755880562.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:02.603Z,1755880562.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009
2025-08-22T16:36:02.854Z,1755880562.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266818
2025-08-22T16:36:03.107Z,1755880563.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519064
2025-08-22T16:36:03.361Z,1755880563.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773311
2025-08-22T16:36:03.611Z,1755880563.611 [DAT](INFO): DAT read: Rx Time:16:36:04.2691

2025-08-22T16:36:03.611Z,1755880563.611 [DAT](INFO): Rx dataTimestamp_ set to:1755880563.610698
2025-08-22T16:36:03.612Z,1755880563.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023886
2025-08-22T16:36:03.863Z,1755880563.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275066
2025-08-22T16:36:04.115Z,1755880564.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526877
2025-08-22T16:36:04.372Z,1755880564.372 [DAT](INFO): DAT read: 16:36:04.2691 LVL= 30896, 31921, 29682, 27443, AGC= 69, IDX= 472,-0.24,-0.350, 1.096,-0.168,-0.551, PHS= 0.303, 1.691, 0.339, RAW= 328.7, -31.0, CAL= 328.3, -34.6, ROT= 181.7,  34.6

2025-08-22T16:36:04.373Z,1755880564.373 [DAT](INFO): got valid direction response:
 16:36:04.2691 LVL= 30896, 31921, 29682, 27443, AGC= 69, IDX= 472,-0.24,-0.350, 1.096,-0.168,-0.551, PHS= 0.303, 1.691, 0.339, RAW= 328.7, -31.0, CAL= 328.3, -34.6, ROT= 181.7,  34.6

2025-08-22T16:36:04.374Z,1755880564.374 [DAT](INFO): DAT read: Bearing 167.4,  -7.2 (Local)

2025-08-22T16:36:04.374Z,1755880564.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.4,  -7.2 (Local)

2025-08-22T16:36:04.375Z,1755880564.375 [DAT](INFO): DAT read: Range 11 to 50 : 199.9 m  (Round-trip  266.6 ms) speed -0.6 m/s

2025-08-22T16:36:04.376Z,1755880564.376 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:04.377Z,1755880564.377 [DAT](INFO): direction in FSK: [-0.822774,-0.024419,-0.567844]
2025-08-22T16:36:04.377Z,1755880564.377 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:04.381Z,1755880564.381 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:04.381Z,1755880564.381 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:04.381Z,1755880564.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:04.620Z,1755880564.620 [DAT](INFO): DAT read: user:133>

2025-08-22T16:36:04.621Z,1755880564.621 [DAT](INFO): DAT read: Tx time:16:36:05.6484

2025-08-22T16:36:04.621Z,1755880564.621 [DAT](INFO): Ping request sent.
2025-08-22T16:36:04.621Z,1755880564.621 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:04.622Z,1755880564.622 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:04.622Z,1755880564.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844
2025-08-22T16:36:04.871Z,1755880564.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249129
2025-08-22T16:36:04.995Z,1755880564.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:05.123Z,1755880565.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501107
2025-08-22T16:36:05.375Z,1755880565.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753217
2025-08-22T16:36:05.627Z,1755880565.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005117
2025-08-22T16:36:05.879Z,1755880565.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257128
2025-08-22T16:36:06.131Z,1755880566.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509355
2025-08-22T16:36:06.383Z,1755880566.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761244
2025-08-22T16:36:06.635Z,1755880566.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013390
2025-08-22T16:36:06.887Z,1755880566.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265082
2025-08-22T16:36:06.999Z,1755880566.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:07.139Z,1755880567.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517104
2025-08-22T16:36:07.391Z,1755880567.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769184
2025-08-22T16:36:07.643Z,1755880567.643 [DAT](INFO): DAT read: Rx Time:16:36:08.3217

2025-08-22T16:36:07.644Z,1755880567.644 [DAT](INFO): Rx dataTimestamp_ set to:1755880567.643513
2025-08-22T16:36:07.644Z,1755880567.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942
2025-08-22T16:36:07.830Z,1755880567.830 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T16:36:07.895Z,1755880567.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273158
2025-08-22T16:36:08.149Z,1755880568.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527200
2025-08-22T16:36:08.408Z,1755880568.408 [DAT](INFO): DAT read: 16:36:08.3217 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 450,-0.36, 0.023, 1.373, 0.265,-0.152, PHS= 0.278, 1.570, 0.373, RAW= 326.2, -32.2, CAL= 325.6, -35.9, ROT= 184.4,  35.9

2025-08-22T16:36:08.409Z,1755880568.409 [DAT](INFO): got valid direction response:
 16:36:08.3217 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 450,-0.36, 0.023, 1.373, 0.265,-0.152, PHS= 0.278, 1.570, 0.373, RAW= 326.2, -32.2, CAL= 325.6, -35.9, ROT= 184.4,  35.9

2025-08-22T16:36:08.410Z,1755880568.410 [DAT](INFO): DAT read: Bearing 170.7,  -6.9 (Local)

2025-08-22T16:36:08.410Z,1755880568.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.7,  -6.9 (Local)

2025-08-22T16:36:08.412Z,1755880568.412 [DAT](INFO): DAT read: Range 11 to 50 : 201.9 m  (Round-trip  269.3 ms) speed -0.4 m/s

2025-08-22T16:36:08.412Z,1755880568.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:08.413Z,1755880568.413 [DAT](INFO): direction in FSK: [-0.807654,-0.062146,-0.586372]
2025-08-22T16:36:08.413Z,1755880568.413 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:08.417Z,1755880568.417 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:08.417Z,1755880568.417 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:08.417Z,1755880568.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:08.656Z,1755880568.656 [DAT](INFO): DAT read: user:134>

2025-08-22T16:36:08.657Z,1755880568.657 [DAT](INFO): DAT read: Tx time:16:36:09.6983

2025-08-22T16:36:08.657Z,1755880568.657 [DAT](INFO): Ping request sent.
2025-08-22T16:36:08.657Z,1755880568.657 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:08.658Z,1755880568.658 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:08.658Z,1755880568.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000856
2025-08-22T16:36:08.906Z,1755880568.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249191
2025-08-22T16:36:09.034Z,1755880569.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:09.159Z,1755880569.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502184
2025-08-22T16:36:09.411Z,1755880569.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753280
2025-08-22T16:36:09.662Z,1755880569.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005189
2025-08-22T16:36:09.915Z,1755880569.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257232
2025-08-22T16:36:10.168Z,1755880570.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125
2025-08-22T16:36:10.418Z,1755880570.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761198
2025-08-22T16:36:10.671Z,1755880570.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013504
2025-08-22T16:36:10.923Z,1755880570.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265305
2025-08-22T16:36:11.175Z,1755880571.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517628
2025-08-22T16:36:11.412Z,1755880571.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:11.428Z,1755880571.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771096
2025-08-22T16:36:11.679Z,1755880571.679 [DAT](INFO): DAT read: Rx Time:16:36:12.3237

2025-08-22T16:36:11.679Z,1755880571.679 [DAT](INFO): Rx dataTimestamp_ set to:1755880571.678738
2025-08-22T16:36:11.680Z,1755880571.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022309
2025-08-22T16:36:11.931Z,1755880571.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273227
2025-08-22T16:36:12.185Z,1755880572.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527439
2025-08-22T16:36:12.440Z,1755880572.440 [DAT](INFO): DAT read: 16:36:12.3237 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 438, 0.06, 0.279, 2.024,-0.077, 0.882, PHS=-0.501, 1.187,-1.002, RAW= 342.6,   3.2, CAL= 342.2,   0.5, ROT= 167.8,  -0.5

2025-08-22T16:36:12.441Z,1755880572.441 [DAT](INFO): got valid direction response:
 16:36:12.3237 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 438, 0.06, 0.279, 2.024,-0.077, 0.882, PHS=-0.501, 1.187,-1.002, RAW= 342.6,   3.2, CAL= 342.2,   0.5, ROT= 167.8,  -0.5

2025-08-22T16:36:12.442Z,1755880572.442 [DAT](INFO): DAT read: Bearing 137.9,  16.0 (Local)

2025-08-22T16:36:12.442Z,1755880572.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.9,  16.0 (Local)

2025-08-22T16:36:12.444Z,1755880572.444 [DAT](INFO): DAT read: Range 11 to 50 : 165.9 m  (Round-trip  221.2 ms) speed -0.7 m/s

2025-08-22T16:36:12.444Z,1755880572.444 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:12.454Z,1755880572.454 [DAT](INFO): direction in FSK: [-0.977379,0.211317,0.008727]
2025-08-22T16:36:12.454Z,1755880572.454 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:12.457Z,1755880572.457 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:12.457Z,1755880572.457 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:12.461Z,1755880572.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:12.688Z,1755880572.688 [DAT](INFO): DAT read: user:135>

2025-08-22T16:36:12.689Z,1755880572.689 [DAT](INFO): DAT read: Tx time:16:36:13.7483

2025-08-22T16:36:12.689Z,1755880572.689 [DAT](INFO): Ping request sent.
2025-08-22T16:36:12.689Z,1755880572.689 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:12.689Z,1755880572.689 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:12.690Z,1755880572.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000845
2025-08-22T16:36:12.939Z,1755880572.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249557
2025-08-22T16:36:13.191Z,1755880573.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501733
2025-08-22T16:36:13.436Z,1755880573.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:13.451Z,1755880573.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761686
2025-08-22T16:36:13.702Z,1755880573.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013224
2025-08-22T16:36:13.955Z,1755880573.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265342
2025-08-22T16:36:14.206Z,1755880574.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517272
2025-08-22T16:36:14.458Z,1755880574.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769275
2025-08-22T16:36:14.716Z,1755880574.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026273
2025-08-22T16:36:14.962Z,1755880574.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273265
2025-08-22T16:36:15.218Z,1755880575.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528906
2025-08-22T16:36:15.454Z,1755880575.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:15.471Z,1755880575.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781366
2025-08-22T16:36:15.722Z,1755880575.722 [DAT](INFO): DAT read: Rx Time:16:36:16.3766

2025-08-22T16:36:15.723Z,1755880575.723 [DAT](INFO): Rx dataTimestamp_ set to:1755880575.722673
2025-08-22T16:36:15.723Z,1755880575.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034311
2025-08-22T16:36:15.975Z,1755880575.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285295
2025-08-22T16:36:16.229Z,1755880576.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539106
2025-08-22T16:36:16.484Z,1755880576.484 [DAT](INFO): DAT read: 16:36:16.3766 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 452, 0.29,-1.811,-0.150,-2.136,-1.343, PHS=-0.366, 1.238,-0.837, RAW= 342.5,  -0.4, CAL= 342.0,  -3.3, ROT= 168.0,   3.3

2025-08-22T16:36:16.485Z,1755880576.485 [DAT](INFO): got valid direction response:
 16:36:16.3766 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 452, 0.29,-1.811,-0.150,-2.136,-1.343, PHS=-0.366, 1.238,-0.837, RAW= 342.5,  -0.4, CAL= 342.0,  -3.3, ROT= 168.0,   3.3

2025-08-22T16:36:16.486Z,1755880576.486 [DAT](INFO): DAT read: Bearing 143.3,  17.9 (Local)

2025-08-22T16:36:16.486Z,1755880576.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3,  17.9 (Local)

2025-08-22T16:36:16.487Z,1755880576.487 [DAT](INFO): DAT read: Range 11 to 50 : 168.1 m  (Round-trip  224.2 ms) speed -0.6 m/s

2025-08-22T16:36:16.488Z,1755880576.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:16.489Z,1755880576.489 [DAT](INFO): direction in FSK: [-0.976526,0.207567,-0.057564]
2025-08-22T16:36:16.489Z,1755880576.489 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:16.493Z,1755880576.493 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:16.493Z,1755880576.493 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:16.493Z,1755880576.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:16.731Z,1755880576.731 [DAT](INFO): DAT read: user:136>

2025-08-22T16:36:16.732Z,1755880576.732 [DAT](INFO): DAT read: Tx time:16:36:17.7498

2025-08-22T16:36:16.733Z,1755880576.733 [DAT](INFO): Ping request sent.
2025-08-22T16:36:16.733Z,1755880576.733 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:16.733Z,1755880576.733 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:16.734Z,1755880576.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001332
2025-08-22T16:36:16.983Z,1755880576.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249802
2025-08-22T16:36:17.235Z,1755880577.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501754
2025-08-22T16:36:17.487Z,1755880577.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753851
2025-08-22T16:36:17.490Z,1755880577.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:17.739Z,1755880577.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005787
2025-08-22T16:36:17.991Z,1755880577.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258133
2025-08-22T16:36:18.242Z,1755880578.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509736
2025-08-22T16:36:18.495Z,1755880578.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761798
2025-08-22T16:36:18.747Z,1755880578.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013825
2025-08-22T16:36:18.999Z,1755880578.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266034
2025-08-22T16:36:19.251Z,1755880579.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517771
2025-08-22T16:36:19.502Z,1755880579.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769608
2025-08-22T16:36:19.528Z,1755880579.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:19.754Z,1755880579.754 [DAT](INFO): DAT read: Rx Time:16:36:20.3808

2025-08-22T16:36:19.755Z,1755880579.755 [DAT](INFO): Rx dataTimestamp_ set to:1755880579.754630
2025-08-22T16:36:19.755Z,1755880579.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022714
2025-08-22T16:36:20.007Z,1755880580.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273863
2025-08-22T16:36:20.261Z,1755880580.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527630
2025-08-22T16:36:20.520Z,1755880580.520 [DAT](INFO): DAT read: 16:36:20.3808 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 448, 0.03, 0.515, 2.193, 0.164, 0.973, PHS=-0.356, 1.266,-0.852, RAW= 342.9,  -0.6, CAL= 342.5,  -3.5, ROT= 167.5,   3.5

2025-08-22T16:36:20.522Z,1755880580.522 [DAT](INFO): got valid direction response:
 16:36:20.3808 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 448, 0.03, 0.515, 2.193, 0.164, 0.973, PHS=-0.356, 1.266,-0.852, RAW= 342.9,  -0.6, CAL= 342.5,  -3.5, ROT= 167.5,   3.5

2025-08-22T16:36:20.523Z,1755880580.523 [DAT](INFO): DAT read: Bearing 145.1,  19.6 (Local)

2025-08-22T16:36:20.523Z,1755880580.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1,  19.6 (Local)

2025-08-22T16:36:20.526Z,1755880580.526 [DAT](INFO): DAT read: Range 11 to 50 : 170.1 m  (Round-trip  226.9 ms) speed -0.8 m/s

2025-08-22T16:36:20.526Z,1755880580.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:20.528Z,1755880580.528 [DAT](INFO): direction in FSK: [-0.974475,0.216036,-0.061049]
2025-08-22T16:36:20.528Z,1755880580.528 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:20.535Z,1755880580.535 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:20.535Z,1755880580.535 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:20.536Z,1755880580.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:20.762Z,1755880580.762 [DAT](INFO): DAT read: user:137>

2025-08-22T16:36:20.763Z,1755880580.763 [DAT](INFO): DAT read: Tx time:16:36:21.7998

2025-08-22T16:36:20.763Z,1755880580.763 [DAT](INFO): Ping request sent.
2025-08-22T16:36:20.763Z,1755880580.763 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:20.764Z,1755880580.764 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:20.764Z,1755880580.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T16:36:21.016Z,1755880581.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251816
2025-08-22T16:36:21.267Z,1755880581.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041
2025-08-22T16:36:21.520Z,1755880581.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755730
2025-08-22T16:36:21.529Z,1755880581.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:21.770Z,1755880581.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006923
2025-08-22T16:36:22.022Z,1755880582.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258818
2025-08-22T16:36:22.054Z,1755880582.054 [DockingStepper](ERROR): only read 1 of 4 ADC values. Response is: ÿ/0`162551
2025-08-22T16:36:22.054Z,1755880582.054 [DockingStepper](FAULT): Docking arm not reporting position
2025-08-22T16:36:22.054Z,1755880582.054 [DockingStepper] Communications Fault, FailCount= 1
2025-08-22T16:36:22.054Z,1755880582.054 [DockingStepper](ERROR): Communications Fault
2025-08-22T16:36:22.059Z,1755880582.059 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-22T16:36:22.275Z,1755880582.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975
2025-08-22T16:36:22.387Z,1755880582.387 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:36:22.387Z,1755880582.387 [DockingStepper](INFO): Powering down
2025-08-22T16:36:22.528Z,1755880582.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763772
2025-08-22T16:36:22.779Z,1755880582.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015018
2025-08-22T16:36:23.031Z,1755880583.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267590
2025-08-22T16:36:23.283Z,1755880583.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966
2025-08-22T16:36:23.535Z,1755880583.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771854
2025-08-22T16:36:23.571Z,1755880583.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:23.787Z,1755880583.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023053
2025-08-22T16:36:24.042Z,1755880584.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277504
2025-08-22T16:36:24.291Z,1755880584.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526972
2025-08-22T16:36:24.543Z,1755880584.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778957
2025-08-22T16:36:24.795Z,1755880584.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031545
2025-08-22T16:36:25.051Z,1755880585.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286615
2025-08-22T16:36:25.299Z,1755880585.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535342
2025-08-22T16:36:25.551Z,1755880585.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787044
2025-08-22T16:36:25.803Z,1755880585.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039228
2025-08-22T16:36:25.967Z,1755880585.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:26.058Z,1755880586.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293464
2025-08-22T16:36:26.306Z,1755880586.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542934
2025-08-22T16:36:26.559Z,1755880586.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795225
2025-08-22T16:36:26.823Z,1755880586.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059565
2025-08-22T16:36:27.077Z,1755880587.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313093
2025-08-22T16:36:27.098Z,1755880587.098 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:36:27.326Z,1755880587.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562945
2025-08-22T16:36:27.579Z,1755880587.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815114
2025-08-22T16:36:27.830Z,1755880587.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066928
2025-08-22T16:36:27.988Z,1755880587.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:27.990Z,1755880587.990 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 170.10 m. Transitioning docking module to standby.
2025-08-22T16:36:28.086Z,1755880588.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322321
2025-08-22T16:36:28.103Z,1755880588.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:36:28.335Z,1755880588.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571004
2025-08-22T16:36:28.588Z,1755880588.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824243
2025-08-22T16:36:28.840Z,1755880588.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075785
2025-08-22T16:36:29.094Z,1755880589.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329302
2025-08-22T16:36:29.342Z,1755880589.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578922
2025-08-22T16:36:29.595Z,1755880589.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831455
2025-08-22T16:36:29.847Z,1755880589.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082995
2025-08-22T16:36:30.031Z,1755880590.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:30.101Z,1755880590.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336805
2025-08-22T16:36:30.351Z,1755880590.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586948
2025-08-22T16:36:30.603Z,1755880590.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839004
2025-08-22T16:36:30.854Z,1755880590.854 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:30.855Z,1755880590.855 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:30.855Z,1755880590.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:31.109Z,1755880591.109 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:31.110Z,1755880591.110 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:31.111Z,1755880591.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:31.358Z,1755880591.358 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:31.358Z,1755880591.358 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:31.359Z,1755880591.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:31.610Z,1755880591.610 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:31.610Z,1755880591.610 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:31.611Z,1755880591.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:31.862Z,1755880591.862 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:31.862Z,1755880591.862 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:31.863Z,1755880591.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:32.116Z,1755880592.116 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:32.117Z,1755880592.117 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:32.121Z,1755880592.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:32.366Z,1755880592.366 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:32.366Z,1755880592.366 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:32.367Z,1755880592.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:32.455Z,1755880592.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:32.618Z,1755880592.618 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:32.619Z,1755880592.619 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:32.619Z,1755880592.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:32.871Z,1755880592.871 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:32.871Z,1755880592.871 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:32.871Z,1755880592.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:33.125Z,1755880593.125 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:36:33.126Z,1755880593.126 [DAT](INFO): response not received
2025-08-22T16:36:33.128Z,1755880593.128 [DAT](INFO): DAT read: user:138>

2025-08-22T16:36:33.130Z,1755880593.130 [DAT](INFO): DAT read: Tx time:16:36:34.2484

2025-08-22T16:36:33.131Z,1755880593.131 [DAT](INFO): Ping request sent.
2025-08-22T16:36:33.132Z,1755880593.132 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:33.132Z,1755880593.132 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:33.135Z,1755880593.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002799
2025-08-22T16:36:33.374Z,1755880593.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243040
2025-08-22T16:36:33.627Z,1755880593.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495277
2025-08-22T16:36:33.878Z,1755880593.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746951
2025-08-22T16:36:34.131Z,1755880594.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999199
2025-08-22T16:36:34.383Z,1755880594.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251233
2025-08-22T16:36:34.470Z,1755880594.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:34.635Z,1755880594.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503940
2025-08-22T16:36:34.887Z,1755880594.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755996
2025-08-22T16:36:35.139Z,1755880595.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007156
2025-08-22T16:36:35.394Z,1755880595.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262382
2025-08-22T16:36:35.642Z,1755880595.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511058
2025-08-22T16:36:35.895Z,1755880595.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763134
2025-08-22T16:36:36.146Z,1755880596.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015028
2025-08-22T16:36:36.399Z,1755880596.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267095
2025-08-22T16:36:36.492Z,1755880596.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:36.651Z,1755880596.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519155
2025-08-22T16:36:36.904Z,1755880596.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772984
2025-08-22T16:36:37.159Z,1755880597.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026583
2025-08-22T16:36:37.406Z,1755880597.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275051
2025-08-22T16:36:37.658Z,1755880597.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526954
2025-08-22T16:36:37.910Z,1755880597.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779090
2025-08-22T16:36:38.163Z,1755880598.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031698
2025-08-22T16:36:38.414Z,1755880598.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283078
2025-08-22T16:36:38.522Z,1755880598.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:38.667Z,1755880598.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535366
2025-08-22T16:36:38.923Z,1755880598.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791709
2025-08-22T16:36:39.175Z,1755880599.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043436
2025-08-22T16:36:39.427Z,1755880599.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295115
2025-08-22T16:36:39.679Z,1755880599.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547209
2025-08-22T16:36:39.931Z,1755880599.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799126
2025-08-22T16:36:40.184Z,1755880600.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051938
2025-08-22T16:36:40.435Z,1755880600.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303131
2025-08-22T16:36:40.549Z,1755880600.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:40.687Z,1755880600.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555131
2025-08-22T16:36:40.939Z,1755880600.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807429
2025-08-22T16:36:41.191Z,1755880601.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059752
2025-08-22T16:36:41.443Z,1755880601.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311161
2025-08-22T16:36:41.694Z,1755880601.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563069
2025-08-22T16:36:41.947Z,1755880601.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815182
2025-08-22T16:36:42.202Z,1755880602.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070349
2025-08-22T16:36:42.451Z,1755880602.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319109
2025-08-22T16:36:42.558Z,1755880602.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:42.703Z,1755880602.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571132
2025-08-22T16:36:42.965Z,1755880602.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833387
2025-08-22T16:36:42.981Z,1755880602.981 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:36:42.981Z,1755880602.981 [DockingStepper] No Fault, FailCount= 1
2025-08-22T16:36:43.214Z,1755880603.214 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:43.215Z,1755880603.215 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:43.215Z,1755880603.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:43.427Z,1755880603.427 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:36:43.427Z,1755880603.427 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:36:43.467Z,1755880603.467 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:43.467Z,1755880603.467 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:43.468Z,1755880603.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:43.718Z,1755880603.718 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:43.718Z,1755880603.718 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:43.719Z,1755880603.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:43.970Z,1755880603.970 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:43.971Z,1755880603.971 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:43.971Z,1755880603.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:44.222Z,1755880604.222 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:44.222Z,1755880604.222 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:44.223Z,1755880604.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:44.475Z,1755880604.475 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:44.475Z,1755880604.475 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:44.476Z,1755880604.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:44.568Z,1755880604.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:44.726Z,1755880604.726 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:44.727Z,1755880604.727 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:44.727Z,1755880604.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:44.978Z,1755880604.978 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:44.979Z,1755880604.979 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:44.979Z,1755880604.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:45.230Z,1755880605.230 [DAT](INFO): Reached modem response timeout
2025-08-22T16:36:45.230Z,1755880605.230 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:45.231Z,1755880605.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:45.396Z,1755880605.396 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +391,   -49,A
2025-08-22T16:36:45.484Z,1755880605.484 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:36:45.484Z,1755880605.484 [DAT](INFO): response not received
2025-08-22T16:36:45.484Z,1755880605.484 [DAT](INFO): DAT read: user:139>

2025-08-22T16:36:45.485Z,1755880605.485 [DAT](ERROR): No response from remote modem.
2025-08-22T16:36:45.486Z,1755880605.486 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:36:45.486Z,1755880605.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:45.735Z,1755880605.735 [DAT](INFO): DAT read: Tx time:16:36:46.7000

2025-08-22T16:36:45.735Z,1755880605.735 [DAT](INFO): Ping request sent.
2025-08-22T16:36:45.735Z,1755880605.735 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:45.735Z,1755880605.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:45.736Z,1755880605.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-22T16:36:45.987Z,1755880605.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251644
2025-08-22T16:36:46.239Z,1755880606.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504321
2025-08-22T16:36:46.491Z,1755880606.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755506
2025-08-22T16:36:46.612Z,1755880606.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:46.742Z,1755880606.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007366
2025-08-22T16:36:46.995Z,1755880606.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259725
2025-08-22T16:36:47.059Z,1755880607.059 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:36:47.247Z,1755880607.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511458
2025-08-22T16:36:47.440Z,1755880607.440 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-22T16:36:47.500Z,1755880607.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765169
2025-08-22T16:36:47.751Z,1755880607.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015485
2025-08-22T16:36:47.787Z,1755880607.787 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T16:36:47.787Z,1755880607.787 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-22T16:36:47.788Z,1755880607.788 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-22T16:36:48.003Z,1755880608.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439
2025-08-22T16:36:48.210Z,1755880608.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-22T16:36:48.210Z,1755880608.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-22T16:36:48.210Z,1755880608.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-22T16:36:48.255Z,1755880608.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519920
2025-08-22T16:36:48.506Z,1755880608.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771371
2025-08-22T16:36:48.637Z,1755880608.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:48.639Z,1755880608.639 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-22T16:36:48.639Z,1755880608.639 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:36:48.639Z,1755880608.639 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-22T16:36:48.639Z,1755880608.639 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:36:48.639Z,1755880608.639 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T16:36:48.759Z,1755880608.759 [DAT](INFO): DAT read: Rx Time:16:36:49.3467

2025-08-22T16:36:48.759Z,1755880608.759 [DAT](INFO): Rx dataTimestamp_ set to:1755880608.758841
2025-08-22T16:36:48.760Z,1755880608.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024564
2025-08-22T16:36:49.011Z,1755880609.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275408
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:36:49.021Z,1755880609.021 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T16:36:49.042Z,1755880609.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:36:49.042Z,1755880609.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T16:36:49.042Z,1755880609.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T16:36:49.042Z,1755880609.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:36:49.042Z,1755880609.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:36:49.043Z,1755880609.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:36:49.043Z,1755880609.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-22T16:36:49.043Z,1755880609.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:36:49.043Z,1755880609.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-22T16:36:49.044Z,1755880609.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 170.100006 m 
2025-08-22T16:36:49.044Z,1755880609.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-22T16:36:49.044Z,1755880609.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-22T16:36:49.045Z,1755880609.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-22T16:36:49.045Z,1755880609.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T16:36:49.045Z,1755880609.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-22T16:36:49.045Z,1755880609.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-22T16:36:49.046Z,1755880609.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T16:36:49.269Z,1755880609.269 [DAT](INFO): DAT read: 16:36:49.3467 LVL= 24672, 23073, 30194, 23843, AGC= 68, IDX=  17, 0.23, 1.927,-2.741, 1.341, 2.353, PHS=-0.324, 1.234,-1.056, RAW= 348.2,   1.5, CAL= 347.8,  -1.5, ROT= 162.2,   1.5

2025-08-22T16:36:49.270Z,1755880609.270 [DAT](INFO): got valid direction response:
 16:36:49.3467 LVL= 24672, 23073, 30194, 23843, AGC= 68, IDX=  17, 0.23, 1.927,-2.741, 1.341, 2.353, PHS=-0.324, 1.234,-1.056, RAW= 348.2,   1.5, CAL= 347.8,  -1.5, ROT= 162.2,   1.5

2025-08-22T16:36:49.271Z,1755880609.271 [DAT](INFO): DAT read: Bearing 154.0,  20.2 (Local)

2025-08-22T16:36:49.271Z,1755880609.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0,  20.2 (Local)

2025-08-22T16:36:49.273Z,1755880609.273 [DAT](INFO): DAT read: Range 11 to 50 : 181.9 m  (Round-trip  242.6 ms) speed -0.4 m/s

2025-08-22T16:36:49.273Z,1755880609.273 [DAT](INFO): DAT read: user:140>

2025-08-22T16:36:49.274Z,1755880609.274 [DAT](INFO): DAT read: Tx time:16:36:50.4484

2025-08-22T16:36:49.274Z,1755880609.274 [DAT](INFO): Ping request sent.
2025-08-22T16:36:49.275Z,1755880609.274 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:49.275Z,1755880609.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:49.276Z,1755880609.276 [DAT](INFO): direction in FSK: [-0.951803,0.305591,-0.026177]
2025-08-22T16:36:49.276Z,1755880609.276 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:49.276Z,1755880609.276 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:49.280Z,1755880609.280 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:49.280Z,1755880609.280 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:49.527Z,1755880609.527 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T16:36:49.528Z,1755880609.528 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-22T16:36:49.528Z,1755880609.528 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:36:49.528Z,1755880609.528 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-22T16:36:49.528Z,1755880609.528 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:36:49.558Z,1755880609.558 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-22T16:36:49.812Z,1755880609.812 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T16:36:49.812Z,1755880609.812 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T16:36:49.812Z,1755880609.812 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:36:49.814Z,1755880609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T16:36:49.815Z,1755880609.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:36:49.816Z,1755880609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:36:49.816Z,1755880609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:36:49.816Z,1755880609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T16:36:49.816Z,1755880609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:36:49.816Z,1755880609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T16:36:49.817Z,1755880609.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:36:49.817Z,1755880609.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T16:36:49.822Z,1755880609.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T16:36:49.823Z,1755880609.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T16:36:49.824Z,1755880609.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:36:49.825Z,1755880609.825 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T16:36:49.825Z,1755880609.825 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:36:49.825Z,1755880609.825 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T16:36:49.825Z,1755880609.825 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-22T16:36:49.825Z,1755880609.825 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-22T16:36:50.224Z,1755880610.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.899994 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-22T16:36:50.227Z,1755880610.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.837555 m,
      bearing: 344.146395 deg,
      lat: 36.779404 deg,
      lon: -121.859611 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-22T16:36:50.228Z,1755880610.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:50.230Z,1755880610.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 179.842575 m,
      bearing: 341.564292 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 182.019596 deg,
      new cmd heading: 341.564292 deg.

2025-08-22T16:36:50.231Z,1755880610.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961421 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:50.273Z,1755880610.273 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T16:36:50.278Z,1755880610.278 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T16:36:50.635Z,1755880610.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:50.638Z,1755880610.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 179.983475 m,
      bearing: 341.588934 deg,
      approach rate: 0.342151 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.564291 deg,
      new cmd heading: 341.588934 deg.

2025-08-22T16:36:50.639Z,1755880610.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961852 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:51.021Z,1755880611.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:51.023Z,1755880611.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:51.026Z,1755880611.026 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:51.027Z,1755880611.027 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:51.027Z,1755880611.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:51.028Z,1755880611.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 180.115829 m,
      bearing: 341.612047 deg,
      approach rate: 0.341683 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.588935 deg,
      new cmd heading: 341.612047 deg.

2025-08-22T16:36:51.051Z,1755880611.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962255 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:51.279Z,1755880611.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003977
2025-08-22T16:36:51.511Z,1755880611.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:51.514Z,1755880611.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 180.283966 m,
      bearing: 341.641787 deg,
      approach rate: 0.344316 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.612048 deg,
      new cmd heading: 341.641787 deg.

2025-08-22T16:36:51.515Z,1755880611.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962774 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:51.531Z,1755880611.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255944
2025-08-22T16:36:51.783Z,1755880611.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508436
2025-08-22T16:36:51.864Z,1755880611.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:51.867Z,1755880611.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 180.405243 m,
      bearing: 341.663287 deg,
      approach rate: 0.343969 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.641800 deg,
      new cmd heading: 341.663287 deg.

2025-08-22T16:36:51.868Z,1755880611.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963149 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:52.034Z,1755880612.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759909
2025-08-22T16:36:52.247Z,1755880612.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:52.250Z,1755880612.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 180.537064 m,
      bearing: 341.686646 deg,
      approach rate: 0.343978 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.663274 deg,
      new cmd heading: 341.686646 deg.

2025-08-22T16:36:52.251Z,1755880612.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963557 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:52.287Z,1755880612.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012049
2025-08-22T16:36:52.539Z,1755880612.539 [DAT](INFO): DAT read: Rx Time:16:36:53.0970

2025-08-22T16:36:52.539Z,1755880612.539 [DAT](INFO): Rx dataTimestamp_ set to:1755880612.538687
2025-08-22T16:36:52.539Z,1755880612.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264964
2025-08-22T16:36:52.677Z,1755880612.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:36:52.700Z,1755880612.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 180.837555 m,
      nav range: 180.684128 m,
      bearing: 341.711997 deg,
      approach rate: 0.341893 m/s,
      LOS rate: nan deg/s,
      cmd heading: 341.686634 deg,
      new cmd heading: 341.711997 deg.

2025-08-22T16:36:52.701Z,1755880612.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963999 target range: 180.837555 and range: 181.90 m.
2025-08-22T16:36:52.792Z,1755880612.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517718
2025-08-22T16:36:53.048Z,1755880613.048 [DAT](INFO): DAT read: 16:36:53.0970 LVL= 30496, 29681, 32754, 32755, AGC= 65, IDX= 468, 0.07,-0.013, 1.658,-0.645, 0.396, PHS=-0.308, 1.307,-1.085, RAW= 348.6,   0.8, CAL= 348.1,  -2.2, ROT= 161.9,   2.2

2025-08-22T16:36:53.049Z,1755880613.049 [DAT](INFO): got valid direction response:
 16:36:53.0970 LVL= 30496, 29681, 32754, 32755, AGC= 65, IDX= 468, 0.07,-0.013, 1.658,-0.645, 0.396, PHS=-0.308, 1.307,-1.085, RAW= 348.6,   0.8, CAL= 348.1,  -2.2, ROT= 161.9,   2.2

2025-08-22T16:36:53.050Z,1755880613.050 [DAT](INFO): DAT read: Bearing 155.4,  19.8 (Local)

2025-08-22T16:36:53.051Z,1755880613.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.4,  19.8 (Local)

2025-08-22T16:36:53.052Z,1755880613.052 [DAT](INFO): DAT read: Range 11 to 50 : 183.3 m  (Round-trip  244.5 ms) speed -0.3 m/s

2025-08-22T16:36:53.053Z,1755880613.053 [DAT](INFO): DAT read: user:141>

2025-08-22T16:36:53.062Z,1755880613.062 [DAT](INFO): DAT read: Tx time:16:36:54.1984

2025-08-22T16:36:53.063Z,1755880613.063 [DAT](INFO): Ping request sent.
2025-08-22T16:36:53.063Z,1755880613.063 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:53.063Z,1755880613.063 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:53.064Z,1755880613.064 [DAT](INFO): direction in FSK: [-0.949815,0.310448,-0.038388]
2025-08-22T16:36:53.064Z,1755880613.064 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:53.065Z,1755880613.065 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:53.068Z,1755880613.068 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:53.068Z,1755880613.068 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:53.131Z,1755880613.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 183.300003 m,
      deltaT: 3.779381 s,
      deltaX: 1.400009 m,
      approachRate: 0.370433 m/s,
      rangeRepo size: 2

2025-08-22T16:36:53.138Z,1755880613.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 182.229202 m,
      bearing: 344.329674 deg,
      lat: 36.779404 deg,
      lon: -121.859611 deg,
      deltaT: 3.779381 s,
      deltaX: 1.391647 m,
      approachRate: 0.368221 m/s,
      posRepo size: 2

2025-08-22T16:36:53.138Z,1755880613.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:53.140Z,1755880613.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 344.329674 deg.
2025-08-22T16:36:53.140Z,1755880613.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009686 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:53.519Z,1755880613.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:53.521Z,1755880613.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:53.524Z,1755880613.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 180.974228 m,
      bearing: 341.760428 deg,
      approach rate: 0.388064 m/s,
      LOS rate: 0.062382 deg/s,
      cmd heading: 344.329671 deg,
      new cmd heading: 344.378385 deg.

2025-08-22T16:36:53.525Z,1755880613.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010537 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:53.546Z,1755880613.546 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:53.546Z,1755880613.546 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:53.547Z,1755880613.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:53.799Z,1755880613.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735683
2025-08-22T16:36:53.884Z,1755880613.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:53.891Z,1755880613.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.098068 m,
      bearing: 341.780438 deg,
      approach rate: 0.341160 m/s,
      LOS rate: 0.055087 deg/s,
      cmd heading: 344.378384 deg,
      new cmd heading: 344.418377 deg.

2025-08-22T16:36:53.892Z,1755880613.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011235 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:54.053Z,1755880614.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990498
2025-08-22T16:36:54.279Z,1755880614.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:54.282Z,1755880614.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.235626 m,
      bearing: 341.802734 deg,
      approach rate: 0.348595 m/s,
      LOS rate: 0.056460 deg/s,
      cmd heading: 344.418381 deg,
      new cmd heading: 344.462940 deg.

2025-08-22T16:36:54.283Z,1755880614.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012012 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:54.306Z,1755880614.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243667
2025-08-22T16:36:54.559Z,1755880614.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496092
2025-08-22T16:36:54.707Z,1755880614.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:54.710Z,1755880614.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.384949 m,
      bearing: 341.825669 deg,
      approach rate: 0.348560 m/s,
      LOS rate: 0.053491 deg/s,
      cmd heading: 344.462942 deg,
      new cmd heading: 344.508773 deg.

2025-08-22T16:36:54.711Z,1755880614.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012813 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:54.811Z,1755880614.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747844
2025-08-22T16:36:55.063Z,1755880615.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999775
2025-08-22T16:36:55.091Z,1755880615.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:55.095Z,1755880615.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.518692 m,
      bearing: 341.846399 deg,
      approach rate: 0.348045 m/s,
      LOS rate: 0.053908 deg/s,
      cmd heading: 344.508786 deg,
      new cmd heading: 344.550216 deg.

2025-08-22T16:36:55.096Z,1755880615.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013535 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:55.314Z,1755880615.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251641
2025-08-22T16:36:55.557Z,1755880615.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:55.559Z,1755880615.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:55.562Z,1755880615.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.695297 m,
      bearing: 341.871881 deg,
      approach rate: 0.377816 m/s,
      LOS rate: 0.054461 deg/s,
      cmd heading: 344.550204 deg,
      new cmd heading: 344.601118 deg.

2025-08-22T16:36:55.563Z,1755880615.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014424 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:55.567Z,1755880615.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503876
2025-08-22T16:36:55.819Z,1755880615.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756260
2025-08-22T16:36:55.936Z,1755880615.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:55.950Z,1755880615.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.833160 m,
      bearing: 341.891978 deg,
      approach rate: 0.365886 m/s,
      LOS rate: 0.053297 deg/s,
      cmd heading: 344.601130 deg,
      new cmd heading: 344.641294 deg.

2025-08-22T16:36:55.952Z,1755880615.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015125 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:56.071Z,1755880616.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007738
2025-08-22T16:36:56.323Z,1755880616.323 [DAT](INFO): DAT read: Rx Time:16:36:56.8488

2025-08-22T16:36:56.323Z,1755880616.323 [DAT](INFO): Rx dataTimestamp_ set to:1755880616.322865
2025-08-22T16:36:56.324Z,1755880616.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260878
2025-08-22T16:36:56.332Z,1755880616.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:56.335Z,1755880616.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 181.985916 m,
      bearing: 341.914541 deg,
      approach rate: 0.385325 m/s,
      LOS rate: 0.056868 deg/s,
      cmd heading: 344.641291 deg,
      new cmd heading: 344.686380 deg.

2025-08-22T16:36:56.336Z,1755880616.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015912 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:56.576Z,1755880616.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513028
2025-08-22T16:36:56.804Z,1755880616.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.23 m.
2025-08-22T16:36:56.832Z,1755880616.832 [DAT](INFO): DAT read: 16:36:56.8488 LVL= 32752, 29601, 32754, 32755, AGC= 68, IDX= 438,-0.30,-2.714,-1.147, 2.946,-2.263, PHS=-0.350, 1.161,-1.118, RAW= 349.4,   3.1, CAL= 348.9,   0.1, ROT= 161.1,  -0.1

2025-08-22T16:36:56.833Z,1755880616.833 [DAT](INFO): got valid direction response:
 16:36:56.8488 LVL= 32752, 29601, 32754, 32755, AGC= 68, IDX= 438,-0.30,-2.714,-1.147, 2.946,-2.263, PHS=-0.350, 1.161,-1.118, RAW= 349.4,   3.1, CAL= 348.9,   0.1, ROT= 161.1,  -0.1

2025-08-22T16:36:56.834Z,1755880616.834 [DAT](INFO): DAT read: Bearing 154.1,  20.1 (Local)

2025-08-22T16:36:56.834Z,1755880616.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.1,  20.1 (Local)

2025-08-22T16:36:56.836Z,1755880616.836 [DAT](INFO): DAT read: Range 11 to 50 : 184.6 m  (Round-trip  246.2 ms) speed -0.4 m/s

2025-08-22T16:36:56.836Z,1755880616.836 [DAT](INFO): DAT read: user:142>

2025-08-22T16:36:56.837Z,1755880616.837 [DAT](INFO): DAT read: Tx time:16:36:57.9484

2025-08-22T16:36:56.838Z,1755880616.838 [DAT](INFO): Ping request sent.
2025-08-22T16:36:56.838Z,1755880616.838 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:36:56.838Z,1755880616.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:36:56.839Z,1755880616.839 [DAT](INFO): direction in FSK: [-0.946084,0.323917,0.001745]
2025-08-22T16:36:56.840Z,1755880616.840 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:56.840Z,1755880616.840 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:56.843Z,1755880616.843 [DAT](INFO): publishing transmit ping time
2025-08-22T16:36:56.843Z,1755880616.843 [DAT](INFO): publishing direction and range info
2025-08-22T16:36:56.854Z,1755880616.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.229202 m,
      nav range: 182.181046 m,
      bearing: 341.940137 deg,
      approach rate: 0.413253 m/s,
      LOS rate: 0.054150 deg/s,
      cmd heading: 344.686371 deg,
      new cmd heading: 344.737508 deg.

2025-08-22T16:36:56.855Z,1755880616.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016805 target range: 182.229202 and range: 183.30 m.
2025-08-22T16:36:57.247Z,1755880617.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.600006 m,
      deltaT: 3.783774 s,
      deltaX: 1.300003 m,
      approachRate: 0.343573 m/s,
      rangeRepo size: 3

2025-08-22T16:36:57.250Z,1755880617.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.521378 m,
      bearing: 346.063026 deg,
      lat: 36.779434 deg,
      lon: -121.859527 deg,
      deltaT: 3.783774 s,
      deltaX: 1.292175 m,
      approachRate: 0.341504 m/s,
      posRepo size: 3

2025-08-22T16:36:57.250Z,1755880617.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:57.253Z,1755880617.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 183.435303 m,
      bearing: 344.511246 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.054150 deg/s,
      cmd heading: 344.737515 deg,
      new cmd heading: 344.785443 deg.

2025-08-22T16:36:57.255Z,1755880617.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017641 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:57.672Z,1755880617.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:57.678Z,1755880617.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:57.681Z,1755880617.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 183.618195 m,
      bearing: 344.532263 deg,
      approach rate: 0.423958 m/s,
      LOS rate: 0.048669 deg/s,
      cmd heading: 344.785436 deg,
      new cmd heading: 344.827426 deg.

2025-08-22T16:36:57.686Z,1755880617.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018374 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:57.834Z,1755880617.834 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:36:57.834Z,1755880617.834 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:36:57.835Z,1755880617.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:36:58.047Z,1755880618.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:58.050Z,1755880618.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 183.790146 m,
      bearing: 344.552424 deg,
      approach rate: 0.465835 m/s,
      LOS rate: 0.054568 deg/s,
      cmd heading: 344.827428 deg,
      new cmd heading: 344.867712 deg.

2025-08-22T16:36:58.051Z,1755880618.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019077 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:58.087Z,1755880618.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248836
2025-08-22T16:36:58.242Z,1755880618.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:36:58.339Z,1755880618.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500864
2025-08-22T16:36:58.473Z,1755880618.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:58.476Z,1755880618.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 183.976822 m,
      bearing: 344.574826 deg,
      approach rate: 0.438563 m/s,
      LOS rate: 0.052577 deg/s,
      cmd heading: 344.867726 deg,
      new cmd heading: 344.912485 deg.

2025-08-22T16:36:58.477Z,1755880618.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019858 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:58.591Z,1755880618.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752525
2025-08-22T16:36:58.843Z,1755880618.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004337
2025-08-22T16:36:58.873Z,1755880618.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:58.876Z,1755880618.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 184.162903 m,
      bearing: 344.597874 deg,
      approach rate: 0.465167 m/s,
      LOS rate: 0.057558 deg/s,
      cmd heading: 344.912477 deg,
      new cmd heading: 344.958527 deg.

2025-08-22T16:36:58.877Z,1755880618.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020662 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:59.095Z,1755880619.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256308
2025-08-22T16:36:59.246Z,1755880619.246 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:36:59.258Z,1755880619.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:59.260Z,1755880619.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 184.341110 m,
      bearing: 344.620503 deg,
      approach rate: 0.463243 m/s,
      LOS rate: 0.058766 deg/s,
      cmd heading: 344.958540 deg,
      new cmd heading: 345.003754 deg.

2025-08-22T16:36:59.262Z,1755880619.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021451 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:59.348Z,1755880619.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509416
2025-08-22T16:36:59.598Z,1755880619.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760271
2025-08-22T16:36:59.692Z,1755880619.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:36:59.695Z,1755880619.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:36:59.697Z,1755880619.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 184.552597 m,
      bearing: 344.648575 deg,
      approach rate: 0.484065 m/s,
      LOS rate: 0.064179 deg/s,
      cmd heading: 345.003756 deg,
      new cmd heading: 345.059835 deg.

2025-08-22T16:36:59.698Z,1755880619.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022430 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:36:59.851Z,1755880619.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012601
2025-08-22T16:37:00.063Z,1755880620.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:00.066Z,1755880620.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 184.730804 m,
      bearing: 344.672831 deg,
      approach rate: 0.483537 m/s,
      LOS rate: 0.065751 deg/s,
      cmd heading: 345.059845 deg,
      new cmd heading: 345.108311 deg.

2025-08-22T16:37:00.067Z,1755880620.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023276 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:00.103Z,1755880620.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264963
2025-08-22T16:37:00.354Z,1755880620.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516263
2025-08-22T16:37:00.483Z,1755880620.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:00.486Z,1755880620.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 184.932922 m,
      bearing: 344.701077 deg,
      approach rate: 0.480946 m/s,
      LOS rate: 0.067138 deg/s,
      cmd heading: 345.108312 deg,
      new cmd heading: 345.164742 deg.

2025-08-22T16:37:00.487Z,1755880620.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024261 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:00.607Z,1755880620.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768463
2025-08-22T16:37:00.859Z,1755880620.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021019
2025-08-22T16:37:01.024Z,1755880621.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:01.027Z,1755880621.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 185.208984 m,
      bearing: 344.740106 deg,
      approach rate: 0.511045 m/s,
      LOS rate: 0.072144 deg/s,
      cmd heading: 345.164730 deg,
      new cmd heading: 345.242673 deg.

2025-08-22T16:37:01.027Z,1755880621.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025621 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:01.111Z,1755880621.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272423
2025-08-22T16:37:01.363Z,1755880621.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524554
2025-08-22T16:37:01.503Z,1755880621.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:01.506Z,1755880621.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 185.456345 m,
      bearing: 344.777203 deg,
      approach rate: 0.515447 m/s,
      LOS rate: 0.077197 deg/s,
      cmd heading: 345.242676 deg,
      new cmd heading: 345.316769 deg.

2025-08-22T16:37:01.507Z,1755880621.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026915 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:01.615Z,1755880621.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776549
2025-08-22T16:37:01.866Z,1755880621.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028223
2025-08-22T16:37:02.035Z,1755880622.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:02.037Z,1755880622.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:02.040Z,1755880622.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 185.734955 m,
      bearing: 344.823198 deg,
      approach rate: 0.522625 m/s,
      LOS rate: 0.086150 deg/s,
      cmd heading: 345.316770 deg,
      new cmd heading: 345.408623 deg.

2025-08-22T16:37:02.041Z,1755880622.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028518 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:02.119Z,1755880622.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280799
2025-08-22T16:37:02.371Z,1755880622.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532786
2025-08-22T16:37:02.444Z,1755880622.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:02.449Z,1755880622.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 185.942993 m,
      bearing: 344.858519 deg,
      approach rate: 0.511142 m/s,
      LOS rate: 0.086685 deg/s,
      cmd heading: 345.408622 deg,
      new cmd heading: 345.479185 deg.

2025-08-22T16:37:02.452Z,1755880622.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029749 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:02.627Z,1755880622.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788631
2025-08-22T16:37:02.855Z,1755880622.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:02.858Z,1755880622.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 186.170517 m,
      bearing: 344.896081 deg,
      approach rate: 0.552868 m/s,
      LOS rate: 0.091161 deg/s,
      cmd heading: 345.479192 deg,
      new cmd heading: 345.554223 deg.

2025-08-22T16:37:02.859Z,1755880622.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031059 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:02.879Z,1755880622.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040599
2025-08-22T16:37:03.134Z,1755880623.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295860
2025-08-22T16:37:03.241Z,1755880623.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:03.244Z,1755880623.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 186.372879 m,
      bearing: 344.930513 deg,
      approach rate: 0.524227 m/s,
      LOS rate: 0.089101 deg/s,
      cmd heading: 345.554215 deg,
      new cmd heading: 345.623004 deg.

2025-08-22T16:37:03.245Z,1755880623.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032259 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:03.383Z,1755880623.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544846
2025-08-22T16:37:03.635Z,1755880623.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796377
2025-08-22T16:37:03.687Z,1755880623.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:03.690Z,1755880623.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 186.638290 m,
      bearing: 344.976915 deg,
      approach rate: 0.594630 m/s,
      LOS rate: 0.103811 deg/s,
      cmd heading: 345.623008 deg,
      new cmd heading: 345.715680 deg.

2025-08-22T16:37:03.691Z,1755880623.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033877 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:03.887Z,1755880623.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048327
2025-08-22T16:37:04.053Z,1755880624.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:04.055Z,1755880624.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:04.058Z,1755880624.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 186.849579 m,
      bearing: 345.015010 deg,
      approach rate: 0.574653 m/s,
      LOS rate: 0.103491 deg/s,
      cmd heading: 345.715680 deg,
      new cmd heading: 345.791784 deg.

2025-08-22T16:37:04.059Z,1755880624.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035205 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:04.140Z,1755880624.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301474
2025-08-22T16:37:04.391Z,1755880624.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552508
2025-08-22T16:37:04.487Z,1755880624.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:04.490Z,1755880624.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 187.094864 m,
      bearing: 345.060570 deg,
      approach rate: 0.568404 m/s,
      LOS rate: 0.105439 deg/s,
      cmd heading: 345.791796 deg,
      new cmd heading: 345.882797 deg.

2025-08-22T16:37:04.490Z,1755880624.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036794 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:04.646Z,1755880624.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807480
2025-08-22T16:37:04.894Z,1755880624.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056159
2025-08-22T16:37:04.927Z,1755880624.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:04.936Z,1755880624.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 187.342621 m,
      bearing: 345.104596 deg,
      approach rate: 0.569555 m/s,
      LOS rate: 0.101076 deg/s,
      cmd heading: 345.882801 deg,
      new cmd heading: 345.970738 deg.

2025-08-22T16:37:04.942Z,1755880624.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038329 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:05.146Z,1755880625.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308279
2025-08-22T16:37:05.382Z,1755880625.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:05.385Z,1755880625.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 187.595749 m,
      bearing: 345.152627 deg,
      approach rate: 0.549325 m/s,
      LOS rate: 0.104092 deg/s,
      cmd heading: 345.970747 deg,
      new cmd heading: 346.066677 deg.

2025-08-22T16:37:05.390Z,1755880625.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040003 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:05.399Z,1755880625.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560403
2025-08-22T16:37:05.654Z,1755880625.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815140
2025-08-22T16:37:05.768Z,1755880625.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:05.770Z,1755880625.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 187.833221 m,
      bearing: 345.198342 deg,
      approach rate: 0.616679 m/s,
      LOS rate: 0.118565 deg/s,
      cmd heading: 346.066670 deg,
      new cmd heading: 346.157984 deg.

2025-08-22T16:37:05.771Z,1755880625.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041596 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:05.902Z,1755880625.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064238
2025-08-22T16:37:06.116Z,1755880626.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:06.119Z,1755880626.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:06.138Z,1755880626.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 188.037384 m,
      bearing: 345.238860 deg,
      approach rate: 0.581385 m/s,
      LOS rate: 0.115258 deg/s,
      cmd heading: 346.157976 deg,
      new cmd heading: 346.238926 deg.

2025-08-22T16:37:06.139Z,1755880626.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043009 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:06.155Z,1755880626.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316613
2025-08-22T16:37:06.407Z,1755880626.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568607
2025-08-22T16:37:06.522Z,1755880626.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:06.524Z,1755880626.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 188.267426 m,
      bearing: 345.285903 deg,
      approach rate: 0.571340 m/s,
      LOS rate: 0.116694 deg/s,
      cmd heading: 346.238927 deg,
      new cmd heading: 346.332897 deg.

2025-08-22T16:37:06.525Z,1755880626.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044650 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:06.662Z,1755880626.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822796
2025-08-22T16:37:06.910Z,1755880626.910 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:06.910Z,1755880626.910 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:06.911Z,1755880626.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:06.936Z,1755880626.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720242655,35.0, +11.7,   0.0,1496.:RA,  0.00, 183.76, 216.08, 201.62, 198.22
2025-08-22T16:37:07.004Z,1755880627.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:07.007Z,1755880627.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 188.540741 m,
      bearing: 345.343485 deg,
      approach rate: 0.565858 m/s,
      LOS rate: 0.119043 deg/s,
      cmd heading: 346.332911 deg,
      new cmd heading: 346.447909 deg.

2025-08-22T16:37:07.008Z,1755880627.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046657 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:07.163Z,1755880627.163 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:07.163Z,1755880627.163 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:07.163Z,1755880627.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:07.359Z,1755880627.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:07.362Z,1755880627.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 188.745880 m,
      bearing: 345.388027 deg,
      approach rate: 0.577743 m/s,
      LOS rate: 0.125309 deg/s,
      cmd heading: 346.447904 deg,
      new cmd heading: 346.536891 deg.

2025-08-22T16:37:07.363Z,1755880627.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048210 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:07.416Z,1755880627.416 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:07.416Z,1755880627.416 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:07.417Z,1755880627.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:07.668Z,1755880627.668 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:07.669Z,1755880627.669 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:07.670Z,1755880627.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:07.809Z,1755880627.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:07.816Z,1755880627.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 188.995468 m,
      bearing: 345.439806 deg,
      approach rate: 0.555576 m/s,
      LOS rate: 0.115106 deg/s,
      cmd heading: 346.536888 deg,
      new cmd heading: 346.640308 deg.

2025-08-22T16:37:07.817Z,1755880627.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050014 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:07.919Z,1755880627.919 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:07.920Z,1755880627.920 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:07.920Z,1755880627.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:08.171Z,1755880628.171 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:08.172Z,1755880628.172 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:08.172Z,1755880628.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:08.179Z,1755880628.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:08.183Z,1755880628.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:08.188Z,1755880628.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 189.220245 m,
      bearing: 345.487987 deg,
      approach rate: 0.601230 m/s,
      LOS rate: 0.128720 deg/s,
      cmd heading: 346.640297 deg,
      new cmd heading: 346.736544 deg.

2025-08-22T16:37:08.189Z,1755880628.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051694 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:08.424Z,1755880628.424 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:08.424Z,1755880628.424 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:08.425Z,1755880628.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:08.676Z,1755880628.676 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:08.677Z,1755880628.677 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:08.678Z,1755880628.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:08.785Z,1755880628.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:08.788Z,1755880628.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 189.575851 m,
      bearing: 345.566623 deg,
      approach rate: 0.590343 m/s,
      LOS rate: 0.130298 deg/s,
      cmd heading: 346.736548 deg,
      new cmd heading: 346.893523 deg.

2025-08-22T16:37:08.789Z,1755880628.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054434 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:08.927Z,1755880628.927 [DAT](INFO): Reached modem response timeout
2025-08-22T16:37:08.928Z,1755880628.928 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:08.928Z,1755880628.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:09.179Z,1755880629.179 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:37:09.180Z,1755880629.180 [DAT](INFO): response not received
2025-08-22T16:37:09.180Z,1755880629.180 [DAT](INFO): DAT read: user:143>

2025-08-22T16:37:09.181Z,1755880629.181 [DAT](ERROR): No response from remote modem.
2025-08-22T16:37:09.181Z,1755880629.181 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:37:09.182Z,1755880629.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:09.244Z,1755880629.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:09.251Z,1755880629.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 189.834091 m,
      bearing: 345.625634 deg,
      approach rate: 0.562720 m/s,
      LOS rate: 0.128416 deg/s,
      cmd heading: 346.893533 deg,
      new cmd heading: 347.011396 deg.

2025-08-22T16:37:09.252Z,1755880629.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056491 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:09.433Z,1755880629.433 [DAT](INFO): DAT read: Tx time:16:37:10.3983

2025-08-22T16:37:09.433Z,1755880629.433 [DAT](INFO): Ping request sent.
2025-08-22T16:37:09.433Z,1755880629.433 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:09.434Z,1755880629.434 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:09.435Z,1755880629.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001595
2025-08-22T16:37:09.686Z,1755880629.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252156
2025-08-22T16:37:09.717Z,1755880629.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:09.724Z,1755880629.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 190.074631 m,
      bearing: 345.680420 deg,
      approach rate: 0.508867 m/s,
      LOS rate: 0.115753 deg/s,
      cmd heading: 347.011394 deg,
      new cmd heading: 347.120827 deg.

2025-08-22T16:37:09.724Z,1755880629.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058401 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:09.935Z,1755880629.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502160
2025-08-22T16:37:10.082Z,1755880630.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:10.085Z,1755880630.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 190.311981 m,
      bearing: 345.735396 deg,
      approach rate: 0.650095 m/s,
      LOS rate: 0.150390 deg/s,
      cmd heading: 347.120814 deg,
      new cmd heading: 347.230629 deg.

2025-08-22T16:37:10.090Z,1755880630.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060318 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:10.187Z,1755880630.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753836
2025-08-22T16:37:10.439Z,1755880630.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005668
2025-08-22T16:37:10.474Z,1755880630.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:10.476Z,1755880630.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:10.479Z,1755880630.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 190.534988 m,
      bearing: 345.788941 deg,
      approach rate: 0.565857 m/s,
      LOS rate: 0.135707 deg/s,
      cmd heading: 347.230616 deg,
      new cmd heading: 347.337582 deg.

2025-08-22T16:37:10.480Z,1755880630.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062184 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:10.708Z,1755880630.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274035
2025-08-22T16:37:10.886Z,1755880630.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:10.888Z,1755880630.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 190.769180 m,
      bearing: 345.844588 deg,
      approach rate: 0.600891 m/s,
      LOS rate: 0.142604 deg/s,
      cmd heading: 347.337577 deg,
      new cmd heading: 347.448734 deg.

2025-08-22T16:37:10.894Z,1755880630.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064125 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:10.943Z,1755880630.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509365
2025-08-22T16:37:11.195Z,1755880631.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761679
2025-08-22T16:37:11.259Z,1755880631.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:11.262Z,1755880631.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 190.990891 m,
      bearing: 345.899339 deg,
      approach rate: 0.563516 m/s,
      LOS rate: 0.138998 deg/s,
      cmd heading: 347.448745 deg,
      new cmd heading: 347.558120 deg.

2025-08-22T16:37:11.263Z,1755880631.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066033 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:11.447Z,1755880631.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013292
2025-08-22T16:37:11.668Z,1755880631.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:11.672Z,1755880631.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 191.215408 m,
      bearing: 345.956926 deg,
      approach rate: 0.550482 m/s,
      LOS rate: 0.141028 deg/s,
      cmd heading: 347.558110 deg,
      new cmd heading: 347.673148 deg.

2025-08-22T16:37:11.673Z,1755880631.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068041 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:11.715Z,1755880631.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281479
2025-08-22T16:37:11.966Z,1755880631.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533234
2025-08-22T16:37:12.100Z,1755880632.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:12.107Z,1755880632.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 191.449219 m,
      bearing: 346.017944 deg,
      approach rate: 0.539501 m/s,
      LOS rate: 0.140621 deg/s,
      cmd heading: 347.673158 deg,
      new cmd heading: 347.795044 deg.

2025-08-22T16:37:12.108Z,1755880632.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070168 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:12.219Z,1755880632.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785349
2025-08-22T16:37:12.473Z,1755880632.473 [DAT](INFO): DAT read: Rx Time:16:37:13.0600

2025-08-22T16:37:12.473Z,1755880632.473 [DAT](INFO): Rx dataTimestamp_ set to:1755880632.472951
2025-08-22T16:37:12.474Z,1755880632.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040640
2025-08-22T16:37:12.485Z,1755880632.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:12.488Z,1755880632.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:12.491Z,1755880632.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 191.669571 m,
      bearing: 346.077718 deg,
      approach rate: 0.568218 m/s,
      LOS rate: 0.153961 deg/s,
      cmd heading: 347.795036 deg,
      new cmd heading: 347.914446 deg.

2025-08-22T16:37:12.492Z,1755880632.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072253 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:12.731Z,1755880632.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296875
2025-08-22T16:37:12.953Z,1755880632.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.52 m.
2025-08-22T16:37:12.984Z,1755880632.984 [DAT](INFO): DAT read: 16:37:13.0600 LVL= 31088, 24705, 32754, 29507, AGC= 70, IDX=  10,-0.25, 2.000, 2.590, 0.625, 1.949, PHS= 0.152, 0.686,-1.369, RAW=  15.5,   5.8, CAL=  15.5,   5.1, ROT= 134.5,  -5.1

2025-08-22T16:37:12.986Z,1755880632.986 [DAT](INFO): got valid direction response:
 16:37:13.0600 LVL= 31088, 24705, 32754, 29507, AGC= 70, IDX=  10,-0.25, 2.000, 2.590, 0.625, 1.949, PHS= 0.152, 0.686,-1.369, RAW=  15.5,   5.8, CAL=  15.5,   5.1, ROT= 134.5,  -5.1

2025-08-22T16:37:12.987Z,1755880632.987 [DAT](INFO): DAT read: Bearing 187.5,  42.7 (Local)

2025-08-22T16:37:12.987Z,1755880632.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.5,  42.7 (Local)

2025-08-22T16:37:12.988Z,1755880632.988 [DAT](INFO): DAT read: Range 11 to 50 : 193.2 m  (Round-trip  257.6 ms) speed -0.5 m/s

2025-08-22T16:37:12.989Z,1755880632.989 [DAT](INFO): DAT read: user:144>

2025-08-22T16:37:12.990Z,1755880632.990 [DAT](INFO): DAT read: Tx time:16:37:14.1483

2025-08-22T16:37:12.990Z,1755880632.990 [DAT](INFO): Ping request sent.
2025-08-22T16:37:12.990Z,1755880632.990 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:12.991Z,1755880632.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:12.991Z,1755880632.991 [DAT](INFO): direction in FSK: [-0.698134,0.710427,0.088894]
2025-08-22T16:37:12.992Z,1755880632.992 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:12.992Z,1755880632.992 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:12.995Z,1755880632.995 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:12.996Z,1755880632.996 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:13.001Z,1755880633.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.521378 m,
      nav range: 191.888275 m,
      bearing: 346.138615 deg,
      approach rate: 0.471582 m/s,
      LOS rate: 0.131160 deg/s,
      cmd heading: 347.914455 deg,
      new cmd heading: 348.036110 deg.

2025-08-22T16:37:13.010Z,1755880633.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074376 target range: 183.521378 and range: 184.60 m.
2025-08-22T16:37:13.350Z,1755880633.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.199997 m,
      deltaT: 16.152280 s,
      deltaX: 8.599991 m,
      approachRate: 0.532432 m/s,
      rangeRepo size: 4

2025-08-22T16:37:13.352Z,1755880633.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 192.072174 m,
      bearing: 354.832101 deg,
      lat: 36.779437 deg,
      lon: -121.859526 deg,
      deltaT: 16.152280 s,
      deltaX: 8.550797 m,
      approachRate: 0.529386 m/s,
      posRepo size: 4

2025-08-22T16:37:13.352Z,1755880633.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:13.355Z,1755880633.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 192.365509 m,
      bearing: 346.260618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.131160 deg/s,
      cmd heading: 348.036114 deg,
      new cmd heading: 348.140303 deg.

2025-08-22T16:37:13.356Z,1755880633.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076195 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:13.849Z,1755880633.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:13.852Z,1755880633.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 192.629913 m,
      bearing: 346.339516 deg,
      approach rate: 0.528528 m/s,
      LOS rate: 0.157496 deg/s,
      cmd heading: 348.140315 deg,
      new cmd heading: 348.297894 deg.

2025-08-22T16:37:13.853Z,1755880633.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078945 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:14.232Z,1755880634.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:14.238Z,1755880634.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 192.825668 m,
      bearing: 346.400115 deg,
      approach rate: 0.514518 m/s,
      LOS rate: 0.159114 deg/s,
      cmd heading: 348.297902 deg,
      new cmd heading: 348.418975 deg.

2025-08-22T16:37:14.238Z,1755880634.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081059 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:14.684Z,1755880634.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:14.691Z,1755880634.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:14.693Z,1755880634.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 193.044647 m,
      bearing: 346.473361 deg,
      approach rate: 0.475138 m/s,
      LOS rate: 0.158749 deg/s,
      cmd heading: 348.418987 deg,
      new cmd heading: 348.565313 deg.

2025-08-22T16:37:14.698Z,1755880634.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083612 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:14.748Z,1755880634.748 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:14.749Z,1755880634.749 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:14.750Z,1755880634.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:14.999Z,1755880634.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008297
2025-08-22T16:37:15.100Z,1755880635.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:15.103Z,1755880635.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 193.255127 m,
      bearing: 346.545810 deg,
      approach rate: 0.514206 m/s,
      LOS rate: 0.176801 deg/s,
      cmd heading: 348.565317 deg,
      new cmd heading: 348.710056 deg.

2025-08-22T16:37:15.104Z,1755880635.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086139 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:15.250Z,1755880635.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260235
2025-08-22T16:37:15.486Z,1755880635.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:15.488Z,1755880635.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 193.441360 m,
      bearing: 346.612442 deg,
      approach rate: 0.483001 m/s,
      LOS rate: 0.172647 deg/s,
      cmd heading: 348.710062 deg,
      new cmd heading: 348.843199 deg.

2025-08-22T16:37:15.489Z,1755880635.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088462 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:15.502Z,1755880635.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512215
2025-08-22T16:37:15.758Z,1755880635.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766639
2025-08-22T16:37:15.927Z,1755880635.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:15.946Z,1755880635.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 193.648651 m,
      bearing: 346.687090 deg,
      approach rate: 0.469484 m/s,
      LOS rate: 0.168885 deg/s,
      cmd heading: 348.843197 deg,
      new cmd heading: 348.992332 deg.

2025-08-22T16:37:15.947Z,1755880635.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091065 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:16.008Z,1755880636.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017030
2025-08-22T16:37:16.259Z,1755880636.259 [DAT](INFO): DAT read: Rx Time:16:37:16.8125

2025-08-22T16:37:16.259Z,1755880636.259 [DAT](INFO): Rx dataTimestamp_ set to:1755880636.258754
2025-08-22T16:37:16.260Z,1755880636.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269339
2025-08-22T16:37:16.289Z,1755880636.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:16.292Z,1755880636.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 193.820023 m,
      bearing: 346.751307 deg,
      approach rate: 0.473687 m/s,
      LOS rate: 0.177344 deg/s,
      cmd heading: 348.992341 deg,
      new cmd heading: 349.120660 deg.

2025-08-22T16:37:16.293Z,1755880636.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093305 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:16.511Z,1755880636.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520483
2025-08-22T16:37:16.742Z,1755880636.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:16.744Z,1755880636.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.07 m.
2025-08-22T16:37:16.747Z,1755880636.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.072174 m,
      nav range: 194.025986 m,
      bearing: 346.831734 deg,
      approach rate: 0.452534 m/s,
      LOS rate: 0.176524 deg/s,
      cmd heading: 349.120666 deg,
      new cmd heading: 349.281350 deg.

2025-08-22T16:37:16.748Z,1755880636.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096109 target range: 192.072174 and range: 193.20 m.
2025-08-22T16:37:16.770Z,1755880636.770 [DAT](INFO): DAT read: 16:37:16.8125 LVL= 30560, 30577, 32754, 32755, AGC= 68, IDX= 452, 0.11,-1.446,-1.600, 3.082,-1.969, PHS= 0.625, 0.414,-1.277, RAW=  35.8,   2.7, CAL=  36.0,   1.2, ROT= 114.0,  -1.2

2025-08-22T16:37:16.773Z,1755880636.773 [DAT](INFO): got valid direction response:
 16:37:16.8125 LVL= 30560, 30577, 32754, 32755, AGC= 68, IDX= 452, 0.11,-1.446,-1.600, 3.082,-1.969, PHS= 0.625, 0.414,-1.277, RAW=  35.8,   2.7, CAL=  36.0,   1.2, ROT= 114.0,  -1.2

2025-08-22T16:37:16.776Z,1755880636.776 [DAT](INFO): DAT read: Bearing 212.6,  62.1 (Local)

2025-08-22T16:37:16.777Z,1755880636.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.6,  62.1 (Local)

2025-08-22T16:37:16.790Z,1755880636.790 [DAT](INFO): DAT read: Range 11 to 50 : 195.0 m  (Round-trip  260.1 ms) speed -0.4 m/s

2025-08-22T16:37:16.793Z,1755880636.793 [DAT](INFO): DAT read: user:145>

2025-08-22T16:37:16.804Z,1755880636.804 [DAT](INFO): DAT read: Tx time:16:37:17.8983

2025-08-22T16:37:16.814Z,1755880636.814 [DAT](INFO): Ping request sent.
2025-08-22T16:37:16.814Z,1755880636.814 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:16.816Z,1755880636.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:16.828Z,1755880636.828 [DAT](INFO): direction in FSK: [-0.406647,0.913345,0.020942]
2025-08-22T16:37:16.829Z,1755880636.829 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:16.838Z,1755880636.838 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:16.841Z,1755880636.841 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:16.841Z,1755880636.841 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:17.217Z,1755880637.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.000000 m,
      deltaT: 3.783972 s,
      deltaX: 1.800003 m,
      approachRate: 0.475691 m/s,
      rangeRepo size: 4

2025-08-22T16:37:17.220Z,1755880637.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.862762 m,
      bearing: 345.282399 deg,
      lat: 36.779437 deg,
      lon: -121.859526 deg,
      deltaT: 3.783972 s,
      deltaX: 1.790588 m,
      approachRate: 0.473203 m/s,
      posRepo size: 4

2025-08-22T16:37:17.220Z,1755880637.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:17.227Z,1755880637.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 194.222885 m,
      bearing: 346.908601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.176524 deg/s,
      cmd heading: 349.281340 deg,
      new cmd heading: 349.446807 deg.

2025-08-22T16:37:17.228Z,1755880637.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098997 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:17.579Z,1755880637.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:17.581Z,1755880637.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 194.398315 m,
      bearing: 346.980088 deg,
      approach rate: 0.479324 m/s,
      LOS rate: 0.195146 deg/s,
      cmd heading: 349.446794 deg,
      new cmd heading: 349.589638 deg.

2025-08-22T16:37:17.582Z,1755880637.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101490 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:17.994Z,1755880637.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:17.997Z,1755880637.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 194.576187 m,
      bearing: 347.053984 deg,
      approach rate: 0.428389 m/s,
      LOS rate: 0.177812 deg/s,
      cmd heading: 349.589627 deg,
      new cmd heading: 349.737285 deg.

2025-08-22T16:37:17.998Z,1755880637.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104067 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:18.367Z,1755880638.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:18.370Z,1755880638.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 194.731171 m,
      bearing: 347.121301 deg,
      approach rate: 0.415274 m/s,
      LOS rate: 0.180229 deg/s,
      cmd heading: 349.737296 deg,
      new cmd heading: 349.871821 deg.

2025-08-22T16:37:18.371Z,1755880638.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106415 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:18.769Z,1755880638.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:18.771Z,1755880638.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:18.774Z,1755880638.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 194.893234 m,
      bearing: 347.195119 deg,
      approach rate: 0.401256 m/s,
      LOS rate: 0.182615 deg/s,
      cmd heading: 349.871823 deg,
      new cmd heading: 350.019336 deg.

2025-08-22T16:37:18.775Z,1755880638.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108990 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:18.788Z,1755880638.788 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:18.788Z,1755880638.788 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:18.789Z,1755880638.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:19.041Z,1755880639.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235695
2025-08-22T16:37:19.228Z,1755880639.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:19.235Z,1755880639.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 195.064682 m,
      bearing: 347.277717 deg,
      approach rate: 0.374985 m/s,
      LOS rate: 0.180497 deg/s,
      cmd heading: 350.019328 deg,
      new cmd heading: 350.184378 deg.

2025-08-22T16:37:19.236Z,1755880639.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111870 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:19.291Z,1755880639.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485177
2025-08-22T16:37:19.543Z,1755880639.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737499
2025-08-22T16:37:19.630Z,1755880639.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:19.632Z,1755880639.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 195.219208 m,
      bearing: 347.355906 deg,
      approach rate: 0.388960 m/s,
      LOS rate: 0.196656 deg/s,
      cmd heading: 350.184372 deg,
      new cmd heading: 350.340626 deg.

2025-08-22T16:37:19.634Z,1755880639.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114597 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:19.795Z,1755880639.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989162
2025-08-22T16:37:20.035Z,1755880640.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:20.038Z,1755880640.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 195.382599 m,
      bearing: 347.435405 deg,
      approach rate: 0.398880 m/s,
      LOS rate: 0.193917 deg/s,
      cmd heading: 350.340620 deg,
      new cmd heading: 350.499486 deg.

2025-08-22T16:37:20.039Z,1755880640.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.117370 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:20.047Z,1755880640.047 [DAT](INFO): DAT read: Rx Time:16:37:20.5648

2025-08-22T16:37:20.047Z,1755880640.047 [DAT](INFO): Rx dataTimestamp_ set to:1755880640.046802
2025-08-22T16:37:20.048Z,1755880640.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242237
2025-08-22T16:37:20.299Z,1755880640.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493427
2025-08-22T16:37:20.484Z,1755880640.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.86 m.
2025-08-22T16:37:20.487Z,1755880640.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.862762 m,
      nav range: 195.556152 m,
      bearing: 347.519511 deg,
      approach rate: 0.386390 m/s,
      LOS rate: 0.187082 deg/s,
      cmd heading: 350.499490 deg,
      new cmd heading: 350.667551 deg.

2025-08-22T16:37:20.488Z,1755880640.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120303 target range: 193.862762 and range: 195.00 m.
2025-08-22T16:37:20.557Z,1755880640.557 [DAT](INFO): DAT read: 16:37:20.5648 LVL= 29088, 28993, 32754, 32755, AGC= 64, IDX= 443, 0.04,-2.492,-2.899, 2.001,-3.116, PHS= 0.726, 0.261,-1.211, RAW=  43.3,   2.6, CAL=  43.5,   0.9, ROT= 106.5,  -0.9

2025-08-22T16:37:20.558Z,1755880640.558 [DAT](INFO): got valid direction response:
 16:37:20.5648 LVL= 29088, 28993, 32754, 32755, AGC= 64, IDX= 443, 0.04,-2.492,-2.899, 2.001,-3.116, PHS= 0.726, 0.261,-1.211, RAW=  43.3,   2.6, CAL=  43.5,   0.9, ROT= 106.5,  -0.9

2025-08-22T16:37:20.559Z,1755880640.559 [DAT](INFO): DAT read: Bearing 236.0,  69.8 (Local)

2025-08-22T16:37:20.559Z,1755880640.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.0,  69.8 (Local)

2025-08-22T16:37:20.561Z,1755880640.561 [DAT](INFO): DAT read: Range 11 to 50 : 196.8 m  (Round-trip  262.4 ms) speed -0.4 m/s

2025-08-22T16:37:20.564Z,1755880640.564 [DAT](INFO): DAT read: user:146>

2025-08-22T16:37:20.565Z,1755880640.565 [DAT](INFO): DAT read: Tx time:16:37:21.6483

2025-08-22T16:37:20.565Z,1755880640.565 [DAT](INFO): Ping request sent.
2025-08-22T16:37:20.565Z,1755880640.565 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:20.570Z,1755880640.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:20.571Z,1755880640.571 [DAT](INFO): direction in FSK: [-0.283980,0.958701,0.015707]
2025-08-22T16:37:20.572Z,1755880640.572 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:20.572Z,1755880640.572 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:20.590Z,1755880640.590 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:20.591Z,1755880640.591 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:20.936Z,1755880640.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.800003 m,
      deltaT: 3.788368 s,
      deltaX: 1.800003 m,
      approachRate: 0.475139 m/s,
      rangeRepo size: 4

2025-08-22T16:37:20.943Z,1755880640.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.651016 m,
      bearing: 349.271695 deg,
      lat: 36.779437 deg,
      lon: -121.859472 deg,
      deltaT: 3.788368 s,
      deltaX: 1.788254 m,
      approachRate: 0.472038 m/s,
      posRepo size: 4

2025-08-22T16:37:20.943Z,1755880640.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:20.951Z,1755880640.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 194.743057 m,
      bearing: 348.970421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.187082 deg/s,
      cmd heading: 350.667540 deg,
      new cmd heading: 350.836472 deg.

2025-08-22T16:37:20.952Z,1755880640.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123251 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:21.320Z,1755880641.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:21.322Z,1755880641.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:21.325Z,1755880641.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 194.890839 m,
      bearing: 349.050775 deg,
      approach rate: 0.382059 m/s,
      LOS rate: 0.207583 deg/s,
      cmd heading: 350.836464 deg,
      new cmd heading: 350.997051 deg.

2025-08-22T16:37:21.342Z,1755880641.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126054 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:21.558Z,1755880641.558 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:21.558Z,1755880641.558 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:21.559Z,1755880641.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:21.702Z,1755880641.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:21.704Z,1755880641.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.016815 m,
      bearing: 349.127091 deg,
      approach rate: 0.332249 m/s,
      LOS rate: 0.201145 deg/s,
      cmd heading: 350.997056 deg,
      new cmd heading: 351.149589 deg.

2025-08-22T16:37:21.706Z,1755880641.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128716 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:21.811Z,1755880641.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245467
2025-08-22T16:37:22.063Z,1755880642.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497440
2025-08-22T16:37:22.148Z,1755880642.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:22.155Z,1755880642.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.159149 m,
      bearing: 349.213015 deg,
      approach rate: 0.318714 m/s,
      LOS rate: 0.192259 deg/s,
      cmd heading: 351.149587 deg,
      new cmd heading: 351.321309 deg.

2025-08-22T16:37:22.157Z,1755880642.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131713 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:22.314Z,1755880642.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749286
2025-08-22T16:37:22.504Z,1755880642.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:22.507Z,1755880642.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.272095 m,
      bearing: 349.284867 deg,
      approach rate: 0.317722 m/s,
      LOS rate: 0.202007 deg/s,
      cmd heading: 351.321298 deg,
      new cmd heading: 351.464920 deg.

2025-08-22T16:37:22.508Z,1755880642.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134220 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:22.567Z,1755880642.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001967
2025-08-22T16:37:22.819Z,1755880642.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253420
2025-08-22T16:37:22.968Z,1755880642.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:22.986Z,1755880642.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.412918 m,
      bearing: 349.375308 deg,
      approach rate: 0.303540 m/s,
      LOS rate: 0.194803 deg/s,
      cmd heading: 351.464924 deg,
      new cmd heading: 351.645675 deg.

2025-08-22T16:37:22.987Z,1755880642.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137375 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:23.071Z,1755880643.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506339
2025-08-22T16:37:23.318Z,1755880643.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:23.321Z,1755880643.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.514633 m,
      bearing: 349.444285 deg,
      approach rate: 0.290090 m/s,
      LOS rate: 0.196617 deg/s,
      cmd heading: 351.645678 deg,
      new cmd heading: 351.783558 deg.

2025-08-22T16:37:23.323Z,1755880643.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757500
2025-08-22T16:37:23.323Z,1755880643.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139781 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:23.575Z,1755880643.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009842
2025-08-22T16:37:23.714Z,1755880643.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:23.716Z,1755880643.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:23.719Z,1755880643.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.624252 m,
      bearing: 349.522996 deg,
      approach rate: 0.275772 m/s,
      LOS rate: 0.197905 deg/s,
      cmd heading: 351.783566 deg,
      new cmd heading: 351.940899 deg.

2025-08-22T16:37:23.720Z,1755880643.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142528 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:23.827Z,1755880643.827 [DAT](INFO): DAT read: Rx Time:16:37:24.3165

2025-08-22T16:37:23.827Z,1755880643.827 [DAT](INFO): Rx dataTimestamp_ set to:1755880643.826771
2025-08-22T16:37:23.828Z,1755880643.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262475
2025-08-22T16:37:24.079Z,1755880644.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513646
2025-08-22T16:37:24.194Z,1755880644.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m.
2025-08-22T16:37:24.226Z,1755880644.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.651016 m,
      nav range: 195.745041 m,
      bearing: 349.610226 deg,
      approach rate: 0.255487 m/s,
      LOS rate: 0.184393 deg/s,
      cmd heading: 351.940906 deg,
      new cmd heading: 352.115259 deg.

2025-08-22T16:37:24.227Z,1755880644.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145571 target range: 195.651016 and range: 196.80 m.
2025-08-22T16:37:24.337Z,1755880644.337 [DAT](INFO): DAT read: 16:37:24.3165 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 460,-0.02, 1.942, 1.245, 0.037, 1.156, PHS= 0.888, 0.134,-1.163, RAW=  51.3,   1.6, CAL=  51.6,  -0.7, ROT=  98.4,   0.7

2025-08-22T16:37:24.338Z,1755880644.338 [DAT](INFO): got valid direction response:
 16:37:24.3165 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 460,-0.02, 1.942, 1.245, 0.037, 1.156, PHS= 0.888, 0.134,-1.163, RAW=  51.3,   1.6, CAL=  51.6,  -0.7, ROT=  98.4,   0.7

2025-08-22T16:37:24.339Z,1755880644.339 [DAT](INFO): DAT read: Bearing 271.9,  75.3 (Local)

2025-08-22T16:37:24.339Z,1755880644.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.9,  75.3 (Local)

2025-08-22T16:37:24.341Z,1755880644.341 [DAT](INFO): DAT read: Range 11 to 50 : 198.0 m  (Round-trip  264.0 ms) speed -0.3 m/s

2025-08-22T16:37:24.350Z,1755880644.350 [DAT](INFO): DAT read: user:147>

2025-08-22T16:37:24.351Z,1755880644.351 [DAT](INFO): DAT read: Tx time:16:37:25.4483

2025-08-22T16:37:24.351Z,1755880644.351 [DAT](INFO): Ping request sent.
2025-08-22T16:37:24.351Z,1755880644.351 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:24.352Z,1755880644.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:24.353Z,1755880644.353 [DAT](INFO): direction in FSK: [-0.146072,0.989198,-0.012217]
2025-08-22T16:37:24.353Z,1755880644.353 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:24.353Z,1755880644.353 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:24.357Z,1755880644.357 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:24.366Z,1755880644.366 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:24.571Z,1755880644.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.000000 m,
      deltaT: 3.779907 s,
      deltaX: 1.199997 m,
      approachRate: 0.317467 m/s,
      rangeRepo size: 4

2025-08-22T16:37:24.573Z,1755880644.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 196.845520 m,
      bearing: 352.403611 deg,
      lat: 36.779430 deg,
      lon: -121.859454 deg,
      deltaT: 3.779907 s,
      deltaX: 1.194504 m,
      approachRate: 0.316014 m/s,
      posRepo size: 4

2025-08-22T16:37:24.577Z,1755880644.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:24.580Z,1755880644.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 194.838852 m,
      bearing: 350.132796 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.184393 deg/s,
      cmd heading: 352.115267 deg,
      new cmd heading: 352.252906 deg.

2025-08-22T16:37:24.581Z,1755880644.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147973 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:25.017Z,1755880645.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:25.020Z,1755880645.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 194.962250 m,
      bearing: 350.218158 deg,
      approach rate: 0.271081 m/s,
      LOS rate: 0.187404 deg/s,
      cmd heading: 352.252909 deg,
      new cmd heading: 352.423523 deg.

2025-08-22T16:37:25.022Z,1755880645.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150951 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:25.404Z,1755880645.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:25.407Z,1755880645.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.052994 m,
      bearing: 350.289723 deg,
      approach rate: 0.235075 m/s,
      LOS rate: 0.185305 deg/s,
      cmd heading: 352.423527 deg,
      new cmd heading: 352.566590 deg.

2025-08-22T16:37:25.408Z,1755880645.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153448 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:25.808Z,1755880645.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:25.810Z,1755880645.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:25.812Z,1755880645.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.152359 m,
      bearing: 350.367740 deg,
      approach rate: 0.244378 m/s,
      LOS rate: 0.191778 deg/s,
      cmd heading: 352.566579 deg,
      new cmd heading: 352.722534 deg.

2025-08-22T16:37:25.814Z,1755880645.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156169 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:25.844Z,1755880645.844 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:25.844Z,1755880645.844 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:25.846Z,1755880645.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:26.094Z,1755880646.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743122
2025-08-22T16:37:26.251Z,1755880646.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:26.254Z,1755880646.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.238358 m,
      bearing: 350.445627 deg,
      approach rate: 0.194718 m/s,
      LOS rate: 0.176272 deg/s,
      cmd heading: 352.722525 deg,
      new cmd heading: 352.878229 deg.

2025-08-22T16:37:26.255Z,1755880646.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158887 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:26.347Z,1755880646.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995629
2025-08-22T16:37:26.599Z,1755880646.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247224
2025-08-22T16:37:26.607Z,1755880646.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:26.609Z,1755880646.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.309540 m,
      bearing: 350.515332 deg,
      approach rate: 0.200292 m/s,
      LOS rate: 0.196066 deg/s,
      cmd heading: 352.878226 deg,
      new cmd heading: 353.017587 deg.

2025-08-22T16:37:26.610Z,1755880646.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161319 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:26.850Z,1755880646.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499114
2025-08-22T16:37:27.039Z,1755880647.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:27.042Z,1755880647.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.386826 m,
      bearing: 350.594906 deg,
      approach rate: 0.178865 m/s,
      LOS rate: 0.184088 deg/s,
      cmd heading: 353.017590 deg,
      new cmd heading: 353.176674 deg.

2025-08-22T16:37:27.043Z,1755880647.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164096 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:27.104Z,1755880647.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751941
2025-08-22T16:37:27.355Z,1755880647.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003206
2025-08-22T16:37:27.426Z,1755880647.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:27.428Z,1755880647.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.451065 m,
      bearing: 350.666390 deg,
      approach rate: 0.166032 m/s,
      LOS rate: 0.184695 deg/s,
      cmd heading: 353.176678 deg,
      new cmd heading: 353.319599 deg.

2025-08-22T16:37:27.430Z,1755880647.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166590 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:27.606Z,1755880647.606 [DAT](INFO): DAT read: Rx Time:16:37:28.1176

2025-08-22T16:37:27.607Z,1755880647.607 [DAT](INFO): Rx dataTimestamp_ set to:1755880647.606683
2025-08-22T16:37:27.607Z,1755880647.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256143
2025-08-22T16:37:27.808Z,1755880647.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:27.810Z,1755880647.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.85 m.
2025-08-22T16:37:27.813Z,1755880647.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.845520 m,
      nav range: 195.509750 m,
      bearing: 350.737450 deg,
      approach rate: 0.152789 m/s,
      LOS rate: 0.184950 deg/s,
      cmd heading: 353.319593 deg,
      new cmd heading: 353.461669 deg.

2025-08-22T16:37:27.814Z,1755880647.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169070 target range: 196.845520 and range: 198.00 m.
2025-08-22T16:37:27.859Z,1755880647.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507370
2025-08-22T16:37:28.118Z,1755880648.118 [DAT](INFO): DAT read: 16:37:28.1176 LVL= 23280, 30641, 30690, 32643, AGC= 65, IDX= 440, 0.19,-1.135,-2.202,-2.991,-1.965, PHS= 0.932,-0.192,-1.070, RAW=  64.1,   3.8, CAL=  63.5,   1.6, ROT=  86.5,  -1.6

2025-08-22T16:37:28.119Z,1755880648.119 [DAT](INFO): got valid direction response:
 16:37:28.1176 LVL= 23280, 30641, 30690, 32643, AGC= 65, IDX= 440, 0.19,-1.135,-2.202,-2.991,-1.965, PHS= 0.932,-0.192,-1.070, RAW=  64.1,   3.8, CAL=  63.5,   1.6, ROT=  86.5,  -1.6

2025-08-22T16:37:28.120Z,1755880648.120 [DAT](INFO): DAT read: Bearing 338.4,  79.1 (Local)

2025-08-22T16:37:28.121Z,1755880648.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.4,  79.1 (Local)

2025-08-22T16:37:28.122Z,1755880648.122 [DAT](INFO): DAT read: Range 11 to 50 : 198.9 m  (Round-trip  265.2 ms) speed -0.1 m/s

2025-08-22T16:37:28.123Z,1755880648.123 [DAT](INFO): DAT read: user:148>

2025-08-22T16:37:28.124Z,1755880648.124 [DAT](INFO): DAT read: Tx time:16:37:29.2483

2025-08-22T16:37:28.124Z,1755880648.124 [DAT](INFO): Ping request sent.
2025-08-22T16:37:28.124Z,1755880648.124 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:28.124Z,1755880648.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:28.125Z,1755880648.125 [DAT](INFO): direction in FSK: [0.061025,0.997746,0.027922]
2025-08-22T16:37:28.126Z,1755880648.126 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:28.126Z,1755880648.126 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:28.129Z,1755880648.129 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:28.130Z,1755880648.130 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:28.333Z,1755880648.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.899994 m,
      deltaT: 3.780301 s,
      deltaX: 0.899994 m,
      approachRate: 0.238075 m/s,
      rangeRepo size: 4

2025-08-22T16:37:28.343Z,1755880648.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.740646 m,
      bearing: 351.940844 deg,
      lat: 36.779407 deg,
      lon: -121.859407 deg,
      deltaT: 3.780301 s,
      deltaX: 0.895126 m,
      approachRate: 0.236787 m/s,
      posRepo size: 4

2025-08-22T16:37:28.344Z,1755880648.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:28.351Z,1755880648.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.465393 m,
      bearing: 351.941023 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.184950 deg/s,
      cmd heading: 353.461661 deg,
      new cmd heading: 353.654948 deg.

2025-08-22T16:37:28.352Z,1755880648.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172443 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:28.705Z,1755880648.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:28.708Z,1755880648.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.513779 m,
      bearing: 352.015892 deg,
      approach rate: 0.129864 m/s,
      LOS rate: 0.200893 deg/s,
      cmd heading: 353.654956 deg,
      new cmd heading: 353.804655 deg.

2025-08-22T16:37:28.709Z,1755880648.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175056 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:29.136Z,1755880649.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:29.139Z,1755880649.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.568420 m,
      bearing: 352.096414 deg,
      approach rate: 0.126763 m/s,
      LOS rate: 0.186750 deg/s,
      cmd heading: 353.804646 deg,
      new cmd heading: 353.965644 deg.

2025-08-22T16:37:29.140Z,1755880649.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177866 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:29.367Z,1755880649.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:37:29.512Z,1755880649.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:29.516Z,1755880649.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.605133 m,
      bearing: 352.165218 deg,
      approach rate: 0.097521 m/s,
      LOS rate: 0.182730 deg/s,
      cmd heading: 353.965647 deg,
      new cmd heading: 354.103227 deg.

2025-08-22T16:37:29.517Z,1755880649.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180267 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:29.930Z,1755880649.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:29.936Z,1755880649.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:29.940Z,1755880649.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.641174 m,
      bearing: 352.243336 deg,
      approach rate: 0.085580 m/s,
      LOS rate: 0.185456 deg/s,
      cmd heading: 354.103234 deg,
      new cmd heading: 354.259441 deg.

2025-08-22T16:37:29.941Z,1755880649.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182994 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:30.126Z,1755880650.126 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:30.127Z,1755880650.127 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:30.127Z,1755880650.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:30.351Z,1755880650.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:30.371Z,1755880650.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:37:30.381Z,1755880650.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256876
2025-08-22T16:37:30.393Z,1755880650.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.670654 m,
      bearing: 352.321833 deg,
      approach rate: 0.074439 m/s,
      LOS rate: 0.198181 deg/s,
      cmd heading: 354.259455 deg,
      new cmd heading: 354.416425 deg.

2025-08-22T16:37:30.394Z,1755880650.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185733 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:30.630Z,1755880650.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506502
2025-08-22T16:37:30.723Z,1755880650.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:30.738Z,1755880650.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.693802 m,
      bearing: 352.396610 deg,
      approach rate: 0.058811 m/s,
      LOS rate: 0.189961 deg/s,
      cmd heading: 354.416412 deg,
      new cmd heading: 354.565947 deg.

2025-08-22T16:37:30.739Z,1755880650.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188343 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:30.883Z,1755880650.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758536
2025-08-22T16:37:31.135Z,1755880651.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010713
2025-08-22T16:37:31.144Z,1755880651.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:31.147Z,1755880651.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.719772 m,
      bearing: 352.475240 deg,
      approach rate: 0.061655 m/s,
      LOS rate: 0.186647 deg/s,
      cmd heading: 354.565939 deg,
      new cmd heading: 354.723178 deg.

2025-08-22T16:37:31.148Z,1755880651.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191087 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:31.389Z,1755880651.389 [DAT](INFO): DAT read: Rx Time:16:37:31.9182

2025-08-22T16:37:31.391Z,1755880651.391 [DAT](INFO): Rx dataTimestamp_ set to:1755880651.389904
2025-08-22T16:37:31.391Z,1755880651.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267146
2025-08-22T16:37:31.523Z,1755880651.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.74 m.
2025-08-22T16:37:31.542Z,1755880651.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.740646 m,
      nav range: 192.738541 m,
      bearing: 352.546041 deg,
      approach rate: 0.049596 m/s,
      LOS rate: 0.187075 deg/s,
      cmd heading: 354.723170 deg,
      new cmd heading: 354.864758 deg.

2025-08-22T16:37:31.543Z,1755880651.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193558 target range: 197.740646 and range: 198.90 m.
2025-08-22T16:37:31.639Z,1755880651.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515167
2025-08-22T16:37:31.896Z,1755880651.896 [DAT](INFO): DAT read: 16:37:31.9182 LVL= 28368, 32753, 32754, 32755, AGC= 67, IDX= 431,-0.27, 0.500,-1.063,-1.174,-0.387, PHS= 0.989,-0.632,-0.831, RAW=  84.3,   5.5, CAL=  83.3,   3.1, ROT=  66.7,  -3.1

2025-08-22T16:37:31.897Z,1755880651.897 [DAT](INFO): got valid direction response:
 16:37:31.9182 LVL= 28368, 32753, 32754, 32755, AGC= 67, IDX= 431,-0.27, 0.500,-1.063,-1.174,-0.387, PHS= 0.989,-0.632,-0.831, RAW=  84.3,   5.5, CAL=  83.3,   3.1, ROT=  66.7,  -3.1

2025-08-22T16:37:31.898Z,1755880651.898 [DAT](INFO): DAT read: Bearing  44.1,  65.7 (Local)

2025-08-22T16:37:31.898Z,1755880651.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.1,  65.7 (Local)

2025-08-22T16:37:31.900Z,1755880651.900 [DAT](INFO): DAT read: Range 11 to 50 : 199.3 m  (Round-trip  265.8 ms) speed  0.0 m/s

2025-08-22T16:37:31.901Z,1755880651.901 [DAT](INFO): DAT read: user:149>

2025-08-22T16:37:31.906Z,1755880651.906 [DAT](INFO): DAT read: Tx time:16:37:33.0483

2025-08-22T16:37:31.906Z,1755880651.906 [DAT](INFO): Ping request sent.
2025-08-22T16:37:31.906Z,1755880651.906 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:31.907Z,1755880651.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:31.907Z,1755880651.907 [DAT](INFO): direction in FSK: [0.394967,0.917102,0.054079]
2025-08-22T16:37:31.908Z,1755880651.908 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:31.908Z,1755880651.908 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:31.912Z,1755880651.912 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:31.912Z,1755880651.912 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:32.077Z,1755880652.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.300003 m,
      deltaT: 3.779314 s,
      deltaX: 0.400009 m,
      approachRate: 0.105842 m/s,
      rangeRepo size: 4

2025-08-22T16:37:32.083Z,1755880652.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.136810 m,
      bearing: 343.813514 deg,
      lat: 36.779407 deg,
      lon: -121.859454 deg,
      deltaT: 3.779314 s,
      deltaX: 0.396164 m,
      approachRate: 0.104824 m/s,
      posRepo size: 4

2025-08-22T16:37:32.084Z,1755880652.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:32.095Z,1755880652.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.310913 m,
      bearing: 351.416186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.187075 deg/s,
      cmd heading: 354.864746 deg,
      new cmd heading: 355.071909 deg.

2025-08-22T16:37:32.096Z,1755880652.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197174 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:32.462Z,1755880652.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:32.464Z,1755880652.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:32.467Z,1755880652.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.324295 m,
      bearing: 351.493122 deg,
      approach rate: 0.034489 m/s,
      LOS rate: 0.198271 deg/s,
      cmd heading: 355.071919 deg,
      new cmd heading: 355.225780 deg.

2025-08-22T16:37:32.468Z,1755880652.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199860 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:32.646Z,1755880652.646 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:32.646Z,1755880652.646 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:32.647Z,1755880652.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:32.840Z,1755880652.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:32.843Z,1755880652.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.326599 m,
      bearing: 351.564789 deg,
      approach rate: 0.006136 m/s,
      LOS rate: 0.190841 deg/s,
      cmd heading: 355.225790 deg,
      new cmd heading: 355.369122 deg.

2025-08-22T16:37:32.844Z,1755880652.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202361 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:32.899Z,1755880652.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993040
2025-08-22T16:37:33.152Z,1755880653.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246224
2025-08-22T16:37:33.283Z,1755880653.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:33.285Z,1755880653.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.334320 m,
      bearing: 351.647612 deg,
      approach rate: 0.017446 m/s,
      LOS rate: 0.187142 deg/s,
      cmd heading: 355.369114 deg,
      new cmd heading: 355.534754 deg.

2025-08-22T16:37:33.286Z,1755880653.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205252 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:33.407Z,1755880653.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500368
2025-08-22T16:37:33.659Z,1755880653.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752337
2025-08-22T16:37:33.663Z,1755880653.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:33.666Z,1755880653.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.341248 m,
      bearing: 351.718595 deg,
      approach rate: 0.018203 m/s,
      LOS rate: 0.186509 deg/s,
      cmd heading: 355.534760 deg,
      new cmd heading: 355.676721 deg.

2025-08-22T16:37:33.667Z,1755880653.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207730 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:33.915Z,1755880653.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008470
2025-08-22T16:37:34.114Z,1755880654.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:34.116Z,1755880654.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.337982 m,
      bearing: 351.802406 deg,
      approach rate: -0.007248 m/s,
      LOS rate: 0.186022 deg/s,
      cmd heading: 355.676719 deg,
      new cmd heading: 355.844344 deg.

2025-08-22T16:37:34.118Z,1755880654.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210655 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:34.165Z,1755880654.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258124
2025-08-22T16:37:34.415Z,1755880654.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508304
2025-08-22T16:37:34.493Z,1755880654.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:34.497Z,1755880654.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:34.500Z,1755880654.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.330627 m,
      bearing: 351.872975 deg,
      approach rate: -0.019198 m/s,
      LOS rate: 0.184216 deg/s,
      cmd heading: 355.844332 deg,
      new cmd heading: 355.985474 deg.

2025-08-22T16:37:34.501Z,1755880654.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213119 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:34.667Z,1755880654.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760343
2025-08-22T16:37:34.902Z,1755880654.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:34.905Z,1755880654.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.323242 m,
      bearing: 351.946738 deg,
      approach rate: -0.018234 m/s,
      LOS rate: 0.182127 deg/s,
      cmd heading: 355.985471 deg,
      new cmd heading: 356.133002 deg.

2025-08-22T16:37:34.906Z,1755880654.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215693 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:34.919Z,1755880654.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012379
2025-08-22T16:37:35.171Z,1755880655.171 [DAT](INFO): DAT read: Rx Time:16:37:35.7183

2025-08-22T16:37:35.172Z,1755880655.172 [DAT](INFO): Rx dataTimestamp_ set to:1755880655.171327
2025-08-22T16:37:35.173Z,1755880655.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266264
2025-08-22T16:37:35.423Z,1755880655.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516328
2025-08-22T16:37:35.428Z,1755880655.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.14 m.
2025-08-22T16:37:35.431Z,1755880655.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.136810 m,
      nav range: 193.313232 m,
      bearing: 352.041052 deg,
      approach rate: -0.019005 m/s,
      LOS rate: 0.179075 deg/s,
      cmd heading: 356.133003 deg,
      new cmd heading: 356.321639 deg.

2025-08-22T16:37:35.432Z,1755880655.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218986 target range: 198.136810 and range: 199.30 m.
2025-08-22T16:37:35.682Z,1755880655.682 [DAT](INFO): DAT read: 16:37:35.7183 LVL= 22368, 32753, 32754, 32755, AGC= 67, IDX= 448,-0.20, 1.075,-0.494,-0.350, 0.320, PHS= 0.857,-0.769,-0.714, RAW=  91.7,   7.9, CAL=  91.4,   7.4, ROT=  58.6,  -7.4

2025-08-22T16:37:35.684Z,1755880655.684 [DAT](INFO): got valid direction response:
 16:37:35.7183 LVL= 22368, 32753, 32754, 32755, AGC= 67, IDX= 448,-0.20, 1.075,-0.494,-0.350, 0.320, PHS= 0.857,-0.769,-0.714, RAW=  91.7,   7.9, CAL=  91.4,   7.4, ROT=  58.6,  -7.4

2025-08-22T16:37:35.686Z,1755880655.686 [DAT](INFO): DAT read: Bearing  69.6,  58.9 (Local)

2025-08-22T16:37:35.687Z,1755880655.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.6,  58.9 (Local)

2025-08-22T16:37:35.688Z,1755880655.688 [DAT](INFO): DAT read: Range 11 to 50 : 199.4 m  (Round-trip  265.9 ms) speed  0.0 m/s

2025-08-22T16:37:35.689Z,1755880655.689 [DAT](INFO): DAT read: user:150>

2025-08-22T16:37:35.690Z,1755880655.690 [DAT](INFO): DAT read: Tx time:16:37:36.8483

2025-08-22T16:37:35.690Z,1755880655.690 [DAT](INFO): Ping request sent.
2025-08-22T16:37:35.691Z,1755880655.691 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:35.691Z,1755880655.691 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:35.692Z,1755880655.692 [DAT](INFO): direction in FSK: [0.516670,0.846442,0.128796]
2025-08-22T16:37:35.692Z,1755880655.692 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:35.692Z,1755880655.692 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:35.696Z,1755880655.696 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:35.696Z,1755880655.696 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:35.894Z,1755880655.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.399994 m,
      deltaT: 3.783949 s,
      deltaX: 0.099991 m,
      approachRate: 0.026425 m/s,
      rangeRepo size: 4

2025-08-22T16:37:35.896Z,1755880655.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.235733 m,
      bearing: 346.071415 deg,
      lat: 36.779407 deg,
      lon: -121.859454 deg,
      deltaT: 3.783949 s,
      deltaX: 0.098923 m,
      approachRate: 0.026143 m/s,
      posRepo size: 4

2025-08-22T16:37:35.898Z,1755880655.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:35.901Z,1755880655.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.288177 m,
      bearing: 352.119505 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.179075 deg/s,
      cmd heading: 356.321625 deg,
      new cmd heading: 356.486576 deg.

2025-08-22T16:37:35.902Z,1755880655.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221865 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:36.308Z,1755880656.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:36.311Z,1755880656.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.251709 m,
      bearing: 352.201755 deg,
      approach rate: -0.087021 m/s,
      LOS rate: 0.196301 deg/s,
      cmd heading: 356.486588 deg,
      new cmd heading: 356.651118 deg.

2025-08-22T16:37:36.312Z,1755880656.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224736 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:36.735Z,1755880656.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:36.738Z,1755880656.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:36.740Z,1755880656.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.212570 m,
      bearing: 352.277959 deg,
      approach rate: -0.091156 m/s,
      LOS rate: 0.177517 deg/s,
      cmd heading: 356.651114 deg,
      new cmd heading: 356.803551 deg.

2025-08-22T16:37:36.741Z,1755880656.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227397 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:36.934Z,1755880656.934 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:36.934Z,1755880656.934 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:36.935Z,1755880656.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:37.149Z,1755880657.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:37.152Z,1755880657.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.169785 m,
      bearing: 352.351240 deg,
      approach rate: -0.104014 m/s,
      LOS rate: 0.178190 deg/s,
      cmd heading: 356.803563 deg,
      new cmd heading: 356.950158 deg.

2025-08-22T16:37:37.153Z,1755880657.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229956 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:37.199Z,1755880657.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508808
2025-08-22T16:37:37.450Z,1755880657.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759859
2025-08-22T16:37:37.531Z,1755880657.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:37.538Z,1755880657.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.131256 m,
      bearing: 352.413803 deg,
      approach rate: -0.100725 m/s,
      LOS rate: 0.163591 deg/s,
      cmd heading: 356.950167 deg,
      new cmd heading: 357.075317 deg.

2025-08-22T16:37:37.539Z,1755880657.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232140 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:37.702Z,1755880657.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011900
2025-08-22T16:37:37.920Z,1755880657.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:37.923Z,1755880657.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.085098 m,
      bearing: 352.480766 deg,
      approach rate: -0.118892 m/s,
      LOS rate: 0.172525 deg/s,
      cmd heading: 357.075323 deg,
      new cmd heading: 357.209282 deg.

2025-08-22T16:37:37.924Z,1755880657.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234478 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:37.968Z,1755880657.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277125
2025-08-22T16:37:38.218Z,1755880658.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527877
2025-08-22T16:37:38.330Z,1755880658.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:38.332Z,1755880658.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 193.031586 m,
      bearing: 352.549190 deg,
      approach rate: -0.130540 m/s,
      LOS rate: 0.166961 deg/s,
      cmd heading: 357.209277 deg,
      new cmd heading: 357.346161 deg.

2025-08-22T16:37:38.333Z,1755880658.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236867 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:38.471Z,1755880658.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780001
2025-08-22T16:37:38.711Z,1755880658.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:38.715Z,1755880658.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 192.978516 m,
      bearing: 352.611096 deg,
      approach rate: -0.138968 m/s,
      LOS rate: 0.162150 deg/s,
      cmd heading: 357.346154 deg,
      new cmd heading: 357.470000 deg.

2025-08-22T16:37:38.716Z,1755880658.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239028 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:38.723Z,1755880658.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032217
2025-08-22T16:37:38.975Z,1755880658.975 [DAT](INFO): DAT read: Rx Time:16:37:39.5179

2025-08-22T16:37:38.975Z,1755880658.975 [DAT](INFO): Rx dataTimestamp_ set to:1755880658.974730
2025-08-22T16:37:38.976Z,1755880658.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284973
2025-08-22T16:37:39.198Z,1755880659.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:39.200Z,1755880659.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.24 m.
2025-08-22T16:37:39.202Z,1755880659.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.235733 m,
      nav range: 192.906174 m,
      bearing: 352.688601 deg,
      approach rate: -0.148174 m/s,
      LOS rate: 0.158807 deg/s,
      cmd heading: 357.469999 deg,
      new cmd heading: 357.625065 deg.

2025-08-22T16:37:39.203Z,1755880659.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241735 target range: 198.235733 and range: 199.40 m.
2025-08-22T16:37:39.227Z,1755880659.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536047
2025-08-22T16:37:39.484Z,1755880659.484 [DAT](INFO): DAT read: 16:37:39.5179 LVL= 27744, 32753, 32754, 32755, AGC= 65, IDX= 444,-0.22, 2.633, 0.818, 1.373, 1.902, PHS= 0.833,-1.039,-0.573, RAW= 103.8,   9.3, CAL= 105.0,  10.3, ROT=  45.0, -10.3

2025-08-22T16:37:39.485Z,1755880659.485 [DAT](INFO): got valid direction response:
 16:37:39.5179 LVL= 27744, 32753, 32754, 32755, AGC= 65, IDX= 444,-0.22, 2.633, 0.818, 1.373, 1.902, PHS= 0.833,-1.039,-0.573, RAW= 103.8,   9.3, CAL= 105.0,  10.3, ROT=  45.0, -10.3

2025-08-22T16:37:39.490Z,1755880659.490 [DAT](INFO): DAT read: Bearing  88.9,  45.3 (Local)

2025-08-22T16:37:39.490Z,1755880659.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.9,  45.3 (Local)

2025-08-22T16:37:39.492Z,1755880659.492 [DAT](INFO): DAT read: Range 11 to 50 : 199.2 m  (Round-trip  265.6 ms) speed  0.2 m/s

2025-08-22T16:37:39.493Z,1755880659.493 [DAT](INFO): DAT read: user:151>

2025-08-22T16:37:39.498Z,1755880659.498 [DAT](INFO): DAT read: Tx time:16:37:40.6482

2025-08-22T16:37:39.499Z,1755880659.499 [DAT](INFO): Ping request sent.
2025-08-22T16:37:39.499Z,1755880659.499 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:39.499Z,1755880659.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:39.500Z,1755880659.500 [DAT](INFO): direction in FSK: [0.695712,0.695712,0.178802]
2025-08-22T16:37:39.500Z,1755880659.500 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:39.500Z,1755880659.500 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:39.504Z,1755880659.504 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:39.504Z,1755880659.504 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:39.613Z,1755880659.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.199997 m,
      deltaT: 3.804026 s,
      deltaX: -0.199997 m,
      approachRate: -0.052575 m/s,
      rangeRepo size: 4

2025-08-22T16:37:39.619Z,1755880659.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.036804 m,
      bearing: 344.099292 deg,
      lat: 36.779352 deg,
      lon: -121.859668 deg,
      deltaT: 3.804026 s,
      deltaX: -0.198929 m,
      approachRate: -0.052294 m/s,
      posRepo size: 4

2025-08-22T16:37:39.620Z,1755880659.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:39.624Z,1755880659.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 190.144333 m,
      bearing: 346.792414 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158807 deg/s,
      cmd heading: 357.625071 deg,
      new cmd heading: 357.756000 deg.

2025-08-22T16:37:39.625Z,1755880659.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244020 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:39.979Z,1755880659.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:39.983Z,1755880659.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 190.056656 m,
      bearing: 346.851975 deg,
      approach rate: -0.238739 m/s,
      LOS rate: 0.162254 deg/s,
      cmd heading: 357.755992 deg,
      new cmd heading: 357.875168 deg.

2025-08-22T16:37:39.984Z,1755880659.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246100 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:40.445Z,1755880660.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:40.479Z,1755880660.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.959152 m,
      bearing: 346.918445 deg,
      approach rate: -0.209333 m/s,
      LOS rate: 0.142781 deg/s,
      cmd heading: 357.875165 deg,
      new cmd heading: 358.008175 deg.

2025-08-22T16:37:40.480Z,1755880660.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248421 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:40.848Z,1755880660.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:40.853Z,1755880660.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.876266 m,
      bearing: 346.975143 deg,
      approach rate: -0.205853 m/s,
      LOS rate: 0.140874 deg/s,
      cmd heading: 358.008163 deg,
      new cmd heading: 358.121607 deg.

2025-08-22T16:37:40.855Z,1755880660.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250401 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:41.246Z,1755880661.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:41.249Z,1755880661.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:41.251Z,1755880661.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.776291 m,
      bearing: 347.030635 deg,
      approach rate: -0.249312 m/s,
      LOS rate: 0.138456 deg/s,
      cmd heading: 358.121599 deg,
      new cmd heading: 358.232642 deg.

2025-08-22T16:37:41.252Z,1755880661.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252339 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:41.497Z,1755880661.497 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:41.497Z,1755880661.497 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:41.498Z,1755880661.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:41.627Z,1755880661.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:41.630Z,1755880661.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.679001 m,
      bearing: 347.081978 deg,
      approach rate: -0.256797 m/s,
      LOS rate: 0.135588 deg/s,
      cmd heading: 358.232630 deg,
      new cmd heading: 358.335368 deg.

2025-08-22T16:37:41.631Z,1755880661.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254132 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:41.747Z,1755880661.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247808
2025-08-22T16:37:41.999Z,1755880661.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500030
2025-08-22T16:37:42.028Z,1755880662.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:42.031Z,1755880662.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.572311 m,
      bearing: 347.135483 deg,
      approach rate: -0.266539 m/s,
      LOS rate: 0.133746 deg/s,
      cmd heading: 358.335356 deg,
      new cmd heading: 358.442427 deg.

2025-08-22T16:37:42.031Z,1755880662.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256001 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:42.252Z,1755880662.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752586
2025-08-22T16:37:42.456Z,1755880662.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:42.459Z,1755880662.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.456741 m,
      bearing: 347.189211 deg,
      approach rate: -0.269867 m/s,
      LOS rate: 0.125536 deg/s,
      cmd heading: 358.442426 deg,
      new cmd heading: 358.549947 deg.

2025-08-22T16:37:42.460Z,1755880662.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257877 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:42.503Z,1755880662.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004652
2025-08-22T16:37:42.755Z,1755880662.755 [DAT](INFO): DAT read: Rx Time:16:37:43.3168

2025-08-22T16:37:42.755Z,1755880662.755 [DAT](INFO): Rx dataTimestamp_ set to:1755880662.754833
2025-08-22T16:37:42.756Z,1755880662.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256946
2025-08-22T16:37:42.891Z,1755880662.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.04 m.
2025-08-22T16:37:42.895Z,1755880662.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.036804 m,
      nav range: 189.339081 m,
      bearing: 347.241463 deg,
      approach rate: -0.270679 m/s,
      LOS rate: 0.120280 deg/s,
      cmd heading: 358.549961 deg,
      new cmd heading: 358.654529 deg.

2025-08-22T16:37:42.896Z,1755880662.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259702 target range: 198.036804 and range: 199.20 m.
2025-08-22T16:37:43.007Z,1755880663.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507885
2025-08-22T16:37:43.264Z,1755880663.264 [DAT](INFO): DAT read: 16:37:43.3168 LVL= 19568, 27201, 27634, 32227, AGC= 63, IDX= 433, 0.44,-2.598, 1.741, 2.598, 2.945, PHS= 0.843,-1.158,-0.390, RAW= 112.4,   8.1, CAL= 113.8,   9.2, ROT=  36.2,  -9.2

2025-08-22T16:37:43.265Z,1755880663.265 [DAT](INFO): got valid direction response:
 16:37:43.3168 LVL= 19568, 27201, 27634, 32227, AGC= 63, IDX= 433, 0.44,-2.598, 1.741, 2.598, 2.945, PHS= 0.843,-1.158,-0.390, RAW= 112.4,   8.1, CAL= 113.8,   9.2, ROT=  36.2,  -9.2

2025-08-22T16:37:43.266Z,1755880663.266 [DAT](INFO): DAT read: Bearing 100.9,  36.5 (Local)

2025-08-22T16:37:43.266Z,1755880663.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.9,  36.5 (Local)

2025-08-22T16:37:43.268Z,1755880663.268 [DAT](INFO): DAT read: Range 11 to 50 : 198.3 m  (Round-trip  264.5 ms) speed  0.2 m/s

2025-08-22T16:37:43.269Z,1755880663.269 [DAT](INFO): DAT read: user:152>

2025-08-22T16:37:43.269Z,1755880663.269 [DAT](INFO): DAT read: Tx time:16:37:44.3982

2025-08-22T16:37:43.270Z,1755880663.270 [DAT](INFO): Ping request sent.
2025-08-22T16:37:43.270Z,1755880663.270 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:43.270Z,1755880663.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:43.271Z,1755880663.271 [DAT](INFO): direction in FSK: [0.796580,0.583008,0.159881]
2025-08-22T16:37:43.271Z,1755880663.271 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:43.271Z,1755880663.271 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:43.283Z,1755880663.283 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:43.283Z,1755880663.283 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:43.416Z,1755880663.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.300003 m,
      deltaT: 3.779978 s,
      deltaX: -0.899994 m,
      approachRate: -0.238095 m/s,
      rangeRepo size: 4

2025-08-22T16:37:43.423Z,1755880663.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.143860 m,
      bearing: 345.749288 deg,
      lat: 36.779345 deg,
      lon: -121.859726 deg,
      deltaT: 3.779978 s,
      deltaX: -0.892944 m,
      approachRate: -0.236230 m/s,
      posRepo size: 4

2025-08-22T16:37:43.424Z,1755880663.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:43.434Z,1755880663.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.697296 m,
      bearing: 345.749593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.120280 deg/s,
      cmd heading: 358.654517 deg,
      new cmd heading: 358.780714 deg.

2025-08-22T16:37:43.435Z,1755880663.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261905 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:43.882Z,1755880663.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:43.884Z,1755880663.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:43.887Z,1755880663.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.555618 m,
      bearing: 345.802842 deg,
      approach rate: -0.302204 m/s,
      LOS rate: 0.113667 deg/s,
      cmd heading: 358.780712 deg,
      new cmd heading: 358.887290 deg.

2025-08-22T16:37:43.888Z,1755880663.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263765 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:44.014Z,1755880664.014 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:44.014Z,1755880664.014 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:44.015Z,1755880664.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:44.268Z,1755880664.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998338
2025-08-22T16:37:44.304Z,1755880664.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:44.307Z,1755880664.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.422455 m,
      bearing: 345.853300 deg,
      approach rate: -0.317386 m/s,
      LOS rate: 0.120347 deg/s,
      cmd heading: 358.887290 deg,
      new cmd heading: 358.988276 deg.

2025-08-22T16:37:44.307Z,1755880664.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265527 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:44.519Z,1755880664.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249212
2025-08-22T16:37:44.734Z,1755880664.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:44.737Z,1755880664.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.285370 m,
      bearing: 345.901324 deg,
      approach rate: -0.318652 m/s,
      LOS rate: 0.111713 deg/s,
      cmd heading: 358.988268 deg,
      new cmd heading: 359.084386 deg.

2025-08-22T16:37:44.738Z,1755880664.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267205 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:44.771Z,1755880664.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501044
2025-08-22T16:37:45.023Z,1755880665.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753129
2025-08-22T16:37:45.150Z,1755880665.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:45.153Z,1755880665.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.156311 m,
      bearing: 345.944862 deg,
      approach rate: -0.310277 m/s,
      LOS rate: 0.104744 deg/s,
      cmd heading: 359.084382 deg,
      new cmd heading: 359.171518 deg.

2025-08-22T16:37:45.158Z,1755880665.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268725 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:45.276Z,1755880665.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005802
2025-08-22T16:37:45.527Z,1755880665.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256790
2025-08-22T16:37:45.593Z,1755880665.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:45.596Z,1755880665.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 189.003098 m,
      bearing: 345.994239 deg,
      approach rate: -0.345516 m/s,
      LOS rate: 0.111441 deg/s,
      cmd heading: 359.171508 deg,
      new cmd heading: 359.270341 deg.

2025-08-22T16:37:45.597Z,1755880665.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270451 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:45.778Z,1755880665.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508676
2025-08-22T16:37:45.968Z,1755880665.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:45.970Z,1755880665.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:45.973Z,1755880665.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 188.874527 m,
      bearing: 346.034125 deg,
      approach rate: -0.341017 m/s,
      LOS rate: 0.105866 deg/s,
      cmd heading: 359.270355 deg,
      new cmd heading: 359.350182 deg.

2025-08-22T16:37:45.974Z,1755880665.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271844 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:46.031Z,1755880666.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761357
2025-08-22T16:37:46.283Z,1755880666.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012795
2025-08-22T16:37:46.409Z,1755880666.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:46.412Z,1755880666.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 188.727554 m,
      bearing: 346.080033 deg,
      approach rate: -0.334990 m/s,
      LOS rate: 0.104716 deg/s,
      cmd heading: 359.350186 deg,
      new cmd heading: 359.442072 deg.

2025-08-22T16:37:46.413Z,1755880666.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273448 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:46.535Z,1755880666.535 [DAT](INFO): DAT read: Rx Time:16:37:47.0657

2025-08-22T16:37:46.535Z,1755880666.535 [DAT](INFO): Rx dataTimestamp_ set to:1755880666.534708
2025-08-22T16:37:46.535Z,1755880666.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265778
2025-08-22T16:37:46.780Z,1755880666.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.14 m.
2025-08-22T16:37:46.782Z,1755880666.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.143860 m,
      nav range: 188.601059 m,
      bearing: 346.118028 deg,
      approach rate: -0.341338 m/s,
      LOS rate: 0.102598 deg/s,
      cmd heading: 359.442066 deg,
      new cmd heading: 359.518108 deg.

2025-08-22T16:37:46.783Z,1755880666.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274775 target range: 197.143860 and range: 198.30 m.
2025-08-22T16:37:46.787Z,1755880666.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516864
2025-08-22T16:37:47.044Z,1755880667.044 [DAT](INFO): DAT read: 16:37:47.0657 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 437,-0.09, 0.415,-1.546,-0.331,-0.138, PHS= 0.654,-1.363,-0.237, RAW= 123.8,  10.8, CAL= 124.3,  12.0, ROT=  25.7, -12.0

2025-08-22T16:37:47.045Z,1755880667.045 [DAT](INFO): got valid direction response:
 16:37:47.0657 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 437,-0.09, 0.415,-1.546,-0.331,-0.138, PHS= 0.654,-1.363,-0.237, RAW= 123.8,  10.8, CAL= 124.3,  12.0, ROT=  25.7, -12.0

2025-08-22T16:37:47.047Z,1755880667.047 [DAT](INFO): DAT read: Bearing 117.3,  26.9 (Local)

2025-08-22T16:37:47.047Z,1755880667.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.3,  26.9 (Local)

2025-08-22T16:37:47.048Z,1755880667.048 [DAT](INFO): DAT read: Range 11 to 50 : 197.4 m  (Round-trip  263.3 ms) speed  0.0 m/s

2025-08-22T16:37:47.049Z,1755880667.049 [DAT](INFO): DAT read: user:153>

2025-08-22T16:37:47.050Z,1755880667.050 [DAT](INFO): DAT read: Tx time:16:37:48.1482

2025-08-22T16:37:47.050Z,1755880667.050 [DAT](INFO): Ping request sent.
2025-08-22T16:37:47.050Z,1755880667.050 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:47.051Z,1755880667.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:47.052Z,1755880667.052 [DAT](INFO): direction in FSK: [0.881386,0.424183,0.207912]
2025-08-22T16:37:47.052Z,1755880667.052 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:47.052Z,1755880667.052 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:47.055Z,1755880667.055 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:47.055Z,1755880667.055 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:47.277Z,1755880667.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 197.399994 m,
      deltaT: 3.780014 s,
      deltaX: -0.900009 m,
      approachRate: -0.238097 m/s,
      rangeRepo size: 4

2025-08-22T16:37:47.291Z,1755880667.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 196.246567 m,
      bearing: 347.714555 deg,
      lat: 36.779345 deg,
      lon: -121.859726 deg,
      deltaT: 3.780014 s,
      deltaX: -0.897293 m,
      approachRate: -0.237378 m/s,
      posRepo size: 4

2025-08-22T16:37:47.292Z,1755880667.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:47.299Z,1755880667.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 188.453064 m,
      bearing: 346.160809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.102598 deg/s,
      cmd heading: 359.518099 deg,
      new cmd heading: 359.618428 deg.

2025-08-22T16:37:47.300Z,1755880667.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276525 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:47.628Z,1755880667.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:47.631Z,1755880667.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 188.311935 m,
      bearing: 346.202197 deg,
      approach rate: -0.392538 m/s,
      LOS rate: 0.115205 deg/s,
      cmd heading: 359.618421 deg,
      new cmd heading: 359.701260 deg.

2025-08-22T16:37:47.632Z,1755880667.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277971 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:48.000Z,1755880668.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:48.002Z,1755880668.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:48.005Z,1755880668.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 188.182526 m,
      bearing: 346.237151 deg,
      approach rate: -0.345593 m/s,
      LOS rate: 0.093410 deg/s,
      cmd heading: 359.701258 deg,
      new cmd heading: 359.771214 deg.

2025-08-22T16:37:48.006Z,1755880668.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279192 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:48.047Z,1755880668.047 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:48.047Z,1755880668.047 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:48.047Z,1755880668.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:48.298Z,1755880668.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247974
2025-08-22T16:37:48.440Z,1755880668.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:48.447Z,1755880668.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 188.037476 m,
      bearing: 346.274025 deg,
      approach rate: -0.331682 m/s,
      LOS rate: 0.084385 deg/s,
      cmd heading: 359.771226 deg,
      new cmd heading: 359.845032 deg.

2025-08-22T16:37:48.448Z,1755880668.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280480 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:48.551Z,1755880668.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500128
2025-08-22T16:37:48.803Z,1755880668.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752080
2025-08-22T16:37:48.818Z,1755880668.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:48.828Z,1755880668.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 187.902573 m,
      bearing: 346.306937 deg,
      approach rate: -0.356574 m/s,
      LOS rate: 0.087054 deg/s,
      cmd heading: 359.845019 deg,
      new cmd heading: 359.910890 deg.

2025-08-22T16:37:48.829Z,1755880668.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281630 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:49.057Z,1755880669.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006864
2025-08-22T16:37:49.215Z,1755880669.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:49.217Z,1755880669.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 187.754562 m,
      bearing: 346.341492 deg,
      approach rate: -0.373216 m/s,
      LOS rate: 0.087202 deg/s,
      cmd heading: 359.910890 deg,
      new cmd heading: 359.980055 deg.

2025-08-22T16:37:49.218Z,1755880669.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282837 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:49.310Z,1755880669.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258776
2025-08-22T16:37:49.558Z,1755880669.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507959
2025-08-22T16:37:49.657Z,1755880669.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:49.664Z,1755880669.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 187.609268 m,
      bearing: 346.374155 deg,
      approach rate: -0.328770 m/s,
      LOS rate: 0.073965 deg/s,
      cmd heading: 359.980066 deg,
      new cmd heading: 0.045441 deg.

2025-08-22T16:37:49.665Z,1755880669.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000793 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:49.811Z,1755880669.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760258
2025-08-22T16:37:50.030Z,1755880670.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:50.032Z,1755880670.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:50.035Z,1755880670.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 187.470627 m,
      bearing: 346.403934 deg,
      approach rate: -0.369407 m/s,
      LOS rate: 0.079406 deg/s,
      cmd heading: 0.045441 deg,
      new cmd heading: 0.105044 deg.

2025-08-22T16:37:50.036Z,1755880670.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001833 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:50.068Z,1755880670.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017721
2025-08-22T16:37:50.320Z,1755880670.320 [DAT](INFO): DAT read: Rx Time:16:37:50.8142

2025-08-22T16:37:50.321Z,1755880670.321 [DAT](INFO): Rx dataTimestamp_ set to:1755880670.320530
2025-08-22T16:37:50.323Z,1755880670.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271854
2025-08-22T16:37:50.463Z,1755880670.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.25 m.
2025-08-22T16:37:50.471Z,1755880670.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.246567 m,
      nav range: 187.325851 m,
      bearing: 346.432468 deg,
      approach rate: -0.335470 m/s,
      LOS rate: 0.066168 deg/s,
      cmd heading: 0.105044 deg,
      new cmd heading: 0.162155 deg.

2025-08-22T16:37:50.472Z,1755880670.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002830 target range: 196.246567 and range: 197.40 m.
2025-08-22T16:37:50.571Z,1755880670.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520610
2025-08-22T16:37:50.832Z,1755880670.832 [DAT](INFO): DAT read: 16:37:50.8142 LVL= 28992, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.12,-2.340, 2.037,-2.791,-2.737, PHS= 0.499,-1.464,-0.098, RAW= 132.7,  12.2, CAL= 132.2,  13.3, ROT=  17.8, -13.3

2025-08-22T16:37:50.834Z,1755880670.834 [DAT](INFO): got valid direction response:
 16:37:50.8142 LVL= 28992, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.12,-2.340, 2.037,-2.791,-2.737, PHS= 0.499,-1.464,-0.098, RAW= 132.7,  12.2, CAL= 132.2,  13.3, ROT=  17.8, -13.3

2025-08-22T16:37:50.836Z,1755880670.836 [DAT](INFO): DAT read: Bearing 131.2,  20.0 (Local)

2025-08-22T16:37:50.836Z,1755880670.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 131.2,  20.0 (Local)

2025-08-22T16:37:50.843Z,1755880670.843 [DAT](INFO): DAT read: Range 11 to 50 : 196.4 m  (Round-trip  261.9 ms) speed  0.2 m/s

2025-08-22T16:37:50.844Z,1755880670.844 [DAT](INFO): DAT read: user:154>

2025-08-22T16:37:50.845Z,1755880670.845 [DAT](INFO): DAT read: Tx time:16:37:51.8982

2025-08-22T16:37:50.861Z,1755880670.861 [DAT](INFO): Ping request sent.
2025-08-22T16:37:50.862Z,1755880670.862 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:50.862Z,1755880670.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:50.863Z,1755880670.863 [DAT](INFO): direction in FSK: [0.926592,0.297496,0.230050]
2025-08-22T16:37:50.863Z,1755880670.863 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:50.863Z,1755880670.863 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:50.891Z,1755880670.891 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:50.891Z,1755880670.891 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:50.943Z,1755880670.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.399994 m,
      deltaT: 3.784821 s,
      deltaX: -1.000000 m,
      approachRate: -0.264213 m/s,
      rangeRepo size: 4

2025-08-22T16:37:50.945Z,1755880670.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.253448 m,
      bearing: 349.098037 deg,
      lat: 36.779345 deg,
      lon: -121.859669 deg,
      deltaT: 3.784821 s,
      deltaX: -0.993118 m,
      approachRate: -0.262395 m/s,
      posRepo size: 4

2025-08-22T16:37:50.950Z,1755880670.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:50.952Z,1755880670.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 186.043854 m,
      bearing: 347.985793 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.066168 deg/s,
      cmd heading: 0.162155 deg,
      new cmd heading: 0.225533 deg.

2025-08-22T16:37:50.956Z,1755880670.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003936 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:51.355Z,1755880671.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:51.357Z,1755880671.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.909897 m,
      bearing: 348.011627 deg,
      approach rate: -0.325030 m/s,
      LOS rate: 0.062728 deg/s,
      cmd heading: 0.225533 deg,
      new cmd heading: 0.277238 deg.

2025-08-22T16:37:51.363Z,1755880671.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004839 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:51.733Z,1755880671.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:51.736Z,1755880671.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.754822 m,
      bearing: 348.037789 deg,
      approach rate: -0.410198 m/s,
      LOS rate: 0.069261 deg/s,
      cmd heading: 0.277238 deg,
      new cmd heading: 0.329606 deg.

2025-08-22T16:37:51.737Z,1755880671.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005753 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:52.110Z,1755880672.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:52.112Z,1755880672.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:52.131Z,1755880672.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.615997 m,
      bearing: 348.060141 deg,
      approach rate: -0.366036 m/s,
      LOS rate: 0.058980 deg/s,
      cmd heading: 0.329606 deg,
      new cmd heading: 0.374344 deg.

2025-08-22T16:37:52.132Z,1755880672.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006534 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:52.338Z,1755880672.338 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:52.338Z,1755880672.338 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:52.339Z,1755880672.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:52.548Z,1755880672.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:52.555Z,1755880672.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.465790 m,
      bearing: 348.081939 deg,
      approach rate: -0.344198 m/s,
      LOS rate: 0.049990 deg/s,
      cmd heading: 0.374344 deg,
      new cmd heading: 0.417975 deg.

2025-08-22T16:37:52.556Z,1755880672.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007295 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:52.587Z,1755880672.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725221
2025-08-22T16:37:52.839Z,1755880672.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977630
2025-08-22T16:37:53.005Z,1755880673.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:53.008Z,1755880673.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.301193 m,
      bearing: 348.105871 deg,
      approach rate: -0.360276 m/s,
      LOS rate: 0.052430 deg/s,
      cmd heading: 0.417975 deg,
      new cmd heading: 0.465882 deg.

2025-08-22T16:37:53.009Z,1755880673.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008131 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:53.092Z,1755880673.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230120
2025-08-22T16:37:53.346Z,1755880673.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483165
2025-08-22T16:37:53.450Z,1755880673.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:53.452Z,1755880673.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 185.128220 m,
      bearing: 348.126850 deg,
      approach rate: -0.389253 m/s,
      LOS rate: 0.047254 deg/s,
      cmd heading: 0.465882 deg,
      new cmd heading: 0.507879 deg.

2025-08-22T16:37:53.453Z,1755880673.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008864 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:53.595Z,1755880673.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733203
2025-08-22T16:37:53.847Z,1755880673.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985345
2025-08-22T16:37:53.953Z,1755880673.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:53.955Z,1755880673.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 184.934555 m,
      bearing: 348.147704 deg,
      approach rate: -0.384967 m/s,
      LOS rate: 0.041497 deg/s,
      cmd heading: 0.507879 deg,
      new cmd heading: 0.549630 deg.

2025-08-22T16:37:53.956Z,1755880673.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009593 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:54.098Z,1755880674.098 [DAT](INFO): DAT read: Rx Time:16:37:54.5625

2025-08-22T16:37:54.099Z,1755880674.099 [DAT](INFO): Rx dataTimestamp_ set to:1755880674.098685
2025-08-22T16:37:54.099Z,1755880674.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237970
2025-08-22T16:37:54.355Z,1755880674.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492564
2025-08-22T16:37:54.484Z,1755880674.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:54.487Z,1755880674.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.25 m.
2025-08-22T16:37:54.489Z,1755880674.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.253448 m,
      nav range: 184.730270 m,
      bearing: 348.166696 deg,
      approach rate: -0.382453 m/s,
      LOS rate: 0.035595 deg/s,
      cmd heading: 0.549630 deg,
      new cmd heading: 0.587656 deg.

2025-08-22T16:37:54.506Z,1755880674.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010257 target range: 195.253448 and range: 196.40 m.
2025-08-22T16:37:54.608Z,1755880674.608 [DAT](INFO): DAT read: 16:37:54.5625 LVL= 31776, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.05, 0.039,-1.802,-0.174,-0.325, PHS= 0.467,-1.432, 0.108, RAW= 139.7,   9.8, CAL= 139.3,  10.8, ROT=  10.7, -10.8

2025-08-22T16:37:54.609Z,1755880674.609 [DAT](INFO): got valid direction response:
 16:37:54.5625 LVL= 31776, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.05, 0.039,-1.802,-0.174,-0.325, PHS= 0.467,-1.432, 0.108, RAW= 139.7,   9.8, CAL= 139.3,  10.8, ROT=  10.7, -10.8

2025-08-22T16:37:54.610Z,1755880674.610 [DAT](INFO): DAT read: Bearing 141.1,  13.1 (Local)

2025-08-22T16:37:54.610Z,1755880674.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1,  13.1 (Local)

2025-08-22T16:37:54.612Z,1755880674.612 [DAT](INFO): DAT read: Range 11 to 50 : 195.1 m  (Round-trip  260.2 ms) speed  0.0 m/s

2025-08-22T16:37:54.612Z,1755880674.612 [DAT](INFO): DAT read: user:155>

2025-08-22T16:37:54.613Z,1755880674.613 [DAT](INFO): DAT read: Tx time:16:37:55.6482

2025-08-22T16:37:54.614Z,1755880674.614 [DAT](INFO): Ping request sent.
2025-08-22T16:37:54.614Z,1755880674.614 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:54.614Z,1755880674.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:54.615Z,1755880674.615 [DAT](INFO): direction in FSK: [0.965208,0.182378,0.187381]
2025-08-22T16:37:54.615Z,1755880674.615 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:54.615Z,1755880674.615 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:54.618Z,1755880674.618 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:54.619Z,1755880674.619 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:54.882Z,1755880674.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.100006 m,
      deltaT: 3.779216 s,
      deltaX: -1.299988 m,
      approachRate: -0.343983 m/s,
      rangeRepo size: 4

2025-08-22T16:37:54.884Z,1755880674.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 193.961075 m,
      bearing: 355.710579 deg,
      lat: 36.779351 deg,
      lon: -121.859669 deg,
      deltaT: 3.779216 s,
      deltaX: -1.292374 m,
      approachRate: -0.341969 m/s,
      posRepo size: 4

2025-08-22T16:37:54.885Z,1755880674.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:54.904Z,1755880674.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 185.243271 m,
      bearing: 348.222450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035595 deg/s,
      cmd heading: 0.587656 deg,
      new cmd heading: 0.615755 deg.

2025-08-22T16:37:54.905Z,1755880674.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010747 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:55.286Z,1755880675.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:55.288Z,1755880675.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 185.088272 m,
      bearing: 348.234865 deg,
      approach rate: -0.383690 m/s,
      LOS rate: 0.030758 deg/s,
      cmd heading: 0.615755 deg,
      new cmd heading: 0.640606 deg.

2025-08-22T16:37:55.289Z,1755880675.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011181 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:55.697Z,1755880675.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:55.700Z,1755880675.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.923828 m,
      bearing: 348.246975 deg,
      approach rate: -0.399273 m/s,
      LOS rate: 0.029431 deg/s,
      cmd heading: 0.640606 deg,
      new cmd heading: 0.664849 deg.

2025-08-22T16:37:55.701Z,1755880675.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011604 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:56.089Z,1755880676.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:56.092Z,1755880676.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.770340 m,
      bearing: 348.257354 deg,
      approach rate: -0.391499 m/s,
      LOS rate: 0.026496 deg/s,
      cmd heading: 0.664849 deg,
      new cmd heading: 0.685624 deg.

2025-08-22T16:37:56.093Z,1755880676.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011966 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:56.508Z,1755880676.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:56.510Z,1755880676.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:56.513Z,1755880676.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.610184 m,
      bearing: 348.265528 deg,
      approach rate: -0.380469 m/s,
      LOS rate: 0.019436 deg/s,
      cmd heading: 0.685624 deg,
      new cmd heading: 0.701987 deg.

2025-08-22T16:37:56.514Z,1755880676.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012252 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:56.619Z,1755880676.619 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:56.619Z,1755880676.619 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:56.620Z,1755880676.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:56.871Z,1755880676.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256953
2025-08-22T16:37:56.901Z,1755880676.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:56.904Z,1755880676.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.460403 m,
      bearing: 348.272380 deg,
      approach rate: -0.383055 m/s,
      LOS rate: 0.017538 deg/s,
      cmd heading: 0.701987 deg,
      new cmd heading: 0.715702 deg.

2025-08-22T16:37:56.905Z,1755880676.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012491 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:57.123Z,1755880677.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509325
2025-08-22T16:37:57.294Z,1755880677.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:57.296Z,1755880677.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.310135 m,
      bearing: 348.278530 deg,
      approach rate: -0.383091 m/s,
      LOS rate: 0.015692 deg/s,
      cmd heading: 0.715702 deg,
      new cmd heading: 0.728012 deg.

2025-08-22T16:37:57.297Z,1755880677.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012706 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:57.381Z,1755880677.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766346
2025-08-22T16:37:57.627Z,1755880677.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012852
2025-08-22T16:37:57.699Z,1755880677.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:57.702Z,1755880677.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 184.154510 m,
      bearing: 348.284217 deg,
      approach rate: -0.383775 m/s,
      LOS rate: 0.014035 deg/s,
      cmd heading: 0.728012 deg,
      new cmd heading: 0.739395 deg.

2025-08-22T16:37:57.703Z,1755880677.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012905 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:57.882Z,1755880677.882 [DAT](INFO): DAT read: Rx Time:16:37:58.3337

2025-08-22T16:37:57.883Z,1755880677.883 [DAT](INFO): Rx dataTimestamp_ set to:1755880677.882324
2025-08-22T16:37:57.883Z,1755880677.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485
2025-08-22T16:37:58.112Z,1755880678.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.96 m.
2025-08-22T16:37:58.115Z,1755880678.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 193.961075 m,
      nav range: 183.995575 m,
      bearing: 348.289329 deg,
      approach rate: -0.384371 m/s,
      LOS rate: 0.012374 deg/s,
      cmd heading: 0.739395 deg,
      new cmd heading: 0.749628 deg.

2025-08-22T16:37:58.116Z,1755880678.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013083 target range: 193.961075 and range: 195.10 m.
2025-08-22T16:37:58.131Z,1755880678.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516856
2025-08-22T16:37:58.416Z,1755880678.416 [DAT](INFO): DAT read: 16:37:58.3337 LVL= 23968, 31345, 25122, 32755, AGC= 69, IDX= 142, 0.35,-1.974, 2.615,-1.677,-2.181, PHS= 0.310,-1.442, 0.460, RAW= 154.1,   7.4, CAL= 153.5,   7.7, ROT= 356.5,  -7.7

2025-08-22T16:37:58.420Z,1755880678.420 [DAT](INFO): got valid direction response:
 16:37:58.3337 LVL= 23968, 31345, 25122, 32755, AGC= 69, IDX= 142, 0.35,-1.974, 2.615,-1.677,-2.181, PHS= 0.310,-1.442, 0.460, RAW= 154.1,   7.4, CAL= 153.5,   7.7, ROT= 356.5,  -7.7

2025-08-22T16:37:58.441Z,1755880678.441 [DAT](INFO): DAT read: Bearing 150.8,  -0.8 (Local)

2025-08-22T16:37:58.441Z,1755880678.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8,  -0.8 (Local)

2025-08-22T16:37:58.443Z,1755880678.443 [DAT](INFO): DAT read: Range 11 to 50 : 211.0 m  (Round-trip  281.4 ms) speed  0.4 m/s

2025-08-22T16:37:58.444Z,1755880678.444 [DAT](INFO): DAT read: user:156>

2025-08-22T16:37:58.444Z,1755880678.444 [DAT](INFO): DAT read: Tx time:16:37:59.4482

2025-08-22T16:37:58.444Z,1755880678.444 [DAT](INFO): Ping request sent.
2025-08-22T16:37:58.445Z,1755880678.445 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:37:58.445Z,1755880678.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:37:58.446Z,1755880678.446 [DAT](INFO): direction in FSK: [0.989135,-0.060498,0.133986]
2025-08-22T16:37:58.446Z,1755880678.446 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:58.447Z,1755880678.447 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:58.486Z,1755880678.486 [DAT](INFO): publishing transmit ping time
2025-08-22T16:37:58.486Z,1755880678.486 [DAT](INFO): publishing direction and range info
2025-08-22T16:37:58.640Z,1755880678.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 211.000000 m,
      deltaT: 3.782496 s,
      deltaX: 15.899994 m,
      approachRate: 4.203572 m/s,
      rangeRepo size: 4

2025-08-22T16:37:58.647Z,1755880678.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.769043 m,
      bearing: 351.117773 deg,
      lat: 36.779358 deg,
      lon: -121.859630 deg,
      deltaT: 3.782496 s,
      deltaX: 15.807968 m,
      approachRate: 4.179243 m/s,
      posRepo size: 4

2025-08-22T16:37:58.650Z,1755880678.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:37:58.652Z,1755880678.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.834717 m,
      bearing: 349.381035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012374 deg/s,
      cmd heading: 0.749628 deg,
      new cmd heading: 0.762678 deg.

2025-08-22T16:37:58.654Z,1755880678.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013311 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:37:58.932Z,1755880678.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:37:58.934Z,1755880678.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:37:58.936Z,1755880678.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.718887 m,
      bearing: 349.384594 deg,
      approach rate: -0.394191 m/s,
      LOS rate: 0.012117 deg/s,
      cmd heading: 0.762678 deg,
      new cmd heading: 0.769799 deg.

2025-08-22T16:37:58.938Z,1755880678.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013436 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:37:59.141Z,1755880679.141 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:37:59.141Z,1755880679.141 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:37:59.141Z,1755880679.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:37:59.332Z,1755880679.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:37:59.335Z,1755880679.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.565369 m,
      bearing: 349.388797 deg,
      approach rate: -0.385062 m/s,
      LOS rate: 0.010553 deg/s,
      cmd heading: 0.769799 deg,
      new cmd heading: 0.778213 deg.

2025-08-22T16:37:59.336Z,1755880679.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013582 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:37:59.392Z,1755880679.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946524
2025-08-22T16:37:59.642Z,1755880679.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197857
2025-08-22T16:37:59.850Z,1755880679.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:37:59.853Z,1755880679.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.366898 m,
      bearing: 349.390338 deg,
      approach rate: -0.383003 m/s,
      LOS rate: 0.002977 deg/s,
      cmd heading: 0.778214 deg,
      new cmd heading: 0.781298 deg.

2025-08-22T16:37:59.854Z,1755880679.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013636 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:37:59.895Z,1755880679.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450282
2025-08-22T16:38:00.146Z,1755880680.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701826
2025-08-22T16:38:00.239Z,1755880680.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:38:00.241Z,1755880680.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.219498 m,
      bearing: 349.391485 deg,
      approach rate: -0.379695 m/s,
      LOS rate: 0.002956 deg/s,
      cmd heading: 0.781298 deg,
      new cmd heading: 0.783594 deg.

2025-08-22T16:38:00.242Z,1755880680.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013676 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:38:00.403Z,1755880680.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956738
2025-08-22T16:38:00.498Z,1755880680.498 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:38:00.651Z,1755880680.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206006
2025-08-22T16:38:00.673Z,1755880680.673 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA 176.01, 212.57, 194.72, 190.47
2025-08-22T16:38:00.696Z,1755880680.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:38:00.718Z,1755880680.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 183.047394 m,
      bearing: 349.391982 deg,
      approach rate: -0.376610 m/s,
      LOS rate: 0.001088 deg/s,
      cmd heading: 0.783594 deg,
      new cmd heading: 0.784588 deg.

2025-08-22T16:38:00.719Z,1755880680.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013694 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:38:00.902Z,1755880680.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457862
2025-08-22T16:38:01.096Z,1755880681.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:01.098Z,1755880681.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:38:01.100Z,1755880681.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 182.894119 m,
      bearing: 349.392102 deg,
      approach rate: -0.381331 m/s,
      LOS rate: 0.000299 deg/s,
      cmd heading: 0.784588 deg,
      new cmd heading: 0.784829 deg.

2025-08-22T16:38:01.101Z,1755880681.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013698 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:38:01.155Z,1755880681.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710736
2025-08-22T16:38:01.406Z,1755880681.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961861
2025-08-22T16:38:01.502Z,1755880681.502 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:38:01.584Z,1755880681.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:38:01.591Z,1755880681.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 182.710281 m,
      bearing: 349.391432 deg,
      approach rate: -0.377608 m/s,
      LOS rate: -0.001378 deg/s,
      cmd heading: 0.784829 deg,
      new cmd heading: 0.783487 deg.

2025-08-22T16:38:01.592Z,1755880681.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013674 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:38:01.659Z,1755880681.659 [DAT](INFO): DAT read: Rx Time:16:38:02.1317

2025-08-22T16:38:01.660Z,1755880681.660 [DAT](INFO): Rx dataTimestamp_ set to:1755880681.659449
2025-08-22T16:38:01.661Z,1755880681.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215990
2025-08-22T16:38:01.911Z,1755880681.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465985
2025-08-22T16:38:01.919Z,1755880681.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.77 m.
2025-08-22T16:38:01.922Z,1755880681.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.769043 m,
      nav range: 182.574646 m,
      bearing: 349.390335 deg,
      approach rate: -0.405558 m/s,
      LOS rate: -0.003282 deg/s,
      cmd heading: 0.783487 deg,
      new cmd heading: 0.781291 deg.

2025-08-22T16:38:01.923Z,1755880681.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013636 target range: 209.769043 and range: 211.00 m.
2025-08-22T16:38:02.170Z,1755880682.170 [DAT](INFO): DAT read: 16:38:02.1317 LVL= 32752, 32753, 30034, 32755, AGC= 71, IDX= 425, 0.33,-3.071, 1.642,-2.497,-3.053, PHS= 0.084,-1.542, 0.512, RAW= 161.4,  10.1, CAL= 161.3,  11.0, ROT= 348.7, -11.0

2025-08-22T16:38:02.172Z,1755880682.172 [DAT](INFO): got valid direction response:
 16:38:02.1317 LVL= 32752, 32753, 30034, 32755, AGC= 71, IDX= 425, 0.33,-3.071, 1.642,-2.497,-3.053, PHS= 0.084,-1.542, 0.512, RAW= 161.4,  10.1, CAL= 161.3,  11.0, ROT= 348.7, -11.0

2025-08-22T16:38:02.173Z,1755880682.173 [DAT](INFO): DAT read: Bearing 160.7,  -7.6 (Local)

2025-08-22T16:38:02.174Z,1755880682.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.7,  -7.6 (Local)

2025-08-22T16:38:02.176Z,1755880682.176 [DAT](INFO): DAT read: Range 11 to 50 : 209.4 m  (Round-trip  279.3 ms) speed  0.0 m/s

2025-08-22T16:38:02.177Z,1755880682.177 [DAT](INFO): DAT read: user:157>

2025-08-22T16:38:02.182Z,1755880682.182 [DAT](INFO): DAT read: Tx time:16:38:03.2482

2025-08-22T16:38:02.182Z,1755880682.182 [DAT](INFO): Ping request sent.
2025-08-22T16:38:02.183Z,1755880682.183 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:02.183Z,1755880682.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:02.184Z,1755880682.184 [DAT](INFO): direction in FSK: [0.962598,-0.192346,0.190809]
2025-08-22T16:38:02.185Z,1755880682.185 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:02.187Z,1755880682.187 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:02.191Z,1755880682.191 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:02.192Z,1755880682.192 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:02.358Z,1755880682.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 209.399994 m,
      deltaT: 3.777537 s,
      deltaX: -1.600006 m,
      approachRate: -0.423558 m/s,
      rangeRepo size: 4

2025-08-22T16:38:02.360Z,1755880682.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 208.178467 m,
      bearing: 347.688020 deg,
      lat: 36.779412 deg,
      lon: -121.859630 deg,
      deltaT: 3.777537 s,
      deltaX: -1.590576 m,
      approachRate: -0.421062 m/s,
      posRepo size: 4

2025-08-22T16:38:02.361Z,1755880682.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:02.368Z,1755880682.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 188.372452 m,
      bearing: 349.728412 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003282 deg/s,
      cmd heading: 0.781291 deg,
      new cmd heading: 0.778438 deg.

2025-08-22T16:38:02.369Z,1755880682.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013586 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:02.807Z,1755880682.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:02.816Z,1755880682.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 188.195953 m,
      bearing: 349.727775 deg,
      approach rate: -0.389660 m/s,
      LOS rate: -0.001409 deg/s,
      cmd heading: 0.778438 deg,
      new cmd heading: 0.777162 deg.

2025-08-22T16:38:02.821Z,1755880682.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013564 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:03.184Z,1755880683.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:03.203Z,1755880683.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:03.214Z,1755880683.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 188.032883 m,
      bearing: 349.727086 deg,
      approach rate: -0.411233 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 0.777162 deg,
      new cmd heading: 0.775784 deg.

2025-08-22T16:38:03.215Z,1755880683.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013540 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:03.426Z,1755880683.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:03.426Z,1755880683.426 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:03.426Z,1755880683.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:03.613Z,1755880683.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:03.616Z,1755880683.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 187.857513 m,
      bearing: 349.724158 deg,
      approach rate: -0.427753 m/s,
      LOS rate: -0.007151 deg/s,
      cmd heading: 0.775784 deg,
      new cmd heading: 0.769921 deg.

2025-08-22T16:38:03.617Z,1755880683.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013438 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:03.676Z,1755880683.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492893
2025-08-22T16:38:03.927Z,1755880683.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744091
2025-08-22T16:38:03.999Z,1755880683.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:04.006Z,1755880684.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 187.701828 m,
      bearing: 349.721421 deg,
      approach rate: -0.403018 m/s,
      LOS rate: -0.007089 deg/s,
      cmd heading: 0.769921 deg,
      new cmd heading: 0.764444 deg.

2025-08-22T16:38:04.007Z,1755880684.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013342 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:04.180Z,1755880684.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997090
2025-08-22T16:38:04.374Z,1755880684.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:04.377Z,1755880684.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 187.547562 m,
      bearing: 349.718675 deg,
      approach rate: -0.411373 m/s,
      LOS rate: -0.007330 deg/s,
      cmd heading: 0.764444 deg,
      new cmd heading: 0.758946 deg.

2025-08-22T16:38:04.379Z,1755880684.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013246 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:04.432Z,1755880684.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248954
2025-08-22T16:38:04.682Z,1755880684.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499829
2025-08-22T16:38:04.864Z,1755880684.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:04.883Z,1755880684.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 187.345261 m,
      bearing: 349.713914 deg,
      approach rate: -0.412623 m/s,
      LOS rate: -0.009721 deg/s,
      cmd heading: 0.758946 deg,
      new cmd heading: 0.749414 deg.

2025-08-22T16:38:04.884Z,1755880684.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013080 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:04.935Z,1755880684.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752041
2025-08-22T16:38:05.187Z,1755880685.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004273
2025-08-22T16:38:05.352Z,1755880685.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:05.354Z,1755880685.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:05.356Z,1755880685.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 187.143845 m,
      bearing: 349.709095 deg,
      approach rate: -0.411648 m/s,
      LOS rate: -0.009859 deg/s,
      cmd heading: 0.749414 deg,
      new cmd heading: 0.739766 deg.

2025-08-22T16:38:05.358Z,1755880685.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012911 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:05.439Z,1755880685.439 [DAT](INFO): DAT read: Rx Time:16:38:05.9067

2025-08-22T16:38:05.439Z,1755880685.439 [DAT](INFO): Rx dataTimestamp_ set to:1755880685.438941
2025-08-22T16:38:05.440Z,1755880685.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257176
2025-08-22T16:38:05.691Z,1755880685.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508122
2025-08-22T16:38:05.878Z,1755880685.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.18 m.
2025-08-22T16:38:05.881Z,1755880685.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.178467 m,
      nav range: 186.928635 m,
      bearing: 349.702781 deg,
      approach rate: -0.410496 m/s,
      LOS rate: -0.012058 deg/s,
      cmd heading: 0.739766 deg,
      new cmd heading: 0.727123 deg.

2025-08-22T16:38:05.882Z,1755880685.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012691 target range: 208.178467 and range: 209.40 m.
2025-08-22T16:38:05.951Z,1755880685.951 [DAT](INFO): DAT read: 16:38:05.9067 LVL= 28144, 31617, 22642, 32755, AGC= 70, IDX= 185,-0.05,-0.119,-1.672, 0.398,-0.141, PHS= 0.125,-1.486, 0.495, RAW= 160.1,   9.5, CAL= 160.0,  10.2, ROT= 350.0, -10.2

2025-08-22T16:38:05.953Z,1755880685.953 [DAT](INFO): got valid direction response:
 16:38:05.9067 LVL= 28144, 31617, 22642, 32755, AGC= 70, IDX= 185,-0.05,-0.119,-1.672, 0.398,-0.141, PHS= 0.125,-1.486, 0.495, RAW= 160.1,   9.5, CAL= 160.0,  10.2, ROT= 350.0, -10.2

2025-08-22T16:38:05.954Z,1755880685.954 [DAT](INFO): DAT read: Bearing 160.6,  -6.8 (Local)

2025-08-22T16:38:05.955Z,1755880685.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,  -6.8 (Local)

2025-08-22T16:38:05.957Z,1755880685.957 [DAT](INFO): DAT read: Range 11 to 50 : 190.7 m  (Round-trip  254.3 ms) speed  0.3 m/s

2025-08-22T16:38:05.958Z,1755880685.958 [DAT](INFO): DAT read: user:158>

2025-08-22T16:38:05.959Z,1755880685.959 [DAT](INFO): DAT read: Tx time:16:38:06.9982

2025-08-22T16:38:05.960Z,1755880685.960 [DAT](INFO): Ping request sent.
2025-08-22T16:38:05.960Z,1755880685.960 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:05.960Z,1755880685.960 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:05.962Z,1755880685.962 [DAT](INFO): direction in FSK: [0.969244,-0.170904,0.177085]
2025-08-22T16:38:05.962Z,1755880685.962 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:05.963Z,1755880685.963 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:05.972Z,1755880685.972 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:05.972Z,1755880685.972 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:06.258Z,1755880686.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.699997 m,
      deltaT: 3.780214 s,
      deltaX: -18.699997 m,
      approachRate: -4.946809 m/s,
      rangeRepo size: 4

2025-08-22T16:38:06.260Z,1755880686.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.587540 m,
      bearing: 350.342467 deg,
      lat: 36.779412 deg,
      lon: -121.859610 deg,
      deltaT: 3.780214 s,
      deltaX: -18.590927 m,
      approachRate: -4.917956 m/s,
      posRepo size: 4

2025-08-22T16:38:06.261Z,1755880686.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:06.264Z,1755880686.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 186.458069 m,
      bearing: 350.247473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012058 deg/s,
      cmd heading: 0.727123 deg,
      new cmd heading: 0.717975 deg.

2025-08-22T16:38:06.265Z,1755880686.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012531 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:06.696Z,1755880686.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:06.703Z,1755880686.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 186.285583 m,
      bearing: 350.242698 deg,
      approach rate: -0.393307 m/s,
      LOS rate: -0.010897 deg/s,
      cmd heading: 0.717975 deg,
      new cmd heading: 0.708417 deg.

2025-08-22T16:38:06.704Z,1755880686.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012364 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:07.069Z,1755880687.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:07.072Z,1755880687.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 186.122375 m,
      bearing: 350.238049 deg,
      approach rate: -0.437708 m/s,
      LOS rate: -0.012481 deg/s,
      cmd heading: 0.708417 deg,
      new cmd heading: 0.699110 deg.

2025-08-22T16:38:07.073Z,1755880687.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012202 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:07.463Z,1755880687.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:07.465Z,1755880687.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:07.483Z,1755880687.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.959686 m,
      bearing: 350.233314 deg,
      approach rate: -0.411050 m/s,
      LOS rate: -0.011974 deg/s,
      cmd heading: 0.699110 deg,
      new cmd heading: 0.689631 deg.

2025-08-22T16:38:07.484Z,1755880687.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012036 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:07.706Z,1755880687.706 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:07.706Z,1755880687.706 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:07.707Z,1755880687.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:07.903Z,1755880687.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:07.906Z,1755880687.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.778366 m,
      bearing: 350.226856 deg,
      approach rate: -0.413687 m/s,
      LOS rate: -0.014748 deg/s,
      cmd heading: 0.689631 deg,
      new cmd heading: 0.676704 deg.

2025-08-22T16:38:07.907Z,1755880687.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011811 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:07.959Z,1755880687.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999316
2025-08-22T16:38:08.210Z,1755880688.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250686
2025-08-22T16:38:08.295Z,1755880688.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:08.299Z,1755880688.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.621597 m,
      bearing: 350.221191 deg,
      approach rate: -0.401208 m/s,
      LOS rate: -0.014511 deg/s,
      cmd heading: 0.676704 deg,
      new cmd heading: 0.665363 deg.

2025-08-22T16:38:08.301Z,1755880688.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011613 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:08.462Z,1755880688.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502675
2025-08-22T16:38:08.708Z,1755880688.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:08.711Z,1755880688.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.449463 m,
      bearing: 350.215735 deg,
      approach rate: -0.415381 m/s,
      LOS rate: -0.013179 deg/s,
      cmd heading: 0.665364 deg,
      new cmd heading: 0.654441 deg.

2025-08-22T16:38:08.712Z,1755880688.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011422 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:08.715Z,1755880688.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754940
2025-08-22T16:38:08.967Z,1755880688.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007132
2025-08-22T16:38:09.102Z,1755880689.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:09.104Z,1755880689.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.298035 m,
      bearing: 350.210925 deg,
      approach rate: -0.388560 m/s,
      LOS rate: -0.012352 deg/s,
      cmd heading: 0.654441 deg,
      new cmd heading: 0.644813 deg.

2025-08-22T16:38:09.110Z,1755880689.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011254 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:09.219Z,1755880689.219 [DAT](INFO): DAT read: Rx Time:16:38:09.6546

2025-08-22T16:38:09.219Z,1755880689.219 [DAT](INFO): Rx dataTimestamp_ set to:1755880689.218893
2025-08-22T16:38:09.220Z,1755880689.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259921
2025-08-22T16:38:09.470Z,1755880689.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510569
2025-08-22T16:38:09.500Z,1755880689.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:09.502Z,1755880689.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.59 m.
2025-08-22T16:38:09.504Z,1755880689.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.587540 m,
      nav range: 185.130814 m,
      bearing: 350.205601 deg,
      approach rate: -0.414009 m/s,
      LOS rate: -0.013192 deg/s,
      cmd heading: 0.644813 deg,
      new cmd heading: 0.634157 deg.

2025-08-22T16:38:09.506Z,1755880689.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011068 target range: 189.587540 and range: 190.70 m.
2025-08-22T16:38:09.728Z,1755880689.728 [DAT](INFO): DAT read: 16:38:09.6546 LVL= 32752, 32753, 27746, 32755, AGC= 68, IDX= 420, 0.20, 0.890,-0.654, 1.417, 0.912, PHS= 0.079,-1.521, 0.461, RAW= 160.4,  10.8, CAL= 160.5,  11.9, ROT= 349.5, -11.9

2025-08-22T16:38:09.729Z,1755880689.729 [DAT](INFO): got valid direction response:
 16:38:09.6546 LVL= 32752, 32753, 27746, 32755, AGC= 68, IDX= 420, 0.20, 0.890,-0.654, 1.417, 0.912, PHS= 0.079,-1.521, 0.461, RAW= 160.4,  10.8, CAL= 160.5,  11.9, ROT= 349.5, -11.9

2025-08-22T16:38:09.730Z,1755880689.730 [DAT](INFO): DAT read: Bearing 162.8,  -6.1 (Local)

2025-08-22T16:38:09.730Z,1755880689.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.8,  -6.1 (Local)

2025-08-22T16:38:09.732Z,1755880689.732 [DAT](INFO): DAT read: Range 11 to 50 : 189.2 m  (Round-trip  252.3 ms) speed  0.4 m/s

2025-08-22T16:38:09.733Z,1755880689.733 [DAT](INFO): DAT read: user:159>

2025-08-22T16:38:09.733Z,1755880689.733 [DAT](INFO): DAT read: Tx time:16:38:10.7482

2025-08-22T16:38:09.734Z,1755880689.734 [DAT](INFO): Ping request sent.
2025-08-22T16:38:09.734Z,1755880689.734 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:09.734Z,1755880689.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:09.735Z,1755880689.735 [DAT](INFO): direction in FSK: [0.962124,-0.178319,0.206204]
2025-08-22T16:38:09.735Z,1755880689.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:09.736Z,1755880689.736 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:09.764Z,1755880689.764 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:09.764Z,1755880689.764 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:09.986Z,1755880689.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 189.199997 m,
      deltaT: 3.779738 s,
      deltaX: -1.500000 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-08-22T16:38:09.988Z,1755880689.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 188.096069 m,
      bearing: 350.202833 deg,
      lat: 36.779412 deg,
      lon: -121.859605 deg,
      deltaT: 3.779738 s,
      deltaX: -1.491470 m,
      approachRate: -0.394596 m/s,
      posRepo size: 4

2025-08-22T16:38:09.989Z,1755880689.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:09.996Z,1755880689.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 184.851929 m,
      bearing: 350.336740 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013192 deg/s,
      cmd heading: 0.634157 deg,
      new cmd heading: 0.621609 deg.

2025-08-22T16:38:09.996Z,1755880689.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010849 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:10.360Z,1755880690.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:10.363Z,1755880690.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 184.685562 m,
      bearing: 350.332801 deg,
      approach rate: -0.435041 m/s,
      LOS rate: -0.010308 deg/s,
      cmd heading: 0.621609 deg,
      new cmd heading: 0.613725 deg.

2025-08-22T16:38:10.364Z,1755880690.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010712 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:10.781Z,1755880690.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:10.806Z,1755880690.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 184.504807 m,
      bearing: 350.329510 deg,
      approach rate: -0.429491 m/s,
      LOS rate: -0.007827 deg/s,
      cmd heading: 0.613725 deg,
      new cmd heading: 0.607138 deg.

2025-08-22T16:38:10.810Z,1755880690.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010597 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:11.184Z,1755880691.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:11.193Z,1755880691.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 184.333954 m,
      bearing: 350.326388 deg,
      approach rate: -0.423428 m/s,
      LOS rate: -0.007745 deg/s,
      cmd heading: 0.607138 deg,
      new cmd heading: 0.600888 deg.

2025-08-22T16:38:11.198Z,1755880691.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010487 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:11.600Z,1755880691.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:11.627Z,1755880691.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:11.644Z,1755880691.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 184.160324 m,
      bearing: 350.323207 deg,
      approach rate: -0.402335 m/s,
      LOS rate: -0.007378 deg/s,
      cmd heading: 0.600888 deg,
      new cmd heading: 0.594519 deg.

2025-08-22T16:38:11.650Z,1755880691.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010376 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:11.739Z,1755880691.739 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:11.739Z,1755880691.739 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:11.739Z,1755880691.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:11.991Z,1755880691.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256545
2025-08-22T16:38:12.141Z,1755880692.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:12.144Z,1755880692.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 183.907700 m,
      bearing: 350.317619 deg,
      approach rate: -0.480713 m/s,
      LOS rate: -0.010648 deg/s,
      cmd heading: 0.594519 deg,
      new cmd heading: 0.583328 deg.

2025-08-22T16:38:12.145Z,1755880692.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010181 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:12.243Z,1755880692.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509133
2025-08-22T16:38:12.495Z,1755880692.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760554
2025-08-22T16:38:12.537Z,1755880692.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:12.540Z,1755880692.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 183.734039 m,
      bearing: 350.313745 deg,
      approach rate: -0.438747 m/s,
      LOS rate: -0.009798 deg/s,
      cmd heading: 0.583328 deg,
      new cmd heading: 0.575572 deg.

2025-08-22T16:38:12.541Z,1755880692.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010046 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:12.747Z,1755880692.747 [DAT](INFO): DAT read: Rx Time:16:38:13.4025

2025-08-22T16:38:12.747Z,1755880692.747 [DAT](INFO): Rx dataTimestamp_ set to:1755880692.746803
2025-08-22T16:38:12.748Z,1755880692.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013953
2025-08-22T16:38:12.999Z,1755880692.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264581
2025-08-22T16:38:13.013Z,1755880693.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:13.016Z,1755880693.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 183.521790 m,
      bearing: 350.308229 deg,
      approach rate: -0.445774 m/s,
      LOS rate: -0.011598 deg/s,
      cmd heading: 0.575572 deg,
      new cmd heading: 0.564527 deg.

2025-08-22T16:38:13.017Z,1755880693.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009853 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:13.254Z,1755880693.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519708
2025-08-22T16:38:13.399Z,1755880693.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-08-22T16:38:13.402Z,1755880693.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.096069 m,
      nav range: 183.357025 m,
      bearing: 350.303865 deg,
      approach rate: -0.426524 m/s,
      LOS rate: -0.011307 deg/s,
      cmd heading: 0.564527 deg,
      new cmd heading: 0.555792 deg.

2025-08-22T16:38:13.403Z,1755880693.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009700 target range: 188.096069 and range: 189.20 m.
2025-08-22T16:38:13.513Z,1755880693.513 [DAT](INFO): DAT read: 16:38:13.4025 LVL= 30128, 32593, 21682, 32755, AGC= 67, IDX= 414,-0.02,-0.761,-2.343,-0.287,-0.790, PHS= 0.131,-1.507, 0.459, RAW= 159.0,  10.1, CAL= 158.9,  10.9, ROT= 351.1, -10.9

2025-08-22T16:38:13.515Z,1755880693.515 [DAT](INFO): got valid direction response:
 16:38:13.4025 LVL= 30128, 32593, 21682, 32755, AGC= 67, IDX= 414,-0.02,-0.761,-2.343,-0.287,-0.790, PHS= 0.131,-1.507, 0.459, RAW= 159.0,  10.1, CAL= 158.9,  10.9, ROT= 351.1, -10.9

2025-08-22T16:38:13.515Z,1755880693.515 [DAT](INFO): DAT read: Bearing 161.7,  -3.7 (Local)

2025-08-22T16:38:13.516Z,1755880693.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.7,  -3.7 (Local)

2025-08-22T16:38:13.517Z,1755880693.517 [DAT](INFO): DAT read: Range 11 to 50 : 187.5 m  (Round-trip  250.1 ms) speed  0.1 m/s

2025-08-22T16:38:13.518Z,1755880693.518 [DAT](INFO): DAT read: user:160>

2025-08-22T16:38:13.519Z,1755880693.519 [DAT](INFO): DAT read: Tx time:16:38:14.4982

2025-08-22T16:38:13.519Z,1755880693.519 [DAT](INFO): Ping request sent.
2025-08-22T16:38:13.519Z,1755880693.519 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:13.519Z,1755880693.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:13.520Z,1755880693.520 [DAT](INFO): direction in FSK: [0.970136,-0.151919,0.189095]
2025-08-22T16:38:13.521Z,1755880693.521 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:13.521Z,1755880693.521 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:13.524Z,1755880693.524 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:13.524Z,1755880693.524 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:13.834Z,1755880693.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.500000 m,
      deltaT: 3.780409 s,
      deltaX: -1.699997 m,
      approachRate: -0.449686 m/s,
      rangeRepo size: 4

2025-08-22T16:38:13.836Z,1755880693.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.405777 m,
      bearing: 352.209693 deg,
      lat: 36.779405 deg,
      lon: -121.859605 deg,
      deltaT: 3.780409 s,
      deltaX: -1.690292 m,
      approachRate: -0.447119 m/s,
      posRepo size: 4

2025-08-22T16:38:13.837Z,1755880693.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:13.856Z,1755880693.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 182.396927 m,
      bearing: 350.256854 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011307 deg/s,
      cmd heading: 0.555792 deg,
      new cmd heading: 0.545975 deg.

2025-08-22T16:38:13.857Z,1755880693.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009529 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:14.207Z,1755880694.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:14.210Z,1755880694.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:14.212Z,1755880694.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 182.227814 m,
      bearing: 350.251482 deg,
      approach rate: -0.449689 m/s,
      LOS rate: -0.014300 deg/s,
      cmd heading: 0.545975 deg,
      new cmd heading: 0.535220 deg.

2025-08-22T16:38:14.213Z,1755880694.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009341 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:14.259Z,1755880694.259 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:14.260Z,1755880694.260 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:14.260Z,1755880694.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:14.510Z,1755880694.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991378
2025-08-22T16:38:14.680Z,1755880694.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:14.687Z,1755880694.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 182.042358 m,
      bearing: 350.245443 deg,
      approach rate: -0.394178 m/s,
      LOS rate: -0.012848 deg/s,
      cmd heading: 0.535220 deg,
      new cmd heading: 0.523130 deg.

2025-08-22T16:38:14.688Z,1755880694.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009130 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:14.764Z,1755880694.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244713
2025-08-22T16:38:15.015Z,1755880695.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495602
2025-08-22T16:38:15.041Z,1755880695.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:15.047Z,1755880695.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 181.866791 m,
      bearing: 350.238276 deg,
      approach rate: -0.486936 m/s,
      LOS rate: -0.019897 deg/s,
      cmd heading: 0.523130 deg,
      new cmd heading: 0.508783 deg.

2025-08-22T16:38:15.048Z,1755880695.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008880 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:15.268Z,1755880695.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748669
2025-08-22T16:38:15.429Z,1755880695.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:15.448Z,1755880695.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 181.685043 m,
      bearing: 350.230736 deg,
      approach rate: -0.467841 m/s,
      LOS rate: -0.019428 deg/s,
      cmd heading: 0.508783 deg,
      new cmd heading: 0.493688 deg.

2025-08-22T16:38:15.449Z,1755880695.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008616 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:15.519Z,1755880695.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999450
2025-08-22T16:38:15.772Z,1755880695.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253186
2025-08-22T16:38:15.848Z,1755880695.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:15.850Z,1755880695.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 181.496552 m,
      bearing: 350.222017 deg,
      approach rate: -0.450415 m/s,
      LOS rate: -0.020857 deg/s,
      cmd heading: 0.493688 deg,
      new cmd heading: 0.476231 deg.

2025-08-22T16:38:15.851Z,1755880695.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008312 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:16.022Z,1755880696.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503288
2025-08-22T16:38:16.240Z,1755880696.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:16.243Z,1755880696.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:16.245Z,1755880696.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 181.318893 m,
      bearing: 350.213783 deg,
      approach rate: -0.449491 m/s,
      LOS rate: -0.020854 deg/s,
      cmd heading: 0.476231 deg,
      new cmd heading: 0.459746 deg.

2025-08-22T16:38:16.246Z,1755880696.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008024 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:16.275Z,1755880696.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756061
2025-08-22T16:38:16.527Z,1755880696.527 [DAT](INFO): DAT read: Rx Time:16:38:17.1501

2025-08-22T16:38:16.527Z,1755880696.527 [DAT](INFO): Rx dataTimestamp_ set to:1755880696.527195
2025-08-22T16:38:16.528Z,1755880696.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008938
2025-08-22T16:38:16.636Z,1755880696.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:16.644Z,1755880696.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 181.141968 m,
      bearing: 350.205401 deg,
      approach rate: -0.450340 m/s,
      LOS rate: -0.021356 deg/s,
      cmd heading: 0.459746 deg,
      new cmd heading: 0.442966 deg.

2025-08-22T16:38:16.647Z,1755880696.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007731 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:16.781Z,1755880696.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261689
2025-08-22T16:38:17.034Z,1755880697.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514190
2025-08-22T16:38:17.132Z,1755880697.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.41 m.
2025-08-22T16:38:17.135Z,1755880697.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.405777 m,
      nav range: 180.916977 m,
      bearing: 350.194136 deg,
      approach rate: -0.453611 m/s,
      LOS rate: -0.022739 deg/s,
      cmd heading: 0.442966 deg,
      new cmd heading: 0.420409 deg.

2025-08-22T16:38:17.136Z,1755880697.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007338 target range: 186.405777 and range: 187.50 m.
2025-08-22T16:38:17.292Z,1755880697.292 [DAT](INFO): DAT read: 16:38:17.1501 LVL= 32080, 32753, 27122, 32755, AGC= 67, IDX= 422, 0.16,-2.661, 2.055,-2.150,-2.706, PHS= 0.147,-1.477, 0.512, RAW= 159.9,   9.0, CAL= 159.7,   9.4, ROT= 350.3,  -9.4

2025-08-22T16:38:17.294Z,1755880697.294 [DAT](INFO): got valid direction response:
 16:38:17.1501 LVL= 32080, 32753, 27122, 32755, AGC= 67, IDX= 422, 0.16,-2.661, 2.055,-2.150,-2.706, PHS= 0.147,-1.477, 0.512, RAW= 159.9,   9.0, CAL= 159.7,   9.4, ROT= 350.3,  -9.4

2025-08-22T16:38:17.295Z,1755880697.295 [DAT](INFO): DAT read: Bearing 161.0,  -2.2 (Local)

2025-08-22T16:38:17.296Z,1755880697.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.0,  -2.2 (Local)

2025-08-22T16:38:17.297Z,1755880697.297 [DAT](INFO): DAT read: Range 11 to 50 : 185.8 m  (Round-trip  247.8 ms) speed  0.4 m/s

2025-08-22T16:38:17.298Z,1755880697.298 [DAT](INFO): DAT read: user:161>

2025-08-22T16:38:17.299Z,1755880697.299 [DAT](INFO): DAT read: Tx time:16:38:18.2482

2025-08-22T16:38:17.299Z,1755880697.299 [DAT](INFO): Ping request sent.
2025-08-22T16:38:17.299Z,1755880697.299 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:17.300Z,1755880697.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:17.300Z,1755880697.300 [DAT](INFO): direction in FSK: [0.972468,-0.166227,0.163326]
2025-08-22T16:38:17.301Z,1755880697.301 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:17.301Z,1755880697.301 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:17.304Z,1755880697.304 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:17.304Z,1755880697.304 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:17.556Z,1755880697.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.800003 m,
      deltaT: 3.780353 s,
      deltaX: -1.699997 m,
      approachRate: -0.449693 m/s,
      rangeRepo size: 4

2025-08-22T16:38:17.558Z,1755880697.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 184.715912 m,
      bearing: 352.132457 deg,
      lat: 36.779390 deg,
      lon: -121.859604 deg,
      deltaT: 3.780353 s,
      deltaX: -1.689865 m,
      approachRate: -0.447013 m/s,
      posRepo size: 4

2025-08-22T16:38:17.559Z,1755880697.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:17.561Z,1755880697.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 179.066055 m,
      bearing: 350.121264 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022739 deg/s,
      cmd heading: 0.420409 deg,
      new cmd heading: 0.401144 deg.

2025-08-22T16:38:17.562Z,1755880697.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007001 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:17.952Z,1755880697.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:17.955Z,1755880697.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 178.873444 m,
      bearing: 350.111530 deg,
      approach rate: -0.485591 m/s,
      LOS rate: -0.024566 deg/s,
      cmd heading: 0.401144 deg,
      new cmd heading: 0.381656 deg.

2025-08-22T16:38:17.956Z,1755880697.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006661 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:18.336Z,1755880698.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:18.338Z,1755880698.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:18.341Z,1755880698.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 178.693832 m,
      bearing: 350.102508 deg,
      approach rate: -0.464693 m/s,
      LOS rate: -0.023366 deg/s,
      cmd heading: 0.381656 deg,
      new cmd heading: 0.363593 deg.

2025-08-22T16:38:18.342Z,1755880698.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006346 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:18.543Z,1755880698.543 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:18.543Z,1755880698.543 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:18.543Z,1755880698.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:18.795Z,1755880698.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495244
2025-08-22T16:38:18.818Z,1755880698.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:18.820Z,1755880698.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 178.480850 m,
      bearing: 350.092544 deg,
      approach rate: -0.448097 m/s,
      LOS rate: -0.020989 deg/s,
      cmd heading: 0.363593 deg,
      new cmd heading: 0.343641 deg.

2025-08-22T16:38:18.826Z,1755880698.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005998 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:19.047Z,1755880699.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747234
2025-08-22T16:38:19.169Z,1755880699.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:19.173Z,1755880699.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 178.308304 m,
      bearing: 350.084602 deg,
      approach rate: -0.486555 m/s,
      LOS rate: -0.022416 deg/s,
      cmd heading: 0.343641 deg,
      new cmd heading: 0.327742 deg.

2025-08-22T16:38:19.186Z,1755880699.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005720 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:19.299Z,1755880699.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999463
2025-08-22T16:38:19.551Z,1755880699.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251306
2025-08-22T16:38:19.584Z,1755880699.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:19.591Z,1755880699.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 178.118958 m,
      bearing: 350.076064 deg,
      approach rate: -0.455443 m/s,
      LOS rate: -0.020560 deg/s,
      cmd heading: 0.327742 deg,
      new cmd heading: 0.310647 deg.

2025-08-22T16:38:19.592Z,1755880699.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005422 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:19.802Z,1755880699.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503165
2025-08-22T16:38:19.994Z,1755880699.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:19.996Z,1755880699.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 177.924423 m,
      bearing: 350.069203 deg,
      approach rate: -0.479641 m/s,
      LOS rate: -0.016933 deg/s,
      cmd heading: 0.310647 deg,
      new cmd heading: 0.296912 deg.

2025-08-22T16:38:20.014Z,1755880700.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005182 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:20.056Z,1755880700.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756195
2025-08-22T16:38:20.307Z,1755880700.307 [DAT](INFO): DAT read: Rx Time:16:38:20.8978

2025-08-22T16:38:20.307Z,1755880700.307 [DAT](INFO): Rx dataTimestamp_ set to:1755880700.307094
2025-08-22T16:38:20.308Z,1755880700.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008615
2025-08-22T16:38:20.433Z,1755880700.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:20.439Z,1755880700.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.72 m.
2025-08-22T16:38:20.445Z,1755880700.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.715912 m,
      nav range: 177.737381 m,
      bearing: 350.062751 deg,
      approach rate: -0.416385 m/s,
      LOS rate: -0.014379 deg/s,
      cmd heading: 0.296912 deg,
      new cmd heading: 0.283994 deg.

2025-08-22T16:38:20.455Z,1755880700.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004957 target range: 184.715912 and range: 185.80 m.
2025-08-22T16:38:20.560Z,1755880700.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260017
2025-08-22T16:38:20.816Z,1755880700.816 [DAT](INFO): DAT read: 16:38:20.8978 LVL= 32752, 32753, 27570, 32755, AGC= 65, IDX= 414, 0.30, 1.405,-0.152, 1.876, 1.280, PHS= 0.227,-1.386, 0.553, RAW= 159.0,   6.8, CAL= 158.4,   6.7, ROT= 351.6,  -6.7

2025-08-22T16:38:20.818Z,1755880700.818 [DAT](INFO): got valid direction response:
 16:38:20.8978 LVL= 32752, 32753, 27570, 32755, AGC= 65, IDX= 414, 0.30, 1.405,-0.152, 1.876, 1.280, PHS= 0.227,-1.386, 0.553, RAW= 159.0,   6.8, CAL= 158.4,   6.7, ROT= 351.6,  -6.7

2025-08-22T16:38:20.819Z,1755880700.819 [DAT](INFO): DAT read: Bearing 157.4,   0.8 (Local)

2025-08-22T16:38:20.819Z,1755880700.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,   0.8 (Local)

2025-08-22T16:38:20.820Z,1755880700.820 [DAT](INFO): DAT read: Range 11 to 50 : 184.1 m  (Round-trip  245.5 ms) speed  0.4 m/s

2025-08-22T16:38:20.821Z,1755880700.821 [DAT](INFO): DAT read: user:162>

2025-08-22T16:38:20.822Z,1755880700.822 [DAT](INFO): DAT read: Tx time:16:38:21.9982

2025-08-22T16:38:20.822Z,1755880700.822 [DAT](INFO): Ping request sent.
2025-08-22T16:38:20.822Z,1755880700.822 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:20.823Z,1755880700.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:20.824Z,1755880700.824 [DAT](INFO): direction in FSK: [0.982516,-0.145085,0.116671]
2025-08-22T16:38:20.824Z,1755880700.824 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:20.824Z,1755880700.824 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:20.828Z,1755880700.828 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:20.828Z,1755880700.828 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:20.938Z,1755880700.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.100006 m,
      deltaT: 3.527632 s,
      deltaX: -1.699997 m,
      approachRate: -0.481909 m/s,
      rangeRepo size: 4

2025-08-22T16:38:20.940Z,1755880700.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.025620 m,
      bearing: 352.861455 deg,
      lat: 36.779390 deg,
      lon: -121.859532 deg,
      deltaT: 3.527632 s,
      deltaX: -1.690292 m,
      approachRate: -0.479158 m/s,
      posRepo size: 4

2025-08-22T16:38:20.940Z,1755880700.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:20.963Z,1755880700.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 176.521301 m,
      bearing: 352.106500 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014379 deg/s,
      cmd heading: 0.283994 deg,
      new cmd heading: 0.270366 deg.

2025-08-22T16:38:20.964Z,1755880700.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004719 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:21.324Z,1755880701.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:21.327Z,1755880701.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 176.307129 m,
      bearing: 352.101781 deg,
      approach rate: -0.520393 m/s,
      LOS rate: -0.011480 deg/s,
      cmd heading: 0.270366 deg,
      new cmd heading: 0.260916 deg.

2025-08-22T16:38:21.328Z,1755880701.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004554 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:21.805Z,1755880701.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:21.812Z,1755880701.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 176.087341 m,
      bearing: 352.097066 deg,
      approach rate: -0.457228 m/s,
      LOS rate: -0.009822 deg/s,
      cmd heading: 0.260916 deg,
      new cmd heading: 0.251474 deg.

2025-08-22T16:38:21.813Z,1755880701.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004389 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:22.221Z,1755880702.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:22.223Z,1755880702.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 175.884781 m,
      bearing: 352.093541 deg,
      approach rate: -0.487257 m/s,
      LOS rate: -0.008489 deg/s,
      cmd heading: 0.251474 deg,
      new cmd heading: 0.244416 deg.

2025-08-22T16:38:22.224Z,1755880702.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004266 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:22.614Z,1755880702.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:22.616Z,1755880702.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:22.619Z,1755880702.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 175.709122 m,
      bearing: 352.090579 deg,
      approach rate: -0.443778 m/s,
      LOS rate: -0.007491 deg/s,
      cmd heading: 0.244416 deg,
      new cmd heading: 0.238486 deg.

2025-08-22T16:38:22.620Z,1755880702.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004162 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:22.827Z,1755880702.827 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:22.827Z,1755880702.827 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:22.827Z,1755880702.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:23.012Z,1755880703.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:23.015Z,1755880703.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 175.515274 m,
      bearing: 352.087665 deg,
      approach rate: -0.490335 m/s,
      LOS rate: -0.007379 deg/s,
      cmd heading: 0.238486 deg,
      new cmd heading: 0.232651 deg.

2025-08-22T16:38:23.016Z,1755880703.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004061 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:23.079Z,1755880703.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256963
2025-08-22T16:38:23.331Z,1755880703.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508189
2025-08-22T16:38:23.385Z,1755880703.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:23.388Z,1755880703.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 175.339584 m,
      bearing: 352.085158 deg,
      approach rate: -0.470817 m/s,
      LOS rate: -0.006725 deg/s,
      cmd heading: 0.232651 deg,
      new cmd heading: 0.227633 deg.

2025-08-22T16:38:23.389Z,1755880703.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003973 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:23.585Z,1755880703.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762964
2025-08-22T16:38:23.835Z,1755880703.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012176
2025-08-22T16:38:23.865Z,1755880703.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:23.868Z,1755880703.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 175.117905 m,
      bearing: 352.082250 deg,
      approach rate: -0.461975 m/s,
      LOS rate: -0.006067 deg/s,
      cmd heading: 0.227633 deg,
      new cmd heading: 0.221810 deg.

2025-08-22T16:38:23.869Z,1755880703.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003871 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:24.087Z,1755880704.087 [DAT](INFO): DAT read: Rx Time:16:38:24.6456

2025-08-22T16:38:24.088Z,1755880704.088 [DAT](INFO): Rx dataTimestamp_ set to:1755880704.087627
2025-08-22T16:38:24.089Z,1755880704.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266406
2025-08-22T16:38:24.224Z,1755880704.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m.
2025-08-22T16:38:24.227Z,1755880704.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.025620 m,
      nav range: 174.952164 m,
      bearing: 352.080239 deg,
      approach rate: -0.460972 m/s,
      LOS rate: -0.005601 deg/s,
      cmd heading: 0.221810 deg,
      new cmd heading: 0.217782 deg.

2025-08-22T16:38:24.228Z,1755880704.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003801 target range: 183.025620 and range: 184.10 m.
2025-08-22T16:38:24.339Z,1755880704.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516549
2025-08-22T16:38:24.598Z,1755880704.598 [DAT](INFO): DAT read: 16:38:24.6456 LVL= 31696, 32753, 23858, 32755, AGC= 67, IDX= 424,-0.48,-2.549, 2.186,-2.116,-2.695, PHS= 0.248,-1.357, 0.535, RAW= 158.1,   6.6, CAL= 157.4,   6.5, ROT= 352.6,  -6.5

2025-08-22T16:38:24.599Z,1755880704.599 [DAT](INFO): got valid direction response:
 16:38:24.6456 LVL= 31696, 32753, 23858, 32755, AGC= 67, IDX= 424,-0.48,-2.549, 2.186,-2.116,-2.695, PHS= 0.248,-1.357, 0.535, RAW= 158.1,   6.6, CAL= 157.4,   6.5, ROT= 352.6,  -6.5

2025-08-22T16:38:24.599Z,1755880704.599 [DAT](INFO): DAT read: Bearing 155.9,   3.2 (Local)

2025-08-22T16:38:24.600Z,1755880704.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.9,   3.2 (Local)

2025-08-22T16:38:24.601Z,1755880704.601 [DAT](INFO): DAT read: Range 11 to 50 : 182.4 m  (Round-trip  243.2 ms) speed  0.3 m/s

2025-08-22T16:38:24.610Z,1755880704.610 [DAT](INFO): DAT read: user:163>

2025-08-22T16:38:24.611Z,1755880704.611 [DAT](INFO): DAT read: Tx time:16:38:25.7482

2025-08-22T16:38:24.611Z,1755880704.611 [DAT](INFO): Ping request sent.
2025-08-22T16:38:24.611Z,1755880704.611 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:24.612Z,1755880704.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:24.613Z,1755880704.613 [DAT](INFO): direction in FSK: [0.985297,-0.127967,0.113203]
2025-08-22T16:38:24.613Z,1755880704.613 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:24.613Z,1755880704.613 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:24.616Z,1755880704.616 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:24.616Z,1755880704.616 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:24.672Z,1755880704.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.399994 m,
      deltaT: 3.779656 s,
      deltaX: -1.700012 m,
      approachRate: -0.449780 m/s,
      rangeRepo size: 4

2025-08-22T16:38:24.676Z,1755880704.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.336746 m,
      bearing: 352.999936 deg,
      lat: 36.779385 deg,
      lon: -121.859532 deg,
      deltaT: 3.779656 s,
      deltaX: -1.688873 m,
      approachRate: -0.446833 m/s,
      posRepo size: 4

2025-08-22T16:38:24.676Z,1755880704.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:24.687Z,1755880704.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 174.169846 m,
      bearing: 352.064035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005601 deg/s,
      cmd heading: 0.217782 deg,
      new cmd heading: 0.212772 deg.

2025-08-22T16:38:24.688Z,1755880704.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003714 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:25.074Z,1755880705.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:25.076Z,1755880705.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:25.083Z,1755880705.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.975876 m,
      bearing: 352.060760 deg,
      approach rate: -0.479314 m/s,
      LOS rate: -0.008103 deg/s,
      cmd heading: 0.212772 deg,
      new cmd heading: 0.206214 deg.

2025-08-22T16:38:25.084Z,1755880705.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003599 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:25.094Z,1755880705.094 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:25.094Z,1755880705.094 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:25.095Z,1755880705.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:25.347Z,1755880705.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735348
2025-08-22T16:38:25.459Z,1755880705.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:25.462Z,1755880705.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.789932 m,
      bearing: 352.057721 deg,
      approach rate: -0.485650 m/s,
      LOS rate: -0.007945 deg/s,
      cmd heading: 0.206214 deg,
      new cmd heading: 0.200130 deg.

2025-08-22T16:38:25.463Z,1755880705.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003493 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:25.598Z,1755880705.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987065
2025-08-22T16:38:25.854Z,1755880705.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241723
2025-08-22T16:38:25.904Z,1755880705.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:25.911Z,1755880705.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.580276 m,
      bearing: 352.054779 deg,
      approach rate: -0.471688 m/s,
      LOS rate: -0.006626 deg/s,
      cmd heading: 0.200130 deg,
      new cmd heading: 0.194240 deg.

2025-08-22T16:38:25.913Z,1755880705.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003390 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:26.102Z,1755880706.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491005
2025-08-22T16:38:26.318Z,1755880706.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:26.321Z,1755880706.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.395203 m,
      bearing: 352.052256 deg,
      approach rate: -0.446280 m/s,
      LOS rate: -0.006091 deg/s,
      cmd heading: 0.194240 deg,
      new cmd heading: 0.189187 deg.

2025-08-22T16:38:26.330Z,1755880706.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003302 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:26.355Z,1755880706.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743331
2025-08-22T16:38:26.607Z,1755880706.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995498
2025-08-22T16:38:26.718Z,1755880706.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:26.721Z,1755880706.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.205826 m,
      bearing: 352.049739 deg,
      approach rate: -0.473523 m/s,
      LOS rate: -0.006300 deg/s,
      cmd heading: 0.189187 deg,
      new cmd heading: 0.184148 deg.

2025-08-22T16:38:26.722Z,1755880706.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003214 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:26.859Z,1755880706.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247534
2025-08-22T16:38:27.113Z,1755880707.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501900
2025-08-22T16:38:27.127Z,1755880707.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:27.129Z,1755880707.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:27.132Z,1755880707.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 173.001022 m,
      bearing: 352.046573 deg,
      approach rate: -0.498714 m/s,
      LOS rate: -0.007720 deg/s,
      cmd heading: 0.184148 deg,
      new cmd heading: 0.177808 deg.

2025-08-22T16:38:27.133Z,1755880707.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003103 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:27.363Z,1755880707.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751643
2025-08-22T16:38:27.502Z,1755880707.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:27.504Z,1755880707.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 172.823898 m,
      bearing: 352.043904 deg,
      approach rate: -0.475394 m/s,
      LOS rate: -0.007171 deg/s,
      cmd heading: 0.177808 deg,
      new cmd heading: 0.172464 deg.

2025-08-22T16:38:27.506Z,1755880707.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003010 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:27.615Z,1755880707.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003462
2025-08-22T16:38:27.869Z,1755880707.869 [DAT](INFO): DAT read: Rx Time:16:38:28.3931

2025-08-22T16:38:27.872Z,1755880707.872 [DAT](INFO): Rx dataTimestamp_ set to:1755880707.871213
2025-08-22T16:38:27.883Z,1755880707.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270445
2025-08-22T16:38:27.971Z,1755880707.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:27.978Z,1755880707.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 172.605316 m,
      bearing: 352.039990 deg,
      approach rate: -0.465712 m/s,
      LOS rate: -0.008350 deg/s,
      cmd heading: 0.172464 deg,
      new cmd heading: 0.164626 deg.

2025-08-22T16:38:27.979Z,1755880707.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002873 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:28.118Z,1755880708.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506991
2025-08-22T16:38:28.350Z,1755880708.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.34 m.
2025-08-22T16:38:28.352Z,1755880708.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.336746 m,
      nav range: 172.422531 m,
      bearing: 352.036773 deg,
      approach rate: -0.482838 m/s,
      LOS rate: -0.008507 deg/s,
      cmd heading: 0.164626 deg,
      new cmd heading: 0.158185 deg.

2025-08-22T16:38:28.353Z,1755880708.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002761 target range: 181.336746 and range: 182.40 m.
2025-08-22T16:38:28.376Z,1755880708.376 [DAT](INFO): DAT read: 16:38:28.3931 LVL= 26400, 32753, 24818, 32755, AGC= 64, IDX= 414, 0.30, 1.674, 0.175, 2.115, 1.474, PHS= 0.302,-1.254, 0.597, RAW= 158.5,   4.2, CAL= 157.5,   3.4, ROT= 352.5,  -3.4

2025-08-22T16:38:28.377Z,1755880708.377 [DAT](INFO): got valid direction response:
 16:38:28.3931 LVL= 26400, 32753, 24818, 32755, AGC= 64, IDX= 414, 0.30, 1.674, 0.175, 2.115, 1.474, PHS= 0.302,-1.254, 0.597, RAW= 158.5,   4.2, CAL= 157.5,   3.4, ROT= 352.5,  -3.4

2025-08-22T16:38:28.379Z,1755880708.379 [DAT](INFO): DAT read: Bearing 151.8,   4.4 (Local)

2025-08-22T16:38:28.379Z,1755880708.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8,   4.4 (Local)

2025-08-22T16:38:28.380Z,1755880708.380 [DAT](INFO): DAT read: Range 11 to 50 : 180.6 m  (Round-trip  240.8 ms) speed  0.4 m/s

2025-08-22T16:38:28.381Z,1755880708.381 [DAT](INFO): DAT read: user:164>

2025-08-22T16:38:28.382Z,1755880708.382 [DAT](INFO): DAT read: Tx time:16:38:29.4982

2025-08-22T16:38:28.382Z,1755880708.382 [DAT](INFO): Ping request sent.
2025-08-22T16:38:28.382Z,1755880708.382 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:28.383Z,1755880708.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:28.384Z,1755880708.384 [DAT](INFO): direction in FSK: [0.989700,-0.130296,0.059306]
2025-08-22T16:38:28.384Z,1755880708.384 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:28.384Z,1755880708.384 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:28.387Z,1755880708.387 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:28.388Z,1755880708.388 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:28.777Z,1755880708.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.600006 m,
      deltaT: 3.779931 s,
      deltaX: -1.799988 m,
      approachRate: -0.476196 m/s,
      rangeRepo size: 4

2025-08-22T16:38:28.795Z,1755880708.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.548233 m,
      bearing: 352.305136 deg,
      lat: 36.779390 deg,
      lon: -121.859524 deg,
      deltaT: 3.779931 s,
      deltaX: -1.788513 m,
      approachRate: -0.473160 m/s,
      posRepo size: 4

2025-08-22T16:38:28.796Z,1755880708.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:28.810Z,1755880708.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 172.714981 m,
      bearing: 352.271143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008507 deg/s,
      cmd heading: 0.158185 deg,
      new cmd heading: 0.150931 deg.

2025-08-22T16:38:28.811Z,1755880708.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002634 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:29.302Z,1755880709.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:29.304Z,1755880709.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:29.311Z,1755880709.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 172.464478 m,
      bearing: 352.267795 deg,
      approach rate: -0.474077 m/s,
      LOS rate: -0.006345 deg/s,
      cmd heading: 0.150931 deg,
      new cmd heading: 0.144226 deg.

2025-08-22T16:38:29.312Z,1755880709.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002517 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:29.380Z,1755880709.380 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:29.380Z,1755880709.380 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:29.380Z,1755880709.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:29.635Z,1755880709.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252193
2025-08-22T16:38:29.661Z,1755880709.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:29.663Z,1755880709.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 172.283630 m,
      bearing: 352.265380 deg,
      approach rate: -0.507430 m/s,
      LOS rate: -0.006783 deg/s,
      cmd heading: 0.144226 deg,
      new cmd heading: 0.139390 deg.

2025-08-22T16:38:29.664Z,1755880709.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002433 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:29.890Z,1755880709.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506726
2025-08-22T16:38:30.107Z,1755880710.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:30.109Z,1755880710.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 172.067093 m,
      bearing: 352.262933 deg,
      approach rate: -0.485717 m/s,
      LOS rate: -0.005495 deg/s,
      cmd heading: 0.139390 deg,
      new cmd heading: 0.134491 deg.

2025-08-22T16:38:30.111Z,1755880710.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002347 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:30.138Z,1755880710.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756122
2025-08-22T16:38:30.391Z,1755880710.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008661
2025-08-22T16:38:30.470Z,1755880710.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:30.473Z,1755880710.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 171.890335 m,
      bearing: 352.260887 deg,
      approach rate: -0.485941 m/s,
      LOS rate: -0.005632 deg/s,
      cmd heading: 0.134491 deg,
      new cmd heading: 0.130394 deg.

2025-08-22T16:38:30.474Z,1755880710.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002276 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:30.644Z,1755880710.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261341
2025-08-22T16:38:30.898Z,1755880710.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514576
2025-08-22T16:38:30.939Z,1755880710.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:30.946Z,1755880710.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 171.668762 m,
      bearing: 352.258303 deg,
      approach rate: -0.472497 m/s,
      LOS rate: -0.005516 deg/s,
      cmd heading: 0.130394 deg,
      new cmd heading: 0.125220 deg.

2025-08-22T16:38:30.947Z,1755880710.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002186 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:31.146Z,1755880711.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764145
2025-08-22T16:38:31.304Z,1755880711.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:31.306Z,1755880711.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:31.309Z,1755880711.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 171.485489 m,
      bearing: 352.257570 deg,
      approach rate: -0.499082 m/s,
      LOS rate: -0.001998 deg/s,
      cmd heading: 0.125220 deg,
      new cmd heading: 0.123753 deg.

2025-08-22T16:38:31.330Z,1755880711.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002160 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:31.399Z,1755880711.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016241
2025-08-22T16:38:31.622Z,1755880711.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:38:31.651Z,1755880711.651 [DAT](INFO): DAT read: Rx Time:16:38:32.1408

2025-08-22T16:38:31.651Z,1755880711.651 [DAT](INFO): Rx dataTimestamp_ set to:1755880711.650918
2025-08-22T16:38:31.652Z,1755880711.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269416
2025-08-22T16:38:31.818Z,1755880711.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.55 m.
2025-08-22T16:38:31.820Z,1755880711.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.548233 m,
      nav range: 171.237854 m,
      bearing: 352.256578 deg,
      approach rate: -0.484289 m/s,
      LOS rate: -0.001944 deg/s,
      cmd heading: 0.123753 deg,
      new cmd heading: 0.121765 deg.

2025-08-22T16:38:31.822Z,1755880711.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002125 target range: 179.548233 and range: 180.60 m.
2025-08-22T16:38:31.906Z,1755880711.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522983
2025-08-22T16:38:32.162Z,1755880712.162 [DAT](INFO): DAT read: 16:38:32.1408 LVL= 24656, 30497, 20722, 32755, AGC= 64, IDX= 422, 0.16,-2.292, 2.518,-1.843,-2.464, PHS= 0.274,-1.256, 0.577, RAW= 158.9,   4.8, CAL= 157.9,   4.2, ROT= 352.1,  -4.2

2025-08-22T16:38:32.164Z,1755880712.164 [DAT](INFO): got valid direction response:
 16:38:32.1408 LVL= 24656, 30497, 20722, 32755, AGC= 64, IDX= 422, 0.16,-2.292, 2.518,-1.843,-2.464, PHS= 0.274,-1.256, 0.577, RAW= 158.9,   4.8, CAL= 157.9,   4.2, ROT= 352.1,  -4.2

2025-08-22T16:38:32.170Z,1755880712.170 [DAT](INFO): DAT read: Bearing 152.7,   5.2 (Local)

2025-08-22T16:38:32.170Z,1755880712.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7,   5.2 (Local)

2025-08-22T16:38:32.172Z,1755880712.172 [DAT](INFO): DAT read: Range 11 to 50 : 178.8 m  (Round-trip  238.4 ms) speed  0.4 m/s

2025-08-22T16:38:32.173Z,1755880712.173 [DAT](INFO): DAT read: user:165>

2025-08-22T16:38:32.174Z,1755880712.174 [DAT](INFO): DAT read: Tx time:16:38:33.2482

2025-08-22T16:38:32.175Z,1755880712.175 [DAT](INFO): Ping request sent.
2025-08-22T16:38:32.175Z,1755880712.175 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:32.176Z,1755880712.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:32.177Z,1755880712.177 [DAT](INFO): direction in FSK: [0.987849,-0.137076,0.073238]
2025-08-22T16:38:32.177Z,1755880712.177 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:32.184Z,1755880712.184 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:32.189Z,1755880712.189 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:32.242Z,1755880712.242 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:32.370Z,1755880712.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.800003 m,
      deltaT: 3.783951 s,
      deltaX: -1.800003 m,
      approachRate: -0.475694 m/s,
      rangeRepo size: 4

2025-08-22T16:38:32.372Z,1755880712.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.756287 m,
      bearing: 351.833036 deg,
      lat: 36.779385 deg,
      lon: -121.859524 deg,
      deltaT: 3.783951 s,
      deltaX: -1.791946 m,
      approachRate: -0.473565 m/s,
      posRepo size: 4

2025-08-22T16:38:32.373Z,1755880712.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:32.380Z,1755880712.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 170.402328 m,
      bearing: 352.227309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001944 deg/s,
      cmd heading: 0.121765 deg,
      new cmd heading: 0.119635 deg.

2025-08-22T16:38:32.381Z,1755880712.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002088 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:32.626Z,1755880712.626 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:38:32.814Z,1755880712.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:32.817Z,1755880712.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 170.172012 m,
      bearing: 352.224804 deg,
      approach rate: -0.514033 m/s,
      LOS rate: -0.005600 deg/s,
      cmd heading: 0.119635 deg,
      new cmd heading: 0.114617 deg.

2025-08-22T16:38:32.842Z,1755880712.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002000 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:33.347Z,1755880713.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:33.349Z,1755880713.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:33.352Z,1755880713.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 169.916473 m,
      bearing: 352.220798 deg,
      approach rate: -0.477125 m/s,
      LOS rate: -0.007491 deg/s,
      cmd heading: 0.114617 deg,
      new cmd heading: 0.106593 deg.

2025-08-22T16:38:33.353Z,1755880713.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001860 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:33.414Z,1755880713.414 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:33.414Z,1755880713.414 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:33.415Z,1755880713.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:33.666Z,1755880713.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491444
2025-08-22T16:38:33.819Z,1755880713.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:33.822Z,1755880713.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 169.691666 m,
      bearing: 352.217134 deg,
      approach rate: -0.478551 m/s,
      LOS rate: -0.007808 deg/s,
      cmd heading: 0.106593 deg,
      new cmd heading: 0.099256 deg.

2025-08-22T16:38:33.823Z,1755880713.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001732 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:33.926Z,1755880713.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750085
2025-08-22T16:38:34.175Z,1755880714.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000091
2025-08-22T16:38:34.289Z,1755880714.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:34.296Z,1755880714.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 169.476913 m,
      bearing: 352.213412 deg,
      approach rate: -0.456641 m/s,
      LOS rate: -0.007924 deg/s,
      cmd heading: 0.099256 deg,
      new cmd heading: 0.091803 deg.

2025-08-22T16:38:34.297Z,1755880714.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001602 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:34.427Z,1755880714.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252175
2025-08-22T16:38:34.630Z,1755880714.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:34.633Z,1755880714.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 169.308350 m,
      bearing: 352.210418 deg,
      approach rate: -0.494069 m/s,
      LOS rate: -0.008785 deg/s,
      cmd heading: 0.091803 deg,
      new cmd heading: 0.085809 deg.

2025-08-22T16:38:34.635Z,1755880714.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001498 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:34.680Z,1755880714.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504720
2025-08-22T16:38:34.933Z,1755880714.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757612
2025-08-22T16:38:35.057Z,1755880715.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:35.088Z,1755880715.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 169.103577 m,
      bearing: 352.206079 deg,
      approach rate: -0.484153 m/s,
      LOS rate: -0.010272 deg/s,
      cmd heading: 0.085809 deg,
      new cmd heading: 0.077120 deg.

2025-08-22T16:38:35.089Z,1755880715.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001346 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:35.183Z,1755880715.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008317
2025-08-22T16:38:35.435Z,1755880715.435 [DAT](INFO): DAT read: Rx Time:16:38:35.8884

2025-08-22T16:38:35.435Z,1755880715.435 [DAT](INFO): Rx dataTimestamp_ set to:1755880715.434737
2025-08-22T16:38:35.436Z,1755880715.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260530
2025-08-22T16:38:35.483Z,1755880715.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:35.485Z,1755880715.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:35.488Z,1755880715.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 168.894913 m,
      bearing: 352.201544 deg,
      approach rate: -0.483436 m/s,
      LOS rate: -0.010520 deg/s,
      cmd heading: 0.077120 deg,
      new cmd heading: 0.068038 deg.

2025-08-22T16:38:35.489Z,1755880715.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001187 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:35.687Z,1755880715.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512032
2025-08-22T16:38:35.842Z,1755880715.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.76 m.
2025-08-22T16:38:35.844Z,1755880715.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.756287 m,
      nav range: 168.722198 m,
      bearing: 352.197696 deg,
      approach rate: -0.484195 m/s,
      LOS rate: -0.010800 deg/s,
      cmd heading: 0.068038 deg,
      new cmd heading: 0.060334 deg.

2025-08-22T16:38:35.878Z,1755880715.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001053 target range: 177.756287 and range: 178.80 m.
2025-08-22T16:38:35.967Z,1755880715.967 [DAT](INFO): DAT read: 16:38:35.8884 LVL= 26144, 31729, 22946, 32323, AGC= 63, IDX= 414, 0.11, 2.849, 1.393,-2.937, 2.653, PHS= 0.298,-1.215, 0.649, RAW= 160.2,   3.2, CAL= 159.0,   1.9, ROT= 351.0,  -1.9

2025-08-22T16:38:35.971Z,1755880715.971 [DAT](INFO): got valid direction response:
 16:38:35.8884 LVL= 26144, 31729, 22946, 32323, AGC= 63, IDX= 414, 0.11, 2.849, 1.393,-2.937, 2.653, PHS= 0.298,-1.215, 0.649, RAW= 160.2,   3.2, CAL= 159.0,   1.9, ROT= 351.0,  -1.9

2025-08-22T16:38:36.002Z,1755880716.002 [DAT](INFO): DAT read: Bearing 151.3,   4.2 (Local)

2025-08-22T16:38:36.004Z,1755880716.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3,   4.2 (Local)

2025-08-22T16:38:36.009Z,1755880716.009 [DAT](INFO): DAT read: Range 11 to 50 : 177.0 m  (Round-trip  236.1 ms) speed  0.3 m/s

2025-08-22T16:38:36.010Z,1755880716.010 [DAT](INFO): DAT read: user:166>

2025-08-22T16:38:36.011Z,1755880716.011 [DAT](INFO): DAT read: Tx time:16:38:36.9982

2025-08-22T16:38:36.011Z,1755880716.011 [DAT](INFO): Ping request sent.
2025-08-22T16:38:36.011Z,1755880716.011 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:36.012Z,1755880716.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:36.012Z,1755880716.012 [DAT](INFO): direction in FSK: [0.987145,-0.156348,0.033155]
2025-08-22T16:38:36.013Z,1755880716.013 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:36.013Z,1755880716.013 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:36.020Z,1755880716.020 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:36.021Z,1755880716.021 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:36.328Z,1755880716.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.000000 m,
      deltaT: 3.786518 s,
      deltaX: -1.800003 m,
      approachRate: -0.475372 m/s,
      rangeRepo size: 4

2025-08-22T16:38:36.338Z,1755880716.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.962418 m,
      bearing: 351.647788 deg,
      lat: 36.779393 deg,
      lon: -121.859524 deg,
      deltaT: 3.786518 s,
      deltaX: -1.793869 m,
      approachRate: -0.473752 m/s,
      posRepo size: 4

2025-08-22T16:38:36.339Z,1755880716.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:36.346Z,1755880716.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 169.343079 m,
      bearing: 352.232885 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010800 deg/s,
      cmd heading: 0.060334 deg,
      new cmd heading: 0.049839 deg.

2025-08-22T16:38:36.347Z,1755880716.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000870 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:36.745Z,1755880716.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:36.751Z,1755880716.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 169.144867 m,
      bearing: 352.229272 deg,
      approach rate: -0.475936 m/s,
      LOS rate: -0.008685 deg/s,
      cmd heading: 0.049839 deg,
      new cmd heading: 0.042605 deg.

2025-08-22T16:38:36.752Z,1755880716.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000744 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:37.126Z,1755880717.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:37.129Z,1755880717.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 168.945236 m,
      bearing: 352.225591 deg,
      approach rate: -0.523150 m/s,
      LOS rate: -0.009659 deg/s,
      cmd heading: 0.042605 deg,
      new cmd heading: 0.035233 deg.

2025-08-22T16:38:37.130Z,1755880717.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000615 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:37.519Z,1755880717.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:37.527Z,1755880717.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:37.534Z,1755880717.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 168.753632 m,
      bearing: 352.222086 deg,
      approach rate: -0.477079 m/s,
      LOS rate: -0.008736 deg/s,
      cmd heading: 0.035233 deg,
      new cmd heading: 0.028216 deg.

2025-08-22T16:38:37.535Z,1755880717.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000492 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:37.702Z,1755880717.702 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:37.702Z,1755880717.702 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:37.703Z,1755880717.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:37.927Z,1755880717.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:37.930Z,1755880717.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 168.559509 m,
      bearing: 352.218528 deg,
      approach rate: -0.485472 m/s,
      LOS rate: -0.008908 deg/s,
      cmd heading: 0.028216 deg,
      new cmd heading: 0.021092 deg.

2025-08-22T16:38:37.931Z,1755880717.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000368 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:37.963Z,1755880717.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952144
2025-08-22T16:38:38.216Z,1755880718.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204613
2025-08-22T16:38:38.361Z,1755880718.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:38.368Z,1755880718.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 168.343506 m,
      bearing: 352.216048 deg,
      approach rate: -0.500469 m/s,
      LOS rate: -0.005755 deg/s,
      cmd heading: 0.021092 deg,
      new cmd heading: 0.016125 deg.

2025-08-22T16:38:38.368Z,1755880718.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000281 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:38.467Z,1755880718.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455509
2025-08-22T16:38:38.717Z,1755880718.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:38.722Z,1755880718.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709710
2025-08-22T16:38:38.729Z,1755880718.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 168.167419 m,
      bearing: 352.214072 deg,
      approach rate: -0.491421 m/s,
      LOS rate: -0.005521 deg/s,
      cmd heading: 0.016125 deg,
      new cmd heading: 0.012168 deg.

2025-08-22T16:38:38.746Z,1755880718.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000212 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:38.975Z,1755880718.975 [DAT](INFO): DAT read: Rx Time:16:38:39.6360

2025-08-22T16:38:38.976Z,1755880718.976 [DAT](INFO): Rx dataTimestamp_ set to:1755880718.975190
2025-08-22T16:38:38.978Z,1755880718.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966659
2025-08-22T16:38:39.151Z,1755880719.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:39.153Z,1755880719.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 167.950455 m,
      bearing: 352.211861 deg,
      approach rate: -0.500120 m/s,
      LOS rate: -0.005103 deg/s,
      cmd heading: 0.012168 deg,
      new cmd heading: 0.007741 deg.

2025-08-22T16:38:39.155Z,1755880719.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000135 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:39.224Z,1755880719.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212724
2025-08-22T16:38:39.474Z,1755880719.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463126
2025-08-22T16:38:39.568Z,1755880719.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:39.570Z,1755880719.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.96 m.
2025-08-22T16:38:39.573Z,1755880719.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.962418 m,
      nav range: 167.743591 m,
      bearing: 352.209877 deg,
      approach rate: -0.493308 m/s,
      LOS rate: -0.004735 deg/s,
      cmd heading: 0.007741 deg,
      new cmd heading: 0.003769 deg.

2025-08-22T16:38:39.574Z,1755880719.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000066 target range: 175.962418 and range: 177.00 m.
2025-08-22T16:38:39.738Z,1755880719.738 [DAT](INFO): DAT read: 16:38:39.6360 LVL= 25008, 32753, 22194, 31603, AGC= 61, IDX= 422,-0.20,-1.511,-2.988,-1.061,-1.678, PHS= 0.268,-1.265, 0.573, RAW= 158.9,   5.0, CAL= 158.0,   4.4, ROT= 352.0,  -4.4

2025-08-22T16:38:39.739Z,1755880719.739 [DAT](INFO): got valid direction response:
 16:38:39.6360 LVL= 25008, 32753, 22194, 31603, AGC= 61, IDX= 422,-0.20,-1.511,-2.988,-1.061,-1.678, PHS= 0.268,-1.265, 0.573, RAW= 158.9,   5.0, CAL= 158.0,   4.4, ROT= 352.0,  -4.4

2025-08-22T16:38:39.740Z,1755880719.740 [DAT](INFO): DAT read: Bearing 154.8,   4.1 (Local)

2025-08-22T16:38:39.740Z,1755880719.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.8,   4.1 (Local)

2025-08-22T16:38:39.742Z,1755880719.742 [DAT](INFO): DAT read: Range 11 to 50 : 175.2 m  (Round-trip  233.7 ms) speed  0.4 m/s

2025-08-22T16:38:39.743Z,1755880719.743 [DAT](INFO): DAT read: user:167>

2025-08-22T16:38:39.743Z,1755880719.743 [DAT](INFO): DAT read: Tx time:16:38:40.7497

2025-08-22T16:38:39.744Z,1755880719.744 [DAT](INFO): Ping request sent.
2025-08-22T16:38:39.744Z,1755880719.744 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:39.744Z,1755880719.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:39.745Z,1755880719.745 [DAT](INFO): direction in FSK: [0.987350,-0.138763,0.076719]
2025-08-22T16:38:39.745Z,1755880719.745 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:39.746Z,1755880719.746 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:39.749Z,1755880719.749 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:39.749Z,1755880719.749 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:39.952Z,1755880719.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.199997 m,
      deltaT: 3.787007 s,
      deltaX: -1.800003 m,
      approachRate: -0.475310 m/s,
      rangeRepo size: 4

2025-08-22T16:38:39.955Z,1755880719.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.154602 m,
      bearing: 352.446130 deg,
      lat: 36.779397 deg,
      lon: -121.859524 deg,
      deltaT: 3.787007 s,
      deltaX: -1.807816 m,
      approachRate: -0.477373 m/s,
      posRepo size: 4

2025-08-22T16:38:39.955Z,1755880719.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:39.958Z,1755880719.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 168.050766 m,
      bearing: 352.231130 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004735 deg/s,
      cmd heading: 0.003769 deg,
      new cmd heading: 0.000154 deg.

2025-08-22T16:38:39.959Z,1755880719.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000003 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:40.385Z,1755880720.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:40.388Z,1755880720.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 167.837524 m,
      bearing: 352.228415 deg,
      approach rate: -0.492204 m/s,
      LOS rate: -0.006276 deg/s,
      cmd heading: 0.000154 deg,
      new cmd heading: 359.994716 deg.

2025-08-22T16:38:40.389Z,1755880720.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.283093 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:40.760Z,1755880720.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:40.781Z,1755880720.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 167.654694 m,
      bearing: 352.226081 deg,
      approach rate: -0.487917 m/s,
      LOS rate: -0.006235 deg/s,
      cmd heading: 359.994710 deg,
      new cmd heading: 359.990037 deg.

2025-08-22T16:38:40.782Z,1755880720.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.283011 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:41.176Z,1755880721.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:41.195Z,1755880721.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 167.450745 m,
      bearing: 352.222659 deg,
      approach rate: -0.489988 m/s,
      LOS rate: -0.008230 deg/s,
      cmd heading: 359.990038 deg,
      new cmd heading: 359.983187 deg.

2025-08-22T16:38:41.196Z,1755880721.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282892 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:41.544Z,1755880721.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:41.547Z,1755880721.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 167.264465 m,
      bearing: 352.219523 deg,
      approach rate: -0.506246 m/s,
      LOS rate: -0.008534 deg/s,
      cmd heading: 359.983180 deg,
      new cmd heading: 359.976900 deg.

2025-08-22T16:38:41.548Z,1755880721.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282782 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:41.943Z,1755880721.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:41.954Z,1755880721.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:41.956Z,1755880721.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 167.065399 m,
      bearing: 352.216155 deg,
      approach rate: -0.495907 m/s,
      LOS rate: -0.008400 deg/s,
      cmd heading: 359.976897 deg,
      new cmd heading: 359.970153 deg.

2025-08-22T16:38:41.961Z,1755880721.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282664 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:41.994Z,1755880721.994 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:41.995Z,1755880721.995 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:41.995Z,1755880721.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:42.247Z,1755880722.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502834
2025-08-22T16:38:42.375Z,1755880722.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:42.379Z,1755880722.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 166.856903 m,
      bearing: 352.210976 deg,
      approach rate: -0.484751 m/s,
      LOS rate: -0.012055 deg/s,
      cmd heading: 359.970148 deg,
      new cmd heading: 359.959778 deg.

2025-08-22T16:38:42.380Z,1755880722.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282483 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:42.499Z,1755880722.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755416
2025-08-22T16:38:42.751Z,1755880722.751 [DAT](INFO): DAT read: Rx Time:16:38:43.3850

2025-08-22T16:38:42.751Z,1755880722.751 [DAT](INFO): Rx dataTimestamp_ set to:1755880722.751081
2025-08-22T16:38:42.752Z,1755880722.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008201
2025-08-22T16:38:42.760Z,1755880722.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:42.791Z,1755880722.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 166.672058 m,
      bearing: 352.206364 deg,
      approach rate: -0.480235 m/s,
      LOS rate: -0.011997 deg/s,
      cmd heading: 359.959767 deg,
      new cmd heading: 359.950531 deg.

2025-08-22T16:38:42.792Z,1755880722.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282322 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:43.006Z,1755880723.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261971
2025-08-22T16:38:43.226Z,1755880723.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.15 m.
2025-08-22T16:38:43.242Z,1755880723.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.154602 m,
      nav range: 166.448792 m,
      bearing: 352.200650 deg,
      approach rate: -0.484246 m/s,
      LOS rate: -0.012409 deg/s,
      cmd heading: 359.950532 deg,
      new cmd heading: 359.939090 deg.

2025-08-22T16:38:43.251Z,1755880723.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282122 target range: 174.154602 and range: 175.20 m.
2025-08-22T16:38:43.260Z,1755880723.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516080
2025-08-22T16:38:43.514Z,1755880723.514 [DAT](INFO): DAT read: 16:38:43.3850 LVL= 25424, 32753, 21986, 32755, AGC= 65, IDX= 412, 0.14, 1.541, 0.000, 2.021, 1.413, PHS= 0.230,-1.368, 0.564, RAW= 159.3,   6.5, CAL= 158.7,   6.3, ROT= 351.3,  -6.3

2025-08-22T16:38:43.515Z,1755880723.515 [DAT](INFO): got valid direction response:
 16:38:43.3850 LVL= 25424, 32753, 21986, 32755, AGC= 65, IDX= 412, 0.14, 1.541, 0.000, 2.021, 1.413, PHS= 0.230,-1.368, 0.564, RAW= 159.3,   6.5, CAL= 158.7,   6.3, ROT= 351.3,  -6.3

2025-08-22T16:38:43.516Z,1755880723.516 [DAT](INFO): DAT read: Bearing 157.2,   2.1 (Local)

2025-08-22T16:38:43.517Z,1755880723.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,   2.1 (Local)

2025-08-22T16:38:43.535Z,1755880723.535 [DAT](INFO): DAT read: Range 11 to 50 : 173.4 m  (Round-trip  231.2 ms) speed  0.4 m/s

2025-08-22T16:38:43.535Z,1755880723.535 [DAT](INFO): DAT read: user:168>

2025-08-22T16:38:43.536Z,1755880723.536 [DAT](INFO): DAT read: Tx time:16:38:44.4981

2025-08-22T16:38:43.536Z,1755880723.536 [DAT](INFO): Ping request sent.
2025-08-22T16:38:43.537Z,1755880723.537 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:43.537Z,1755880723.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:43.554Z,1755880723.554 [DAT](INFO): direction in FSK: [0.982524,-0.150348,0.109734]
2025-08-22T16:38:43.554Z,1755880723.554 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:43.555Z,1755880723.555 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:43.566Z,1755880723.566 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:43.566Z,1755880723.566 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:43.696Z,1755880723.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.399994 m,
      deltaT: 3.779317 s,
      deltaX: -1.800003 m,
      approachRate: -0.476277 m/s,
      rangeRepo size: 4

2025-08-22T16:38:43.705Z,1755880723.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.359802 m,
      bearing: 351.673176 deg,
      lat: 36.779397 deg,
      lon: -121.859538 deg,
      deltaT: 3.779317 s,
      deltaX: -1.794800 m,
      approachRate: -0.474901 m/s,
      posRepo size: 4

2025-08-22T16:38:43.714Z,1755880723.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:43.727Z,1755880723.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 166.377380 m,
      bearing: 351.791109 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012409 deg/s,
      cmd heading: 359.939085 deg,
      new cmd heading: 359.927340 deg.

2025-08-22T16:38:43.729Z,1755880723.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281917 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:44.073Z,1755880724.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:44.089Z,1755880724.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:44.125Z,1755880724.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 166.185928 m,
      bearing: 351.785644 deg,
      approach rate: -0.486829 m/s,
      LOS rate: -0.013914 deg/s,
      cmd heading: 359.927337 deg,
      new cmd heading: 359.916393 deg.

2025-08-22T16:38:44.131Z,1755880724.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281726 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:44.262Z,1755880724.262 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:44.262Z,1755880724.262 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:44.263Z,1755880724.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:44.477Z,1755880724.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:44.480Z,1755880724.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 165.977112 m,
      bearing: 351.779582 deg,
      approach rate: -0.536688 m/s,
      LOS rate: -0.015601 deg/s,
      cmd heading: 359.916381 deg,
      new cmd heading: 359.904241 deg.

2025-08-22T16:38:44.481Z,1755880724.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281514 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:44.515Z,1755880724.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977991
2025-08-22T16:38:44.767Z,1755880724.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229902
2025-08-22T16:38:44.890Z,1755880724.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:44.893Z,1755880724.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 165.784378 m,
      bearing: 351.773978 deg,
      approach rate: -0.476346 m/s,
      LOS rate: -0.013865 deg/s,
      cmd heading: 359.904251 deg,
      new cmd heading: 359.893031 deg.

2025-08-22T16:38:44.902Z,1755880724.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281318 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:45.022Z,1755880725.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485033
2025-08-22T16:38:45.275Z,1755880725.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738032
2025-08-22T16:38:45.307Z,1755880725.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:45.309Z,1755880725.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 165.578491 m,
      bearing: 351.767058 deg,
      approach rate: -0.484546 m/s,
      LOS rate: -0.016308 deg/s,
      cmd heading: 359.893022 deg,
      new cmd heading: 359.879163 deg.

2025-08-22T16:38:45.314Z,1755880725.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281076 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:45.529Z,1755880725.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991529
2025-08-22T16:38:45.669Z,1755880725.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:45.672Z,1755880725.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 165.385956 m,
      bearing: 351.760531 deg,
      approach rate: -0.531618 m/s,
      LOS rate: -0.018043 deg/s,
      cmd heading: 359.879170 deg,
      new cmd heading: 359.866101 deg.

2025-08-22T16:38:45.672Z,1755880725.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280849 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:45.779Z,1755880725.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242423
2025-08-22T16:38:46.031Z,1755880726.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493909
2025-08-22T16:38:46.092Z,1755880726.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:46.134Z,1755880726.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 165.186615 m,
      bearing: 351.753713 deg,
      approach rate: -0.474280 m/s,
      LOS rate: -0.016240 deg/s,
      cmd heading: 359.866111 deg,
      new cmd heading: 359.852459 deg.

2025-08-22T16:38:46.142Z,1755880726.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280610 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:46.282Z,1755880726.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745858
2025-08-22T16:38:46.520Z,1755880726.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:46.527Z,1755880726.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:46.535Z,1755880726.535 [DAT](INFO): DAT read: Rx Time:16:38:47.1311

2025-08-22T16:38:46.535Z,1755880726.535 [DAT](INFO): Rx dataTimestamp_ set to:1755880726.535078
2025-08-22T16:38:46.536Z,1755880726.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999282
2025-08-22T16:38:46.529Z,1755880726.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 164.963181 m,
      bearing: 351.745588 deg,
      approach rate: -0.510598 m/s,
      LOS rate: -0.018592 deg/s,
      cmd heading: 359.852451 deg,
      new cmd heading: 359.836179 deg.

2025-08-22T16:38:46.537Z,1755880726.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280326 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:46.787Z,1755880726.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250253
2025-08-22T16:38:46.903Z,1755880726.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.36 m.
2025-08-22T16:38:46.905Z,1755880726.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.359802 m,
      nav range: 164.775284 m,
      bearing: 351.738717 deg,
      approach rate: -0.499666 m/s,
      LOS rate: -0.018292 deg/s,
      cmd heading: 359.836167 deg,
      new cmd heading: 359.822410 deg.

2025-08-22T16:38:46.906Z,1755880726.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280086 target range: 172.359802 and range: 173.40 m.
2025-08-22T16:38:47.050Z,1755880727.050 [DAT](INFO): DAT read: 16:38:47.1311 LVL= 24192, 27713, 19666, 29939, AGC= 66, IDX= 420,-0.09, 3.138, 1.580,-2.685, 3.032, PHS= 0.208,-1.408, 0.522, RAW= 158.7,   7.6, CAL= 158.3,   7.7, ROT= 351.7,  -7.7

2025-08-22T16:38:47.051Z,1755880727.051 [DAT](INFO): got valid direction response:
 16:38:47.1311 LVL= 24192, 27713, 19666, 29939, AGC= 66, IDX= 420,-0.09, 3.138, 1.580,-2.685, 3.032, PHS= 0.208,-1.408, 0.522, RAW= 158.7,   7.6, CAL= 158.3,   7.7, ROT= 351.7,  -7.7

2025-08-22T16:38:47.052Z,1755880727.052 [DAT](INFO): DAT read: Bearing 159.2,   1.5 (Local)

2025-08-22T16:38:47.052Z,1755880727.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2,   1.5 (Local)

2025-08-22T16:38:47.054Z,1755880727.054 [DAT](INFO): DAT read: Range 11 to 50 : 171.6 m  (Round-trip  228.9 ms) speed  0.4 m/s

2025-08-22T16:38:47.055Z,1755880727.055 [DAT](INFO): DAT read: user:169>

2025-08-22T16:38:47.056Z,1755880727.056 [DAT](INFO): DAT read: Tx time:16:38:48.2481

2025-08-22T16:38:47.056Z,1755880727.056 [DAT](INFO): Ping request sent.
2025-08-22T16:38:47.056Z,1755880727.056 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:47.056Z,1755880727.056 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:47.057Z,1755880727.057 [DAT](INFO): direction in FSK: [0.980603,-0.143054,0.133986]
2025-08-22T16:38:47.062Z,1755880727.062 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:47.062Z,1755880727.062 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:47.065Z,1755880727.065 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:47.069Z,1755880727.069 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:47.394Z,1755880727.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.600006 m,
      deltaT: 3.533312 s,
      deltaX: -1.799988 m,
      approachRate: -0.509434 m/s,
      rangeRepo size: 4

2025-08-22T16:38:47.396Z,1755880727.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.562988 m,
      bearing: 352.112397 deg,
      lat: 36.779395 deg,
      lon: -121.859538 deg,
      deltaT: 3.533312 s,
      deltaX: -1.796814 m,
      approachRate: -0.508535 m/s,
      posRepo size: 4

2025-08-22T16:38:47.396Z,1755880727.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:47.403Z,1755880727.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 164.272217 m,
      bearing: 351.717357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018292 deg/s,
      cmd heading: 359.822398 deg,
      new cmd heading: 359.804606 deg.

2025-08-22T16:38:47.404Z,1755880727.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279775 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:47.753Z,1755880727.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:47.756Z,1755880727.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 164.087540 m,
      bearing: 351.711252 deg,
      approach rate: -0.506969 m/s,
      LOS rate: -0.016778 deg/s,
      cmd heading: 359.804612 deg,
      new cmd heading: 359.792388 deg.

2025-08-22T16:38:47.757Z,1755880727.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279562 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:48.243Z,1755880728.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:48.246Z,1755880728.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 163.852844 m,
      bearing: 351.703515 deg,
      approach rate: -0.479045 m/s,
      LOS rate: -0.015815 deg/s,
      cmd heading: 359.792400 deg,
      new cmd heading: 359.776904 deg.

2025-08-22T16:38:48.247Z,1755880728.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279292 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:48.610Z,1755880728.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:48.612Z,1755880728.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:48.614Z,1755880728.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 163.676468 m,
      bearing: 351.697692 deg,
      approach rate: -0.478696 m/s,
      LOS rate: -0.015821 deg/s,
      cmd heading: 359.776909 deg,
      new cmd heading: 359.765250 deg.

2025-08-22T16:38:48.615Z,1755880728.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279088 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:48.803Z,1755880728.803 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:48.803Z,1755880728.803 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:48.803Z,1755880728.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:49.014Z,1755880729.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:49.017Z,1755880729.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 163.483582 m,
      bearing: 351.691305 deg,
      approach rate: -0.479686 m/s,
      LOS rate: -0.015902 deg/s,
      cmd heading: 359.765243 deg,
      new cmd heading: 359.752454 deg.

2025-08-22T16:38:49.018Z,1755880729.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278865 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:49.055Z,1755880729.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998905
2025-08-22T16:38:49.306Z,1755880729.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250549
2025-08-22T16:38:49.489Z,1755880729.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:49.492Z,1755880729.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 163.253723 m,
      bearing: 351.683782 deg,
      approach rate: -0.483957 m/s,
      LOS rate: -0.015863 deg/s,
      cmd heading: 359.752457 deg,
      new cmd heading: 359.737388 deg.

2025-08-22T16:38:49.492Z,1755880729.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278602 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:49.559Z,1755880729.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502727
2025-08-22T16:38:49.811Z,1755880729.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754687
2025-08-22T16:38:49.977Z,1755880729.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:49.980Z,1755880729.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 163.016846 m,
      bearing: 351.676035 deg,
      approach rate: -0.485341 m/s,
      LOS rate: -0.015896 deg/s,
      cmd heading: 359.737376 deg,
      new cmd heading: 359.721859 deg.

2025-08-22T16:38:49.980Z,1755880729.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278331 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:50.063Z,1755880730.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006632
2025-08-22T16:38:50.314Z,1755880730.314 [DAT](INFO): DAT read: Rx Time:16:38:50.8787

2025-08-22T16:38:50.315Z,1755880730.315 [DAT](INFO): Rx dataTimestamp_ set to:1755880730.314663
2025-08-22T16:38:50.315Z,1755880730.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259557
2025-08-22T16:38:50.517Z,1755880730.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.56 m.
2025-08-22T16:38:50.520Z,1755880730.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.562988 m,
      nav range: 162.755646 m,
      bearing: 351.668491 deg,
      approach rate: -0.483759 m/s,
      LOS rate: -0.013993 deg/s,
      cmd heading: 359.721857 deg,
      new cmd heading: 359.706747 deg.

2025-08-22T16:38:50.520Z,1755880730.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278067 target range: 170.562988 and range: 171.60 m.
2025-08-22T16:38:50.567Z,1755880730.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510916
2025-08-22T16:38:50.824Z,1755880730.824 [DAT](INFO): DAT read: 16:38:50.8787 LVL= 30256, 32753, 23538, 32547, AGC= 64, IDX= 411,-0.08,-0.961,-2.466,-0.529,-1.067, PHS= 0.208,-1.353, 0.494, RAW= 158.3,   7.6, CAL= 157.8,   7.8, ROT= 352.2,  -7.8

2025-08-22T16:38:50.825Z,1755880730.825 [DAT](INFO): got valid direction response:
 16:38:50.8787 LVL= 30256, 32753, 23538, 32547, AGC= 64, IDX= 411,-0.08,-0.961,-2.466,-0.529,-1.067, PHS= 0.208,-1.353, 0.494, RAW= 158.3,   7.6, CAL= 157.8,   7.8, ROT= 352.2,  -7.8

2025-08-22T16:38:50.826Z,1755880730.826 [DAT](INFO): DAT read: Bearing 159.3,   1.2 (Local)

2025-08-22T16:38:50.826Z,1755880730.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,   1.2 (Local)

2025-08-22T16:38:50.828Z,1755880730.828 [DAT](INFO): DAT read: Range 11 to 50 : 169.8 m  (Round-trip  226.4 ms) speed  0.6 m/s

2025-08-22T16:38:50.828Z,1755880730.828 [DAT](INFO): DAT read: user:170>

2025-08-22T16:38:50.829Z,1755880730.829 [DAT](INFO): DAT read: Tx time:16:38:51.9981

2025-08-22T16:38:50.829Z,1755880730.829 [DAT](INFO): Ping request sent.
2025-08-22T16:38:50.830Z,1755880730.830 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:50.830Z,1755880730.830 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:50.831Z,1755880730.831 [DAT](INFO): direction in FSK: [0.981581,-0.134460,0.135716]
2025-08-22T16:38:50.831Z,1755880730.831 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:50.831Z,1755880730.831 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:50.834Z,1755880730.834 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:50.835Z,1755880730.835 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:50.991Z,1755880730.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.800003 m,
      deltaT: 3.777834 s,
      deltaX: -1.800003 m,
      approachRate: -0.476464 m/s,
      rangeRepo size: 4

2025-08-22T16:38:50.993Z,1755880730.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.772568 m,
      bearing: 352.617592 deg,
      lat: 36.779398 deg,
      lon: -121.859524 deg,
      deltaT: 3.777834 s,
      deltaX: -1.790421 m,
      approachRate: -0.473928 m/s,
      posRepo size: 4

2025-08-22T16:38:51.001Z,1755880731.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:51.012Z,1755880731.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 162.743332 m,
      bearing: 352.093393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013993 deg/s,
      cmd heading: 359.706749 deg,
      new cmd heading: 359.694070 deg.

2025-08-22T16:38:51.012Z,1755880731.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277846 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:51.312Z,1755880731.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:51.314Z,1755880731.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:51.317Z,1755880731.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 162.564713 m,
      bearing: 352.088910 deg,
      approach rate: -0.518544 m/s,
      LOS rate: -0.013030 deg/s,
      cmd heading: 359.694072 deg,
      new cmd heading: 359.685095 deg.

2025-08-22T16:38:51.318Z,1755880731.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277689 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:51.323Z,1755880731.323 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:51.323Z,1755880731.323 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:51.323Z,1755880731.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:51.574Z,1755880731.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744851
2025-08-22T16:38:51.724Z,1755880731.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:51.727Z,1755880731.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 162.367294 m,
      bearing: 352.084029 deg,
      approach rate: -0.481845 m/s,
      LOS rate: -0.011927 deg/s,
      cmd heading: 359.685084 deg,
      new cmd heading: 359.675310 deg.

2025-08-22T16:38:51.728Z,1755880731.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277518 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:51.827Z,1755880731.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997082
2025-08-22T16:38:52.079Z,1755880732.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249017
2025-08-22T16:38:52.103Z,1755880732.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:52.106Z,1755880732.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 162.184662 m,
      bearing: 352.079546 deg,
      approach rate: -0.481127 m/s,
      LOS rate: -0.011823 deg/s,
      cmd heading: 359.675303 deg,
      new cmd heading: 359.666327 deg.

2025-08-22T16:38:52.107Z,1755880732.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277361 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:52.331Z,1755880732.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501601
2025-08-22T16:38:52.526Z,1755880732.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:52.528Z,1755880732.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 161.977829 m,
      bearing: 352.076416 deg,
      approach rate: -0.490302 m/s,
      LOS rate: -0.007428 deg/s,
      cmd heading: 359.666314 deg,
      new cmd heading: 359.660047 deg.

2025-08-22T16:38:52.529Z,1755880732.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277252 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:52.586Z,1755880732.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756129
2025-08-22T16:38:52.839Z,1755880732.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009386
2025-08-22T16:38:52.913Z,1755880732.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:52.932Z,1755880732.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 161.787643 m,
      bearing: 352.073621 deg,
      approach rate: -0.490590 m/s,
      LOS rate: -0.007219 deg/s,
      cmd heading: 359.660058 deg,
      new cmd heading: 359.654461 deg.

2025-08-22T16:38:52.933Z,1755880732.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277154 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:53.090Z,1755880733.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260826
2025-08-22T16:38:53.335Z,1755880733.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:53.337Z,1755880733.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:53.340Z,1755880733.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 161.583984 m,
      bearing: 352.069958 deg,
      approach rate: -0.480086 m/s,
      LOS rate: -0.008647 deg/s,
      cmd heading: 359.654457 deg,
      new cmd heading: 359.647120 deg.

2025-08-22T16:38:53.341Z,1755880733.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277026 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:53.343Z,1755880733.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513013
2025-08-22T16:38:53.595Z,1755880733.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764985
2025-08-22T16:38:53.730Z,1755880733.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:53.732Z,1755880733.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 161.394958 m,
      bearing: 352.066652 deg,
      approach rate: -0.481771 m/s,
      LOS rate: -0.008435 deg/s,
      cmd heading: 359.647108 deg,
      new cmd heading: 359.640489 deg.

2025-08-22T16:38:53.734Z,1755880733.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276911 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:53.847Z,1755880733.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017817
2025-08-22T16:38:54.099Z,1755880734.099 [DAT](INFO): DAT read: Rx Time:16:38:54.6262

2025-08-22T16:38:54.099Z,1755880734.099 [DAT](INFO): Rx dataTimestamp_ set to:1755880734.098801
2025-08-22T16:38:54.100Z,1755880734.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270031
2025-08-22T16:38:54.147Z,1755880734.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:54.150Z,1755880734.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 161.196808 m,
      bearing: 352.063247 deg,
      approach rate: -0.474624 m/s,
      LOS rate: -0.008166 deg/s,
      cmd heading: 359.640496 deg,
      new cmd heading: 359.633677 deg.

2025-08-22T16:38:54.151Z,1755880734.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276792 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:54.351Z,1755880734.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521019
2025-08-22T16:38:54.579Z,1755880734.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.77 m.
2025-08-22T16:38:54.598Z,1755880734.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.772568 m,
      nav range: 160.983368 m,
      bearing: 352.059067 deg,
      approach rate: -0.493768 m/s,
      LOS rate: -0.009682 deg/s,
      cmd heading: 359.633666 deg,
      new cmd heading: 359.625296 deg.

2025-08-22T16:38:54.599Z,1755880734.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276646 target range: 168.772568 and range: 169.80 m.
2025-08-22T16:38:54.608Z,1755880734.608 [DAT](INFO): DAT read: 16:38:54.6262 LVL= 30176, 32753, 22642, 32755, AGC= 64, IDX= 418, 0.45,-0.712,-2.327,-0.291,-0.871, PHS= 0.261,-1.411, 0.535, RAW= 157.5,   6.8, CAL= 156.9,   6.8, ROT= 353.1,  -6.8

2025-08-22T16:38:54.609Z,1755880734.609 [DAT](INFO): got valid direction response:
 16:38:54.6262 LVL= 30176, 32753, 22642, 32755, AGC= 64, IDX= 418, 0.45,-0.712,-2.327,-0.291,-0.871, PHS= 0.261,-1.411, 0.535, RAW= 157.5,   6.8, CAL= 156.9,   6.8, ROT= 353.1,  -6.8

2025-08-22T16:38:54.610Z,1755880734.610 [DAT](INFO): DAT read: Bearing 157.8,   1.5 (Local)

2025-08-22T16:38:54.611Z,1755880734.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,   1.5 (Local)

2025-08-22T16:38:54.612Z,1755880734.612 [DAT](INFO): DAT read: Range 11 to 50 : 168.0 m  (Round-trip  224.0 ms) speed  0.4 m/s

2025-08-22T16:38:54.613Z,1755880734.613 [DAT](INFO): DAT read: user:171>

2025-08-22T16:38:54.613Z,1755880734.613 [DAT](INFO): DAT read: Tx time:16:38:55.7481

2025-08-22T16:38:54.614Z,1755880734.614 [DAT](INFO): Ping request sent.
2025-08-22T16:38:54.614Z,1755880734.614 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:54.614Z,1755880734.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:54.615Z,1755880734.615 [DAT](INFO): direction in FSK: [0.985774,-0.119291,0.118404]
2025-08-22T16:38:54.615Z,1755880734.615 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:54.616Z,1755880734.616 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:54.623Z,1755880734.623 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:54.624Z,1755880734.624 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:54.943Z,1755880734.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.000000 m,
      deltaT: 3.784166 s,
      deltaX: -1.800003 m,
      approachRate: -0.475667 m/s,
      rangeRepo size: 4

2025-08-22T16:38:54.946Z,1755880734.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.983307 m,
      bearing: 353.098355 deg,
      lat: 36.779398 deg,
      lon: -121.859518 deg,
      deltaT: 3.784166 s,
      deltaX: -1.789261 m,
      approachRate: -0.472828 m/s,
      posRepo size: 4

2025-08-22T16:38:54.946Z,1755880734.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:54.949Z,1755880734.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 160.726883 m,
      bearing: 352.267004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009682 deg/s,
      cmd heading: 359.625306 deg,
      new cmd heading: 359.618267 deg.

2025-08-22T16:38:54.950Z,1755880734.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276523 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:55.368Z,1755880735.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:55.370Z,1755880735.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:55.373Z,1755880735.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 160.519669 m,
      bearing: 352.263468 deg,
      approach rate: -0.485430 m/s,
      LOS rate: -0.008294 deg/s,
      cmd heading: 359.618257 deg,
      new cmd heading: 359.611176 deg.

2025-08-22T16:38:55.374Z,1755880735.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276399 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:55.610Z,1755880735.610 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:55.610Z,1755880735.610 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:55.611Z,1755880735.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:55.746Z,1755880735.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:55.748Z,1755880735.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 160.338974 m,
      bearing: 352.260445 deg,
      approach rate: -0.480769 m/s,
      LOS rate: -0.008052 deg/s,
      cmd heading: 359.611181 deg,
      new cmd heading: 359.605129 deg.

2025-08-22T16:38:55.750Z,1755880735.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276293 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:55.863Z,1755880735.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249066
2025-08-22T16:38:56.117Z,1755880736.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502694
2025-08-22T16:38:56.163Z,1755880736.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:56.168Z,1755880736.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 160.139847 m,
      bearing: 352.257156 deg,
      approach rate: -0.477180 m/s,
      LOS rate: -0.007891 deg/s,
      cmd heading: 359.605116 deg,
      new cmd heading: 359.598530 deg.

2025-08-22T16:38:56.171Z,1755880736.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276178 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:56.371Z,1755880736.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756833
2025-08-22T16:38:56.582Z,1755880736.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:56.585Z,1755880736.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 159.944839 m,
      bearing: 352.252728 deg,
      approach rate: -0.465087 m/s,
      LOS rate: -0.010573 deg/s,
      cmd heading: 359.598531 deg,
      new cmd heading: 359.589665 deg.

2025-08-22T16:38:56.590Z,1755880736.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276023 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:56.623Z,1755880736.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008890
2025-08-22T16:38:56.874Z,1755880736.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260502
2025-08-22T16:38:56.959Z,1755880736.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:56.962Z,1755880736.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 159.752274 m,
      bearing: 352.248366 deg,
      approach rate: -0.511326 m/s,
      LOS rate: -0.011597 deg/s,
      cmd heading: 359.589652 deg,
      new cmd heading: 359.580917 deg.

2025-08-22T16:38:56.963Z,1755880736.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275871 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:57.126Z,1755880737.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512511
2025-08-22T16:38:57.379Z,1755880737.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765216
2025-08-22T16:38:57.380Z,1755880737.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:57.383Z,1755880737.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:57.385Z,1755880737.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 159.547653 m,
      bearing: 352.244208 deg,
      approach rate: -0.482786 m/s,
      LOS rate: -0.009824 deg/s,
      cmd heading: 359.580910 deg,
      new cmd heading: 359.572582 deg.

2025-08-22T16:38:57.386Z,1755880737.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275725 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:57.630Z,1755880737.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016533
2025-08-22T16:38:57.755Z,1755880737.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:57.759Z,1755880737.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 159.365326 m,
      bearing: 352.240535 deg,
      approach rate: -0.489078 m/s,
      LOS rate: -0.009862 deg/s,
      cmd heading: 359.572577 deg,
      new cmd heading: 359.565223 deg.

2025-08-22T16:38:57.759Z,1755880737.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275597 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:57.883Z,1755880737.883 [DAT](INFO): DAT read: Rx Time:16:38:58.3738

2025-08-22T16:38:57.883Z,1755880737.883 [DAT](INFO): Rx dataTimestamp_ set to:1755880737.882730
2025-08-22T16:38:57.884Z,1755880737.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269646
2025-08-22T16:38:58.135Z,1755880738.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520639
2025-08-22T16:38:58.186Z,1755880738.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.98 m.
2025-08-22T16:38:58.191Z,1755880738.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.983307 m,
      nav range: 159.160446 m,
      bearing: 352.236447 deg,
      approach rate: -0.476356 m/s,
      LOS rate: -0.009517 deg/s,
      cmd heading: 359.565227 deg,
      new cmd heading: 359.557041 deg.

2025-08-22T16:38:58.193Z,1755880738.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275454 target range: 166.983307 and range: 168.00 m.
2025-08-22T16:38:58.392Z,1755880738.392 [DAT](INFO): DAT read: 16:38:58.3738 LVL= 29344, 32753, 25778, 32755, AGC= 66, IDX= 409,-0.08, 0.481,-1.069, 0.879, 0.355, PHS= 0.229,-1.378, 0.480, RAW= 157.2,   7.7, CAL= 156.7,   8.0, ROT= 353.3,  -8.0

2025-08-22T16:38:58.394Z,1755880738.394 [DAT](INFO): got valid direction response:
 16:38:58.3738 LVL= 29344, 32753, 25778, 32755, AGC= 66, IDX= 409,-0.08, 0.481,-1.069, 0.879, 0.355, PHS= 0.229,-1.378, 0.480, RAW= 157.2,   7.7, CAL= 156.7,   8.0, ROT= 353.3,  -8.0

2025-08-22T16:38:58.395Z,1755880738.395 [DAT](INFO): DAT read: Bearing 158.8,   1.1 (Local)

2025-08-22T16:38:58.395Z,1755880738.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.8,   1.1 (Local)

2025-08-22T16:38:58.396Z,1755880738.396 [DAT](INFO): DAT read: Range 11 to 50 : 166.1 m  (Round-trip  221.5 ms) speed  0.4 m/s

2025-08-22T16:38:58.397Z,1755880738.397 [DAT](INFO): DAT read: user:172>

2025-08-22T16:38:58.398Z,1755880738.398 [DAT](INFO): DAT read: Tx time:16:38:59.4981

2025-08-22T16:38:58.398Z,1755880738.398 [DAT](INFO): Ping request sent.
2025-08-22T16:38:58.398Z,1755880738.398 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:38:58.398Z,1755880738.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:38:58.399Z,1755880738.399 [DAT](INFO): direction in FSK: [0.983505,-0.115536,0.139173]
2025-08-22T16:38:58.400Z,1755880738.400 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:58.400Z,1755880738.400 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:58.403Z,1755880738.403 [DAT](INFO): publishing transmit ping time
2025-08-22T16:38:58.404Z,1755880738.404 [DAT](INFO): publishing direction and range info
2025-08-22T16:38:58.632Z,1755880738.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.100006 m,
      deltaT: 3.784334 s,
      deltaX: -1.899994 m,
      approachRate: -0.502068 m/s,
      rangeRepo size: 4

2025-08-22T16:38:58.634Z,1755880738.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.095306 m,
      bearing: 352.901773 deg,
      lat: 36.779398 deg,
      lon: -121.859507 deg,
      deltaT: 3.784334 s,
      deltaX: -1.888000 m,
      approachRate: -0.498899 m/s,
      posRepo size: 4

2025-08-22T16:38:58.635Z,1755880738.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:38:58.650Z,1755880738.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 158.815765 m,
      bearing: 352.554681 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009517 deg/s,
      cmd heading: 359.557031 deg,
      new cmd heading: 359.548541 deg.

2025-08-22T16:38:58.651Z,1755880738.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275306 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:38:59.010Z,1755880739.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:38:59.013Z,1755880739.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 158.625366 m,
      bearing: 352.551168 deg,
      approach rate: -0.502821 m/s,
      LOS rate: -0.009290 deg/s,
      cmd heading: 359.548535 deg,
      new cmd heading: 359.541499 deg.

2025-08-22T16:38:59.014Z,1755880739.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275183 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:38:59.433Z,1755880739.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:38:59.435Z,1755880739.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:38:59.438Z,1755880739.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 158.417358 m,
      bearing: 352.547702 deg,
      approach rate: -0.489180 m/s,
      LOS rate: -0.008161 deg/s,
      cmd heading: 359.541486 deg,
      new cmd heading: 359.534545 deg.

2025-08-22T16:38:59.439Z,1755880739.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275062 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:38:59.655Z,1755880739.655 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:38:59.655Z,1755880739.655 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:38:59.656Z,1755880739.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:38:59.817Z,1755880739.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:38:59.819Z,1755880739.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 158.230774 m,
      bearing: 352.544675 deg,
      approach rate: -0.489426 m/s,
      LOS rate: -0.007951 deg/s,
      cmd heading: 359.534546 deg,
      new cmd heading: 359.528484 deg.

2025-08-22T16:38:59.820Z,1755880739.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274956 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:38:59.907Z,1755880739.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509079
2025-08-22T16:39:00.161Z,1755880740.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762147
2025-08-22T16:39:00.234Z,1755880740.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:39:00.237Z,1755880740.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 158.026642 m,
      bearing: 352.541397 deg,
      approach rate: -0.488883 m/s,
      LOS rate: -0.007861 deg/s,
      cmd heading: 359.528481 deg,
      new cmd heading: 359.521916 deg.

2025-08-22T16:39:00.238Z,1755880740.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274841 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:39:00.411Z,1755880740.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012405
2025-08-22T16:39:00.665Z,1755880740.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265774
2025-08-22T16:39:00.770Z,1755880740.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:39:00.773Z,1755880740.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 157.767151 m,
      bearing: 352.537715 deg,
      approach rate: -0.488220 m/s,
      LOS rate: -0.006938 deg/s,
      cmd heading: 359.521924 deg,
      new cmd heading: 359.514549 deg.

2025-08-22T16:39:00.778Z,1755880740.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274713 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:39:00.915Z,1755880740.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516970
2025-08-22T16:39:01.135Z,1755880741.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:39:01.138Z,1755880741.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 157.568863 m,
      bearing: 352.534935 deg,
      approach rate: -0.536492 m/s,
      LOS rate: -0.007531 deg/s,
      cmd heading: 359.514547 deg,
      new cmd heading: 359.508980 deg.

2025-08-22T16:39:01.139Z,1755880741.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274615 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:39:01.168Z,1755880741.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769801
2025-08-22T16:39:01.418Z,1755880741.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020273
2025-08-22T16:39:01.645Z,1755880741.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:01.647Z,1755880741.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:39:01.650Z,1755880741.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 157.318665 m,
      bearing: 352.530755 deg,
      approach rate: -0.488632 m/s,
      LOS rate: -0.008177 deg/s,
      cmd heading: 359.508974 deg,
      new cmd heading: 359.500601 deg.

2025-08-22T16:39:01.651Z,1755880741.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274469 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:39:01.691Z,1755880741.691 [DAT](INFO): DAT read: Rx Time:16:39:02.1214

2025-08-22T16:39:01.691Z,1755880741.691 [DAT](INFO): Rx dataTimestamp_ set to:1755880741.690801
2025-08-22T16:39:01.692Z,1755880741.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293403
2025-08-22T16:39:01.950Z,1755880741.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550230
2025-08-22T16:39:02.083Z,1755880742.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.10 m.
2025-08-22T16:39:02.086Z,1755880742.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.095306 m,
      nav range: 157.108109 m,
      bearing: 352.527227 deg,
      approach rate: -0.482757 m/s,
      LOS rate: -0.008100 deg/s,
      cmd heading: 359.500614 deg,
      new cmd heading: 359.493548 deg.

2025-08-22T16:39:02.087Z,1755880742.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274346 target range: 165.095306 and range: 166.10 m.
2025-08-22T16:39:02.203Z,1755880742.203 [DAT](INFO): DAT read: 16:39:02.1214 LVL= 24880, 32753, 21538, 32755, AGC= 62, IDX= 417,-0.25, 2.471, 0.940, 2.867, 2.332, PHS= 0.241,-1.347, 0.491, RAW= 157.2,   7.2, CAL= 156.7,   7.3, ROT= 353.3,  -7.3

2025-08-22T16:39:02.204Z,1755880742.204 [DAT](INFO): got valid direction response:
 16:39:02.1214 LVL= 24880, 32753, 21538, 32755, AGC= 62, IDX= 417,-0.25, 2.471, 0.940, 2.867, 2.332, PHS= 0.241,-1.347, 0.491, RAW= 157.2,   7.2, CAL= 156.7,   7.3, ROT= 353.3,  -7.3

2025-08-22T16:39:02.205Z,1755880742.205 [DAT](INFO): DAT read: Bearing 157.8,   0.7 (Local)

2025-08-22T16:39:02.206Z,1755880742.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,   0.7 (Local)

2025-08-22T16:39:02.207Z,1755880742.207 [DAT](INFO): DAT read: Range 11 to 50 : 164.4 m  (Round-trip  219.2 ms) speed  0.4 m/s

2025-08-22T16:39:02.208Z,1755880742.208 [DAT](INFO): DAT read: user:173>

2025-08-22T16:39:02.209Z,1755880742.209 [DAT](INFO): DAT read: Tx time:16:39:03.2481

2025-08-22T16:39:02.209Z,1755880742.209 [DAT](INFO): Ping request sent.
2025-08-22T16:39:02.209Z,1755880742.209 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:02.213Z,1755880742.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:02.222Z,1755880742.222 [DAT](INFO): direction in FSK: [0.985120,-0.115725,0.127065]
2025-08-22T16:39:02.223Z,1755880742.223 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:02.223Z,1755880742.223 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:02.231Z,1755880742.231 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:02.231Z,1755880742.231 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:02.523Z,1755880742.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 164.399994 m,
      deltaT: 3.807739 s,
      deltaX: -1.700012 m,
      approachRate: -0.446462 m/s,
      rangeRepo size: 4

2025-08-22T16:39:02.525Z,1755880742.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 163.395935 m,
      bearing: 352.466045 deg,
      lat: 36.779406 deg,
      lon: -121.859507 deg,
      deltaT: 3.807739 s,
      deltaX: -1.699371 m,
      approachRate: -0.446294 m/s,
      posRepo size: 4

2025-08-22T16:39:02.529Z,1755880742.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:02.532Z,1755880742.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 157.748901 m,
      bearing: 352.563678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008100 deg/s,
      cmd heading: 359.493538 deg,
      new cmd heading: 359.486503 deg.

2025-08-22T16:39:02.533Z,1755880742.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274223 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:02.748Z,1755880742.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:39:02.872Z,1755880742.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:02.875Z,1755880742.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 157.572647 m,
      bearing: 352.560504 deg,
      approach rate: -0.497607 m/s,
      LOS rate: -0.008970 deg/s,
      cmd heading: 359.486489 deg,
      new cmd heading: 359.480135 deg.

2025-08-22T16:39:02.876Z,1755880742.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274112 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:03.284Z,1755880743.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:03.287Z,1755880743.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 157.381729 m,
      bearing: 352.557065 deg,
      approach rate: -0.463325 m/s,
      LOS rate: -0.008355 deg/s,
      cmd heading: 359.480123 deg,
      new cmd heading: 359.473238 deg.

2025-08-22T16:39:03.288Z,1755880743.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273992 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:03.732Z,1755880743.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:03.734Z,1755880743.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:03.737Z,1755880743.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 157.178085 m,
      bearing: 352.553219 deg,
      approach rate: -0.452244 m/s,
      LOS rate: -0.008553 deg/s,
      cmd heading: 359.473239 deg,
      new cmd heading: 359.465536 deg.

2025-08-22T16:39:03.738Z,1755880743.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273857 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:03.750Z,1755880743.750 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:39:03.974Z,1755880743.974 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:03.974Z,1755880743.974 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:03.975Z,1755880743.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:04.088Z,1755880744.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:04.091Z,1755880744.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 157.003464 m,
      bearing: 352.549897 deg,
      approach rate: -0.494138 m/s,
      LOS rate: -0.009410 deg/s,
      cmd heading: 359.465534 deg,
      new cmd heading: 359.458883 deg.

2025-08-22T16:39:04.091Z,1755880744.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273741 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:04.227Z,1755880744.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017744
2025-08-22T16:39:04.479Z,1755880744.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269527
2025-08-22T16:39:04.547Z,1755880744.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:04.554Z,1755880744.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 156.789383 m,
      bearing: 352.546023 deg,
      approach rate: -0.465863 m/s,
      LOS rate: -0.008441 deg/s,
      cmd heading: 359.458895 deg,
      new cmd heading: 359.451137 deg.

2025-08-22T16:39:04.555Z,1755880744.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273606 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:04.731Z,1755880744.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521884
2025-08-22T16:39:04.906Z,1755880744.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:04.908Z,1755880744.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 156.624374 m,
      bearing: 352.542991 deg,
      approach rate: -0.460501 m/s,
      LOS rate: -0.008471 deg/s,
      cmd heading: 359.451136 deg,
      new cmd heading: 359.445065 deg.

2025-08-22T16:39:04.910Z,1755880744.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273500 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:04.983Z,1755880744.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773588
2025-08-22T16:39:05.235Z,1755880745.235 [DAT](INFO): DAT read: Rx Time:16:39:05.8690

2025-08-22T16:39:05.235Z,1755880745.235 [DAT](INFO): Rx dataTimestamp_ set to:1755880745.234752
2025-08-22T16:39:05.236Z,1755880745.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026571
2025-08-22T16:39:05.326Z,1755880745.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:05.329Z,1755880745.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 156.426956 m,
      bearing: 352.539345 deg,
      approach rate: -0.474491 m/s,
      LOS rate: -0.008773 deg/s,
      cmd heading: 359.445071 deg,
      new cmd heading: 359.437770 deg.

2025-08-22T16:39:05.334Z,1755880745.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273373 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:05.487Z,1755880745.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277569
2025-08-22T16:39:05.743Z,1755880745.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533422
2025-08-22T16:39:05.804Z,1755880745.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:05.807Z,1755880745.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.40 m.
2025-08-22T16:39:05.822Z,1755880745.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.395935 m,
      nav range: 156.191086 m,
      bearing: 352.535007 deg,
      approach rate: -0.486334 m/s,
      LOS rate: -0.008960 deg/s,
      cmd heading: 359.437776 deg,
      new cmd heading: 359.429085 deg.

2025-08-22T16:39:05.823Z,1755880745.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273221 target range: 163.395935 and range: 164.40 m.
2025-08-22T16:39:05.996Z,1755880745.996 [DAT](INFO): DAT read: 16:39:05.8690 LVL= 31424, 32753, 25586, 32755, AGC= 64, IDX= 425,-0.47, 0.002,-1.544, 0.403,-0.138, PHS= 0.242,-1.362, 0.496, RAW= 157.3,   7.2, CAL= 156.7,   7.3, ROT= 353.3,  -7.3

2025-08-22T16:39:05.998Z,1755880745.998 [DAT](INFO): got valid direction response:
 16:39:05.8690 LVL= 31424, 32753, 25586, 32755, AGC= 64, IDX= 425,-0.47, 0.002,-1.544, 0.403,-0.138, PHS= 0.242,-1.362, 0.496, RAW= 157.3,   7.2, CAL= 156.7,   7.3, ROT= 353.3,  -7.3

2025-08-22T16:39:05.999Z,1755880745.999 [DAT](INFO): DAT read: Bearing 158.0,   1.1 (Local)

2025-08-22T16:39:05.999Z,1755880745.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.0,   1.1 (Local)

2025-08-22T16:39:06.000Z,1755880746.000 [DAT](INFO): DAT read: Range 11 to 50 : 162.5 m  (Round-trip  216.7 ms) speed  0.4 m/s

2025-08-22T16:39:06.001Z,1755880746.001 [DAT](INFO): DAT read: user:174>

2025-08-22T16:39:06.005Z,1755880746.005 [DAT](INFO): DAT read: Tx time:16:39:06.9981

2025-08-22T16:39:06.005Z,1755880746.005 [DAT](INFO): Ping request sent.
2025-08-22T16:39:06.005Z,1755880746.005 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:06.005Z,1755880746.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:06.006Z,1755880746.006 [DAT](INFO): direction in FSK: [0.985120,-0.115725,0.127065]
2025-08-22T16:39:06.007Z,1755880746.007 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:06.007Z,1755880746.007 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:06.010Z,1755880746.010 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:06.010Z,1755880746.010 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:06.219Z,1755880746.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.500000 m,
      deltaT: 3.796179 s,
      deltaX: -1.899994 m,
      approachRate: -0.500502 m/s,
      rangeRepo size: 4

2025-08-22T16:39:06.225Z,1755880746.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.506882 m,
      bearing: 352.453696 deg,
      lat: 36.779410 deg,
      lon: -121.859507 deg,
      deltaT: 3.796179 s,
      deltaX: -1.889053 m,
      approachRate: -0.497620 m/s,
      posRepo size: 4

2025-08-22T16:39:06.226Z,1755880746.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:06.229Z,1755880746.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 156.564224 m,
      bearing: 352.558010 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008960 deg/s,
      cmd heading: 359.429088 deg,
      new cmd heading: 359.421706 deg.

2025-08-22T16:39:06.234Z,1755880746.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273092 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:06.574Z,1755880746.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:06.577Z,1755880746.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 156.366531 m,
      bearing: 352.555768 deg,
      approach rate: -0.555610 m/s,
      LOS rate: -0.006310 deg/s,
      cmd heading: 359.421712 deg,
      new cmd heading: 359.417222 deg.

2025-08-22T16:39:06.590Z,1755880746.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273014 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:06.969Z,1755880746.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:06.978Z,1755880746.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 156.185532 m,
      bearing: 352.553776 deg,
      approach rate: -0.458570 m/s,
      LOS rate: -0.005053 deg/s,
      cmd heading: 359.417231 deg,
      new cmd heading: 359.413242 deg.

2025-08-22T16:39:06.979Z,1755880746.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272944 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:07.347Z,1755880747.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:07.350Z,1755880747.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.994110 m,
      bearing: 352.551698 deg,
      approach rate: -0.506882 m/s,
      LOS rate: -0.005510 deg/s,
      cmd heading: 359.413242 deg,
      new cmd heading: 359.409081 deg.

2025-08-22T16:39:07.351Z,1755880747.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272872 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:07.775Z,1755880747.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:07.779Z,1755880747.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.786133 m,
      bearing: 352.551266 deg,
      approach rate: -0.485616 m/s,
      LOS rate: -0.001009 deg/s,
      cmd heading: 359.409089 deg,
      new cmd heading: 359.408225 deg.

2025-08-22T16:39:07.780Z,1755880747.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272857 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:08.171Z,1755880748.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:08.175Z,1755880748.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:08.179Z,1755880748.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.597351 m,
      bearing: 352.550947 deg,
      approach rate: -0.472586 m/s,
      LOS rate: -0.000799 deg/s,
      cmd heading: 359.408215 deg,
      new cmd heading: 359.407577 deg.

2025-08-22T16:39:08.180Z,1755880748.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272846 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:08.263Z,1755880748.263 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:08.263Z,1755880748.263 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:08.264Z,1755880748.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:08.514Z,1755880748.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509472
2025-08-22T16:39:08.610Z,1755880748.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:08.613Z,1755880748.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.380692 m,
      bearing: 352.551627 deg,
      approach rate: -0.497002 m/s,
      LOS rate: 0.001562 deg/s,
      cmd heading: 359.407587 deg,
      new cmd heading: 359.408949 deg.

2025-08-22T16:39:08.618Z,1755880748.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272870 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:08.767Z,1755880748.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761740
2025-08-22T16:39:08.965Z,1755880748.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:08.968Z,1755880748.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.201355 m,
      bearing: 352.552204 deg,
      approach rate: -0.505455 m/s,
      LOS rate: 0.001628 deg/s,
      cmd heading: 359.408953 deg,
      new cmd heading: 359.410108 deg.

2025-08-22T16:39:08.969Z,1755880748.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272890 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:09.020Z,1755880749.020 [DAT](INFO): DAT read: Rx Time:16:39:09.6166

2025-08-22T16:39:09.020Z,1755880749.020 [DAT](INFO): Rx dataTimestamp_ set to:1755880749.019751
2025-08-22T16:39:09.021Z,1755880749.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015900
2025-08-22T16:39:09.270Z,1755880749.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265498
2025-08-22T16:39:09.382Z,1755880749.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.51 m.
2025-08-22T16:39:09.384Z,1755880749.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.506882 m,
      nav range: 155.003616 m,
      bearing: 352.552868 deg,
      approach rate: -0.474856 m/s,
      LOS rate: 0.001597 deg/s,
      cmd heading: 359.410100 deg,
      new cmd heading: 359.411430 deg.

2025-08-22T16:39:09.386Z,1755880749.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272913 target range: 161.506882 and range: 162.50 m.
2025-08-22T16:39:09.528Z,1755880749.528 [DAT](INFO): DAT read: 16:39:09.6166 LVL= 27312, 32753, 20898, 32755, AGC= 65, IDX= 415,-0.00, 2.481, 0.916, 2.875, 2.358, PHS= 0.224,-1.397, 0.472, RAW= 157.0,   8.0, CAL= 156.6,   8.3, ROT= 353.4,  -8.3

2025-08-22T16:39:09.530Z,1755880749.530 [DAT](INFO): got valid direction response:
 16:39:09.6166 LVL= 27312, 32753, 20898, 32755, AGC= 65, IDX= 415,-0.00, 2.481, 0.916, 2.875, 2.358, PHS= 0.224,-1.397, 0.472, RAW= 157.0,   8.0, CAL= 156.6,   8.3, ROT= 353.4,  -8.3

2025-08-22T16:39:09.531Z,1755880749.531 [DAT](INFO): DAT read: Bearing 159.5,   1.6 (Local)

2025-08-22T16:39:09.531Z,1755880749.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5,   1.6 (Local)

2025-08-22T16:39:09.532Z,1755880749.532 [DAT](INFO): DAT read: Range 11 to 50 : 160.7 m  (Round-trip  214.3 ms) speed  0.3 m/s

2025-08-22T16:39:09.533Z,1755880749.533 [DAT](INFO): DAT read: user:175>

2025-08-22T16:39:09.534Z,1755880749.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:09.535Z,1755880749.535 [DAT](INFO): direction in FSK: [0.982968,-0.113733,0.144356]
2025-08-22T16:39:09.535Z,1755880749.535 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:09.538Z,1755880749.538 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:09.538Z,1755880749.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:09.539Z,1755880749.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:09.775Z,1755880749.775 [DAT](INFO): DAT read: Tx time:16:39:10.7481

2025-08-22T16:39:09.775Z,1755880749.775 [DAT](INFO): Ping request sent.
2025-08-22T16:39:09.775Z,1755880749.775 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:09.775Z,1755880749.775 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:09.776Z,1755880749.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-22T16:39:09.840Z,1755880749.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.699997 m,
      deltaT: 3.532076 s,
      deltaX: -1.800003 m,
      approachRate: -0.509616 m/s,
      rangeRepo size: 4

2025-08-22T16:39:09.846Z,1755880749.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.712601 m,
      bearing: 352.119624 deg,
      lat: 36.779410 deg,
      lon: -121.859511 deg,
      deltaT: 3.532076 s,
      deltaX: -1.794281 m,
      approachRate: -0.507996 m/s,
      posRepo size: 4

2025-08-22T16:39:09.847Z,1755880749.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:09.849Z,1755880749.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 154.816452 m,
      bearing: 352.447910 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001597 deg/s,
      cmd heading: 359.411439 deg,
      new cmd heading: 359.412900 deg.

2025-08-22T16:39:09.854Z,1755880749.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272938 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:10.026Z,1755880750.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251376
2025-08-22T16:39:10.200Z,1755880750.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:10.207Z,1755880750.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:10.210Z,1755880750.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 154.630081 m,
      bearing: 352.448112 deg,
      approach rate: -0.506626 m/s,
      LOS rate: 0.000551 deg/s,
      cmd heading: 359.412887 deg,
      new cmd heading: 359.413292 deg.

2025-08-22T16:39:10.211Z,1755880750.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272945 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:10.283Z,1755880750.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508313
2025-08-22T16:39:10.535Z,1755880750.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759441
2025-08-22T16:39:10.588Z,1755880750.588 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720263038,35.0, +11.1,   0.0, 0
2025-08-22T16:39:10.603Z,1755880750.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:10.606Z,1755880750.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 154.433411 m,
      bearing: 352.448279 deg,
      approach rate: -0.496294 m/s,
      LOS rate: 0.000422 deg/s,
      cmd heading: 359.413297 deg,
      new cmd heading: 359.413631 deg.

2025-08-22T16:39:10.607Z,1755880750.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272951 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:10.787Z,1755880750.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011484
2025-08-22T16:39:11.007Z,1755880751.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:11.010Z,1755880751.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 154.241684 m,
      bearing: 352.448391 deg,
      approach rate: -0.474596 m/s,
      LOS rate: 0.000277 deg/s,
      cmd heading: 359.413625 deg,
      new cmd heading: 359.413848 deg.

2025-08-22T16:39:11.011Z,1755880751.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272955 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:11.043Z,1755880751.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267722
2025-08-22T16:39:11.295Z,1755880751.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519492
2025-08-22T16:39:11.395Z,1755880751.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:11.397Z,1755880751.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 154.045074 m,
      bearing: 352.448448 deg,
      approach rate: -0.507455 m/s,
      LOS rate: 0.000148 deg/s,
      cmd heading: 359.413843 deg,
      new cmd heading: 359.413958 deg.

2025-08-22T16:39:11.398Z,1755880751.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272957 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:11.546Z,1755880751.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771380
2025-08-22T16:39:11.799Z,1755880751.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023698
2025-08-22T16:39:11.906Z,1755880751.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:11.909Z,1755880751.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 153.794922 m,
      bearing: 352.445820 deg,
      approach rate: -0.488682 m/s,
      LOS rate: -0.005143 deg/s,
      cmd heading: 359.413952 deg,
      new cmd heading: 359.408687 deg.

2025-08-22T16:39:11.910Z,1755880751.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272865 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:11.912Z,1755880751.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.211815 m.
2025-08-22T16:39:12.051Z,1755880752.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275584
2025-08-22T16:39:12.290Z,1755880752.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:12.292Z,1755880752.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:12.299Z,1755880752.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 153.610596 m,
      bearing: 352.443818 deg,
      approach rate: -0.478240 m/s,
      LOS rate: -0.005201 deg/s,
      cmd heading: 359.408680 deg,
      new cmd heading: 359.404670 deg.

2025-08-22T16:39:12.300Z,1755880752.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272795 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:12.303Z,1755880752.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527514
2025-08-22T16:39:12.554Z,1755880752.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779400
2025-08-22T16:39:12.744Z,1755880752.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:12.763Z,1755880752.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 153.380814 m,
      bearing: 352.440552 deg,
      approach rate: -0.508389 m/s,
      LOS rate: -0.007236 deg/s,
      cmd heading: 359.404663 deg,
      new cmd heading: 359.398122 deg.

2025-08-22T16:39:12.764Z,1755880752.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272681 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:12.807Z,1755880752.807 [DAT](INFO): DAT read: Rx Time:16:39:13.3641

2025-08-22T16:39:12.807Z,1755880752.807 [DAT](INFO): Rx dataTimestamp_ set to:1755880752.807025
2025-08-22T16:39:12.808Z,1755880752.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032768
2025-08-22T16:39:13.058Z,1755880753.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283397
2025-08-22T16:39:13.140Z,1755880753.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.71 m.
2025-08-22T16:39:13.144Z,1755880753.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.712601 m,
      nav range: 153.186813 m,
      bearing: 352.437771 deg,
      approach rate: -0.490162 m/s,
      LOS rate: -0.007036 deg/s,
      cmd heading: 359.398134 deg,
      new cmd heading: 359.392565 deg.

2025-08-22T16:39:13.146Z,1755880753.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272583 target range: 159.712601 and range: 160.70 m.
2025-08-22T16:39:13.316Z,1755880753.316 [DAT](INFO): DAT read: 16:39:13.3641 LVL= 29280, 32497, 22866, 32755, AGC= 64, IDX= 423,-0.46,-0.251,-1.770, 0.171,-0.379, PHS= 0.230,-1.346, 0.505, RAW= 157.9,   7.1, CAL= 157.4,   7.2, ROT= 352.6,  -7.2

2025-08-22T16:39:13.318Z,1755880753.318 [DAT](INFO): got valid direction response:
 16:39:13.3641 LVL= 29280, 32497, 22866, 32755, AGC= 64, IDX= 423,-0.46,-0.251,-1.770, 0.171,-0.379, PHS= 0.230,-1.346, 0.505, RAW= 157.9,   7.1, CAL= 157.4,   7.2, ROT= 352.6,  -7.2

2025-08-22T16:39:13.319Z,1755880753.319 [DAT](INFO): DAT read: Bearing 159.2,   1.5 (Local)

2025-08-22T16:39:13.319Z,1755880753.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2,   1.5 (Local)

2025-08-22T16:39:13.321Z,1755880753.321 [DAT](INFO): DAT read: Range 11 to 50 : 158.9 m  (Round-trip  211.9 ms) speed  0.8 m/s

2025-08-22T16:39:13.322Z,1755880753.322 [DAT](INFO): DAT read: user:176>

2025-08-22T16:39:13.322Z,1755880753.322 [DAT](INFO): DAT read: Tx time:16:39:14.4481

2025-08-22T16:39:13.323Z,1755880753.323 [DAT](INFO): Ping request sent.
2025-08-22T16:39:13.323Z,1755880753.323 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:13.323Z,1755880753.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:13.324Z,1755880753.324 [DAT](INFO): direction in FSK: [0.983852,-0.127780,0.125333]
2025-08-22T16:39:13.324Z,1755880753.324 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:13.324Z,1755880753.324 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:13.328Z,1755880753.328 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:13.328Z,1755880753.328 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:13.625Z,1755880753.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.899994 m,
      deltaT: 3.787936 s,
      deltaX: -1.800003 m,
      approachRate: -0.475194 m/s,
      rangeRepo size: 4

2025-08-22T16:39:13.630Z,1755880753.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.923492 m,
      bearing: 351.608861 deg,
      lat: 36.779406 deg,
      lon: -121.859512 deg,
      deltaT: 3.787936 s,
      deltaX: -1.789108 m,
      approachRate: -0.472317 m/s,
      posRepo size: 4

2025-08-22T16:39:13.632Z,1755880753.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:13.637Z,1755880753.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 152.413132 m,
      bearing: 352.368168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007036 deg/s,
      cmd heading: 359.392560 deg,
      new cmd heading: 359.385745 deg.

2025-08-22T16:39:13.639Z,1755880753.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272465 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:13.933Z,1755880753.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:13.936Z,1755880753.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 152.257721 m,
      bearing: 352.364659 deg,
      approach rate: -0.502795 m/s,
      LOS rate: -0.011366 deg/s,
      cmd heading: 359.385757 deg,
      new cmd heading: 359.378731 deg.

2025-08-22T16:39:13.937Z,1755880753.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272342 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:14.407Z,1755880754.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:14.410Z,1755880754.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:14.412Z,1755880754.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 152.021774 m,
      bearing: 352.359317 deg,
      approach rate: -0.495238 m/s,
      LOS rate: -0.011231 deg/s,
      cmd heading: 359.378736 deg,
      new cmd heading: 359.368035 deg.

2025-08-22T16:39:14.414Z,1755880754.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272155 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:14.573Z,1755880754.573 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:14.573Z,1755880754.573 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:14.574Z,1755880754.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:14.812Z,1755880754.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:14.823Z,1755880754.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499962
2025-08-22T16:39:14.834Z,1755880754.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 151.826248 m,
      bearing: 352.355255 deg,
      approach rate: -0.486306 m/s,
      LOS rate: -0.010115 deg/s,
      cmd heading: 359.368026 deg,
      new cmd heading: 359.359893 deg.

2025-08-22T16:39:14.835Z,1755880754.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272013 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:15.075Z,1755880755.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751909
2025-08-22T16:39:15.207Z,1755880755.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:15.210Z,1755880755.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 151.634140 m,
      bearing: 352.351261 deg,
      approach rate: -0.486097 m/s,
      LOS rate: -0.010118 deg/s,
      cmd heading: 359.359885 deg,
      new cmd heading: 359.351887 deg.

2025-08-22T16:39:15.211Z,1755880755.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271873 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:15.326Z,1755880755.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003752
2025-08-22T16:39:15.578Z,1755880755.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255763
2025-08-22T16:39:15.676Z,1755880755.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:15.679Z,1755880755.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 151.397827 m,
      bearing: 352.346613 deg,
      approach rate: -0.503572 m/s,
      LOS rate: -0.009921 deg/s,
      cmd heading: 359.351880 deg,
      new cmd heading: 359.342569 deg.

2025-08-22T16:39:15.680Z,1755880755.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271711 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:15.830Z,1755880755.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507791
2025-08-22T16:39:16.019Z,1755880756.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:16.021Z,1755880756.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 151.225281 m,
      bearing: 352.343173 deg,
      approach rate: -0.503829 m/s,
      LOS rate: -0.010056 deg/s,
      cmd heading: 359.342563 deg,
      new cmd heading: 359.335676 deg.

2025-08-22T16:39:16.038Z,1755880756.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271591 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:16.083Z,1755880756.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759906
2025-08-22T16:39:16.335Z,1755880756.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011806
2025-08-22T16:39:16.441Z,1755880756.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:16.466Z,1755880756.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:16.469Z,1755880756.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 151.011475 m,
      bearing: 352.338873 deg,
      approach rate: -0.477403 m/s,
      LOS rate: -0.009616 deg/s,
      cmd heading: 359.335678 deg,
      new cmd heading: 359.327066 deg.

2025-08-22T16:39:16.471Z,1755880756.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271441 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:16.590Z,1755880756.590 [DAT](INFO): DAT read: Rx Time:16:39:17.0617

2025-08-22T16:39:16.591Z,1755880756.591 [DAT](INFO): Rx dataTimestamp_ set to:1755880756.590389
2025-08-22T16:39:16.594Z,1755880756.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270330
2025-08-22T16:39:16.839Z,1755880756.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515862
2025-08-22T16:39:16.859Z,1755880756.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.92 m.
2025-08-22T16:39:16.863Z,1755880756.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.923492 m,
      nav range: 150.801727 m,
      bearing: 352.334643 deg,
      approach rate: -0.533969 m/s,
      LOS rate: -0.010784 deg/s,
      cmd heading: 359.327072 deg,
      new cmd heading: 359.318601 deg.

2025-08-22T16:39:16.864Z,1755880756.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271293 target range: 157.923492 and range: 158.90 m.
2025-08-22T16:39:17.097Z,1755880757.097 [DAT](INFO): DAT read: 16:39:17.0617 LVL= 26224, 32241, 22002, 32755, AGC= 61, IDX= 413, 0.05,-2.887, 1.863,-2.459,-3.034, PHS= 0.249,-1.341, 0.531, RAW= 158.0,   6.5, CAL= 157.4,   6.3, ROT= 352.6,  -6.3

2025-08-22T16:39:17.098Z,1755880757.098 [DAT](INFO): got valid direction response:
 16:39:17.0617 LVL= 26224, 32241, 22002, 32755, AGC= 61, IDX= 413, 0.05,-2.887, 1.863,-2.459,-3.034, PHS= 0.249,-1.341, 0.531, RAW= 158.0,   6.5, CAL= 157.4,   6.3, ROT= 352.6,  -6.3

2025-08-22T16:39:17.099Z,1755880757.099 [DAT](INFO): DAT read: Bearing 158.9,   2.1 (Local)

2025-08-22T16:39:17.099Z,1755880757.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.9,   2.1 (Local)

2025-08-22T16:39:17.101Z,1755880757.101 [DAT](INFO): DAT read: Range 11 to 50 : 157.0 m  (Round-trip  209.4 ms) speed  0.4 m/s

2025-08-22T16:39:17.101Z,1755880757.101 [DAT](INFO): DAT read: user:177>

2025-08-22T16:39:17.102Z,1755880757.102 [DAT](INFO): DAT read: Tx time:16:39:18.1481

2025-08-22T16:39:17.102Z,1755880757.102 [DAT](INFO): Ping request sent.
2025-08-22T16:39:17.102Z,1755880757.102 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:17.103Z,1755880757.103 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:17.104Z,1755880757.104 [DAT](INFO): direction in FSK: [0.985682,-0.128017,0.109734]
2025-08-22T16:39:17.104Z,1755880757.104 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:17.104Z,1755880757.104 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:17.135Z,1755880757.135 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:17.136Z,1755880757.136 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:17.295Z,1755880757.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.000000 m,
      deltaT: 3.779883 s,
      deltaX: -1.899994 m,
      approachRate: -0.502659 m/s,
      rangeRepo size: 4

2025-08-22T16:39:17.297Z,1755880757.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.035370 m,
      bearing: 351.788195 deg,
      lat: 36.779410 deg,
      lon: -121.859519 deg,
      deltaT: 3.779883 s,
      deltaX: -1.888123 m,
      approachRate: -0.499519 m/s,
      posRepo size: 4

2025-08-22T16:39:17.302Z,1755880757.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:17.304Z,1755880757.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 151.228485 m,
      bearing: 352.111375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010784 deg/s,
      cmd heading: 359.318603 deg,
      new cmd heading: 359.309222 deg.

2025-08-22T16:39:17.305Z,1755880757.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271129 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:17.698Z,1755880757.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:17.701Z,1755880757.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 151.012848 m,
      bearing: 352.108515 deg,
      approach rate: -0.534000 m/s,
      LOS rate: -0.007093 deg/s,
      cmd heading: 359.309232 deg,
      new cmd heading: 359.303503 deg.

2025-08-22T16:39:17.718Z,1755880757.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271029 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:18.070Z,1755880758.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:18.072Z,1755880758.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 150.824188 m,
      bearing: 352.105960 deg,
      approach rate: -0.507905 m/s,
      LOS rate: -0.006888 deg/s,
      cmd heading: 359.303495 deg,
      new cmd heading: 359.298378 deg.

2025-08-22T16:39:18.073Z,1755880758.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270940 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:18.468Z,1755880758.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:18.470Z,1755880758.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:18.473Z,1755880758.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 150.621689 m,
      bearing: 352.103172 deg,
      approach rate: -0.505417 m/s,
      LOS rate: -0.006968 deg/s,
      cmd heading: 359.298386 deg,
      new cmd heading: 359.292802 deg.

2025-08-22T16:39:18.474Z,1755880758.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270843 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:18.606Z,1755880758.606 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:18.606Z,1755880758.606 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:18.607Z,1755880758.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:18.855Z,1755880758.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752121
2025-08-22T16:39:18.890Z,1755880758.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:18.893Z,1755880758.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 150.414322 m,
      bearing: 352.100349 deg,
      approach rate: -0.494205 m/s,
      LOS rate: -0.006735 deg/s,
      cmd heading: 359.292812 deg,
      new cmd heading: 359.287160 deg.

2025-08-22T16:39:18.894Z,1755880758.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270744 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:19.107Z,1755880759.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004413
2025-08-22T16:39:19.285Z,1755880759.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:19.287Z,1755880759.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 150.219330 m,
      bearing: 352.097607 deg,
      approach rate: -0.493832 m/s,
      LOS rate: -0.006953 deg/s,
      cmd heading: 359.287157 deg,
      new cmd heading: 359.281666 deg.

2025-08-22T16:39:19.288Z,1755880759.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270648 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:19.359Z,1755880759.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257003
2025-08-22T16:39:19.614Z,1755880759.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510561
2025-08-22T16:39:19.722Z,1755880759.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:19.725Z,1755880759.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 150.002823 m,
      bearing: 352.094160 deg,
      approach rate: -0.495282 m/s,
      LOS rate: -0.007898 deg/s,
      cmd heading: 359.281665 deg,
      new cmd heading: 359.274760 deg.

2025-08-22T16:39:19.726Z,1755880759.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270527 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:19.863Z,1755880759.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760935
2025-08-22T16:39:20.089Z,1755880760.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:20.094Z,1755880760.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 149.821564 m,
      bearing: 352.091231 deg,
      approach rate: -0.495020 m/s,
      LOS rate: -0.008008 deg/s,
      cmd heading: 359.274753 deg,
      new cmd heading: 359.268889 deg.

2025-08-22T16:39:20.095Z,1755880760.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270425 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:20.116Z,1755880760.116 [DAT](INFO): DAT read: Rx Time:16:39:20.7593

2025-08-22T16:39:20.117Z,1755880760.117 [DAT](INFO): Rx dataTimestamp_ set to:1755880760.116424
2025-08-22T16:39:20.118Z,1755880760.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015776
2025-08-22T16:39:20.370Z,1755880760.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267261
2025-08-22T16:39:20.540Z,1755880760.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:20.542Z,1755880760.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.04 m.
2025-08-22T16:39:20.545Z,1755880760.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.035370 m,
      nav range: 149.600540 m,
      bearing: 352.087651 deg,
      approach rate: -0.486133 m/s,
      LOS rate: -0.007887 deg/s,
      cmd heading: 359.268879 deg,
      new cmd heading: 359.261707 deg.

2025-08-22T16:39:20.546Z,1755880760.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270299 target range: 156.035370 and range: 157.00 m.
2025-08-22T16:39:20.623Z,1755880760.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520028
2025-08-22T16:39:20.876Z,1755880760.876 [DAT](INFO): DAT read: 16:39:20.7593 LVL= 31968, 32753, 24402, 32755, AGC= 68, IDX= 421,-0.12,-0.536,-2.083,-0.120,-0.638, PHS= 0.204,-1.400, 0.475, RAW= 157.7,   8.3, CAL= 157.3,   8.6, ROT= 352.7,  -8.6

2025-08-22T16:39:20.878Z,1755880760.878 [DAT](INFO): got valid direction response:
 16:39:20.7593 LVL= 31968, 32753, 24402, 32755, AGC= 68, IDX= 421,-0.12,-0.536,-2.083,-0.120,-0.638, PHS= 0.204,-1.400, 0.475, RAW= 157.7,   8.3, CAL= 157.3,   8.6, ROT= 352.7,  -8.6

2025-08-22T16:39:20.879Z,1755880760.879 [DAT](INFO): DAT read: Bearing 161.8,  -0.1 (Local)

2025-08-22T16:39:20.879Z,1755880760.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,  -0.1 (Local)

2025-08-22T16:39:20.880Z,1755880760.880 [DAT](INFO): DAT read: Range 11 to 50 : 155.3 m  (Round-trip  207.1 ms) speed  0.4 m/s

2025-08-22T16:39:20.881Z,1755880760.881 [DAT](INFO): DAT read: user:178>

2025-08-22T16:39:20.882Z,1755880760.882 [DAT](INFO): DAT read: Tx time:16:39:21.8481

2025-08-22T16:39:20.882Z,1755880760.882 [DAT](INFO): Ping request sent.
2025-08-22T16:39:20.882Z,1755880760.882 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:20.882Z,1755880760.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:20.883Z,1755880760.883 [DAT](INFO): direction in FSK: [0.980742,-0.125636,0.149535]
2025-08-22T16:39:20.884Z,1755880760.884 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:20.884Z,1755880760.884 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:20.904Z,1755880760.904 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:20.905Z,1755880760.905 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:21.020Z,1755880761.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.300003 m,
      deltaT: 3.780065 s,
      deltaX: -1.699997 m,
      approachRate: -0.449727 m/s,
      rangeRepo size: 4

2025-08-22T16:39:21.026Z,1755880761.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.345764 m,
      bearing: 352.058411 deg,
      lat: 36.779410 deg,
      lon: -121.859521 deg,
      deltaT: 3.780065 s,
      deltaX: -1.689606 m,
      approachRate: -0.446978 m/s,
      posRepo size: 4

2025-08-22T16:39:21.027Z,1755880761.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:21.034Z,1755880761.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 149.399780 m,
      bearing: 352.029759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007887 deg/s,
      cmd heading: 359.261694 deg,
      new cmd heading: 359.254171 deg.

2025-08-22T16:39:21.035Z,1755880761.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270168 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:21.363Z,1755880761.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:21.367Z,1755880761.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 149.219162 m,
      bearing: 352.026755 deg,
      approach rate: -0.525395 m/s,
      LOS rate: -0.008749 deg/s,
      cmd heading: 359.254181 deg,
      new cmd heading: 359.248165 deg.

2025-08-22T16:39:21.367Z,1755880761.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270063 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:21.804Z,1755880761.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:21.807Z,1755880761.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 149.008423 m,
      bearing: 352.022252 deg,
      approach rate: -0.478218 m/s,
      LOS rate: -0.010234 deg/s,
      cmd heading: 359.248170 deg,
      new cmd heading: 359.239151 deg.

2025-08-22T16:39:21.808Z,1755880761.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269906 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:22.216Z,1755880762.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:22.218Z,1755880762.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 148.813934 m,
      bearing: 352.018084 deg,
      approach rate: -0.472417 m/s,
      LOS rate: -0.010136 deg/s,
      cmd heading: 359.239154 deg,
      new cmd heading: 359.230808 deg.

2025-08-22T16:39:22.219Z,1755880762.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269761 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:22.574Z,1755880762.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:22.576Z,1755880762.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:22.579Z,1755880762.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 148.627396 m,
      bearing: 352.013998 deg,
      approach rate: -0.517119 m/s,
      LOS rate: -0.011342 deg/s,
      cmd heading: 359.230821 deg,
      new cmd heading: 359.222639 deg.

2025-08-22T16:39:22.580Z,1755880762.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269618 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:22.638Z,1755880762.638 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:22.638Z,1755880762.638 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:22.639Z,1755880762.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:22.887Z,1755880762.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004325
2025-08-22T16:39:23.015Z,1755880763.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:23.017Z,1755880763.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 148.426437 m,
      bearing: 352.010266 deg,
      approach rate: -0.458451 m/s,
      LOS rate: -0.008526 deg/s,
      cmd heading: 359.222653 deg,
      new cmd heading: 359.215178 deg.

2025-08-22T16:39:23.019Z,1755880763.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269487 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:23.139Z,1755880763.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256391
2025-08-22T16:39:23.380Z,1755880763.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:23.383Z,1755880763.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 148.238541 m,
      bearing: 352.006693 deg,
      approach rate: -0.514077 m/s,
      LOS rate: -0.009789 deg/s,
      cmd heading: 359.215167 deg,
      new cmd heading: 359.208011 deg.

2025-08-22T16:39:23.384Z,1755880763.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269362 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:23.391Z,1755880763.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508486
2025-08-22T16:39:23.646Z,1755880763.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763089
2025-08-22T16:39:23.818Z,1755880763.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:23.820Z,1755880763.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 148.027924 m,
      bearing: 352.003071 deg,
      approach rate: -0.481546 m/s,
      LOS rate: -0.008291 deg/s,
      cmd heading: 359.208009 deg,
      new cmd heading: 359.200756 deg.

2025-08-22T16:39:23.821Z,1755880763.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269236 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:23.896Z,1755880763.896 [DAT](INFO): DAT read: Rx Time:16:39:24.4568

2025-08-22T16:39:23.897Z,1755880763.897 [DAT](INFO): Rx dataTimestamp_ set to:1755880763.896597
2025-08-22T16:39:23.898Z,1755880763.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015376
2025-08-22T16:39:24.147Z,1755880764.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264362
2025-08-22T16:39:24.214Z,1755880764.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.35 m.
2025-08-22T16:39:24.216Z,1755880764.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.345764 m,
      nav range: 147.837387 m,
      bearing: 351.999791 deg,
      approach rate: -0.481335 m/s,
      LOS rate: -0.008298 deg/s,
      cmd heading: 359.200769 deg,
      new cmd heading: 359.194199 deg.

2025-08-22T16:39:24.217Z,1755880764.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269122 target range: 154.345764 and range: 155.30 m.
2025-08-22T16:39:24.404Z,1755880764.404 [DAT](INFO): DAT read: 16:39:24.4568 LVL= 29488, 32753, 25986, 32755, AGC= 67, IDX= 412,-0.39, 2.968, 1.405,-2.854, 2.919, PHS= 0.151,-1.468, 0.466, RAW= 158.7,   9.5, CAL= 158.6,  10.2, ROT= 351.4, -10.2

2025-08-22T16:39:24.405Z,1755880764.405 [DAT](INFO): got valid direction response:
 16:39:24.4568 LVL= 29488, 32753, 25986, 32755, AGC= 67, IDX= 412,-0.39, 2.968, 1.405,-2.854, 2.919, PHS= 0.151,-1.468, 0.466, RAW= 158.7,   9.5, CAL= 158.6,  10.2, ROT= 351.4, -10.2

2025-08-22T16:39:24.406Z,1755880764.406 [DAT](INFO): DAT read: Bearing 164.1,  -4.0 (Local)

2025-08-22T16:39:24.407Z,1755880764.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.1,  -4.0 (Local)

2025-08-22T16:39:24.408Z,1755880764.408 [DAT](INFO): DAT read: Range 11 to 50 : 153.3 m  (Round-trip  204.5 ms) speed  0.4 m/s

2025-08-22T16:39:24.409Z,1755880764.409 [DAT](INFO): DAT read: user:179>

2025-08-22T16:39:24.410Z,1755880764.410 [DAT](INFO): DAT read: Tx time:16:39:25.5481

2025-08-22T16:39:24.410Z,1755880764.410 [DAT](INFO): Ping request sent.
2025-08-22T16:39:24.410Z,1755880764.410 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:24.410Z,1755880764.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:24.411Z,1755880764.411 [DAT](INFO): direction in FSK: [0.973130,-0.147172,0.177085]
2025-08-22T16:39:24.412Z,1755880764.412 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:24.412Z,1755880764.412 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:24.415Z,1755880764.415 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:24.415Z,1755880764.415 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:24.652Z,1755880764.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.300003 m,
      deltaT: 3.527758 s,
      deltaX: -2.000000 m,
      approachRate: -0.566932 m/s,
      rangeRepo size: 4

2025-08-22T16:39:24.661Z,1755880764.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.357468 m,
      bearing: 350.969646 deg,
      lat: 36.779411 deg,
      lon: -121.859529 deg,
      deltaT: 3.527758 s,
      deltaX: -1.988297 m,
      approachRate: -0.563615 m/s,
      posRepo size: 4

2025-08-22T16:39:24.668Z,1755880764.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:24.712Z,1755880764.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 147.773224 m,
      bearing: 351.720545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008298 deg/s,
      cmd heading: 359.194212 deg,
      new cmd heading: 359.186941 deg.

2025-08-22T16:39:24.719Z,1755880764.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268995 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:25.013Z,1755880765.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:25.016Z,1755880765.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:25.018Z,1755880765.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 147.585022 m,
      bearing: 351.717256 deg,
      approach rate: -0.516929 m/s,
      LOS rate: -0.009047 deg/s,
      cmd heading: 359.186944 deg,
      new cmd heading: 359.180357 deg.

2025-08-22T16:39:25.019Z,1755880765.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268880 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:25.155Z,1755880765.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:25.155Z,1755880765.155 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:25.155Z,1755880765.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:25.403Z,1755880765.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:25.405Z,1755880765.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 147.400360 m,
      bearing: 351.714016 deg,
      approach rate: -0.477095 m/s,
      LOS rate: -0.008381 deg/s,
      cmd heading: 359.180360 deg,
      new cmd heading: 359.173873 deg.

2025-08-22T16:39:25.407Z,1755880765.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996406
2025-08-22T16:39:25.408Z,1755880765.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268767 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:25.662Z,1755880765.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250591
2025-08-22T16:39:25.834Z,1755880765.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:25.837Z,1755880765.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 147.189285 m,
      bearing: 351.710219 deg,
      approach rate: -0.489698 m/s,
      LOS rate: -0.008822 deg/s,
      cmd heading: 359.173885 deg,
      new cmd heading: 359.166280 deg.

2025-08-22T16:39:25.838Z,1755880765.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268634 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:25.911Z,1755880765.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501087
2025-08-22T16:39:26.163Z,1755880766.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752945
2025-08-22T16:39:26.218Z,1755880766.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:26.221Z,1755880766.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 147.000305 m,
      bearing: 351.706857 deg,
      approach rate: -0.491312 m/s,
      LOS rate: -0.008753 deg/s,
      cmd heading: 359.166290 deg,
      new cmd heading: 359.159557 deg.

2025-08-22T16:39:26.234Z,1755880766.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268517 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:26.415Z,1755880766.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004285
2025-08-22T16:39:26.641Z,1755880766.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:26.648Z,1755880766.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 146.804932 m,
      bearing: 351.703373 deg,
      approach rate: -0.462109 m/s,
      LOS rate: -0.008250 deg/s,
      cmd heading: 359.159569 deg,
      new cmd heading: 359.152593 deg.

2025-08-22T16:39:26.649Z,1755880766.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268395 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:26.667Z,1755880766.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256431
2025-08-22T16:39:26.918Z,1755880766.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508197
2025-08-22T16:39:27.097Z,1755880767.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:27.117Z,1755880767.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:27.130Z,1755880767.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 146.578476 m,
      bearing: 351.699219 deg,
      approach rate: -0.476095 m/s,
      LOS rate: -0.008747 deg/s,
      cmd heading: 359.152602 deg,
      new cmd heading: 359.144281 deg.

2025-08-22T16:39:27.131Z,1755880767.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268250 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:27.173Z,1755880767.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762225
2025-08-22T16:39:27.422Z,1755880767.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012255
2025-08-22T16:39:27.502Z,1755880767.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:27.505Z,1755880767.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 146.394592 m,
      bearing: 351.695836 deg,
      approach rate: -0.477092 m/s,
      LOS rate: -0.008788 deg/s,
      cmd heading: 359.144269 deg,
      new cmd heading: 359.137495 deg.

2025-08-22T16:39:27.514Z,1755880767.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268132 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:27.677Z,1755880767.677 [DAT](INFO): DAT read: Rx Time:16:39:28.1545

2025-08-22T16:39:27.677Z,1755880767.677 [DAT](INFO): Rx dataTimestamp_ set to:1755880767.676737
2025-08-22T16:39:27.678Z,1755880767.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267478
2025-08-22T16:39:27.892Z,1755880767.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.36 m.
2025-08-22T16:39:27.895Z,1755880767.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.357468 m,
      nav range: 146.197601 m,
      bearing: 351.689360 deg,
      approach rate: -0.505214 m/s,
      LOS rate: -0.016631 deg/s,
      cmd heading: 359.137494 deg,
      new cmd heading: 359.124524 deg.

2025-08-22T16:39:27.896Z,1755880767.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267905 target range: 152.357468 and range: 153.30 m.
2025-08-22T16:39:27.927Z,1755880767.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516809
2025-08-22T16:39:28.187Z,1755880768.187 [DAT](INFO): DAT read: 16:39:28.1545 LVL= 28960, 32753, 22498, 32755, AGC= 64, IDX= 420,-0.31,-1.550,-3.063,-1.038,-1.583, PHS= 0.135,-1.435, 0.501, RAW= 160.3,   9.0, CAL= 160.0,   9.5, ROT= 350.0,  -9.5

2025-08-22T16:39:28.188Z,1755880768.188 [DAT](INFO): got valid direction response:
 16:39:28.1545 LVL= 28960, 32753, 22498, 32755, AGC= 64, IDX= 420,-0.31,-1.550,-3.063,-1.038,-1.583, PHS= 0.135,-1.435, 0.501, RAW= 160.3,   9.0, CAL= 160.0,   9.5, ROT= 350.0,  -9.5

2025-08-22T16:39:28.190Z,1755880768.190 [DAT](INFO): DAT read: Bearing 163.7,  -7.9 (Local)

2025-08-22T16:39:28.190Z,1755880768.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.7,  -7.9 (Local)

2025-08-22T16:39:28.192Z,1755880768.192 [DAT](INFO): DAT read: Range 11 to 50 : 151.7 m  (Round-trip  202.3 ms) speed  0.4 m/s

2025-08-22T16:39:28.193Z,1755880768.193 [DAT](INFO): DAT read: user:180>

2025-08-22T16:39:28.227Z,1755880768.227 [DAT](INFO): DAT read: Tx time:16:39:29.2481

2025-08-22T16:39:28.227Z,1755880768.227 [DAT](INFO): Ping request sent.
2025-08-22T16:39:28.227Z,1755880768.227 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:28.227Z,1755880768.227 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:28.228Z,1755880768.228 [DAT](INFO): direction in FSK: [0.971302,-0.171266,0.165048]
2025-08-22T16:39:28.228Z,1755880768.228 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:28.229Z,1755880768.229 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:28.252Z,1755880768.252 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:28.252Z,1755880768.252 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:28.340Z,1755880768.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.699997 m,
      deltaT: 3.780464 s,
      deltaX: -1.600006 m,
      approachRate: -0.423230 m/s,
      rangeRepo size: 4

2025-08-22T16:39:28.346Z,1755880768.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.767899 m,
      bearing: 349.814526 deg,
      lat: 36.779415 deg,
      lon: -121.859535 deg,
      deltaT: 3.780464 s,
      deltaX: -1.589569 m,
      approachRate: -0.420469 m/s,
      posRepo size: 4

2025-08-22T16:39:28.347Z,1755880768.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:28.349Z,1755880768.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 146.574188 m,
      bearing: 351.513477 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016631 deg/s,
      cmd heading: 359.124516 deg,
      new cmd heading: 359.109650 deg.

2025-08-22T16:39:28.362Z,1755880768.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267646 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:28.699Z,1755880768.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:28.710Z,1755880768.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 146.389130 m,
      bearing: 351.507138 deg,
      approach rate: -0.513967 m/s,
      LOS rate: -0.017628 deg/s,
      cmd heading: 359.109654 deg,
      new cmd heading: 359.096960 deg.

2025-08-22T16:39:28.711Z,1755880768.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267424 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:29.148Z,1755880769.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:29.151Z,1755880769.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:29.153Z,1755880769.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 146.173737 m,
      bearing: 351.500013 deg,
      approach rate: -0.477044 m/s,
      LOS rate: -0.015803 deg/s,
      cmd heading: 359.096950 deg,
      new cmd heading: 359.082679 deg.

2025-08-22T16:39:29.155Z,1755880769.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267175 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:29.187Z,1755880769.187 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:29.187Z,1755880769.187 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:29.187Z,1755880769.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:29.438Z,1755880769.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211456
2025-08-22T16:39:29.499Z,1755880769.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:29.502Z,1755880769.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 146.006363 m,
      bearing: 351.494383 deg,
      approach rate: -0.480051 m/s,
      LOS rate: -0.016165 deg/s,
      cmd heading: 359.082688 deg,
      new cmd heading: 359.071416 deg.

2025-08-22T16:39:29.503Z,1755880769.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266978 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:29.690Z,1755880769.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463444
2025-08-22T16:39:29.938Z,1755880769.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:29.940Z,1755880769.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 145.803818 m,
      bearing: 351.486717 deg,
      approach rate: -0.462255 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 359.071405 deg,
      new cmd heading: 359.056052 deg.

2025-08-22T16:39:29.941Z,1755880769.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266710 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:29.943Z,1755880769.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715854
2025-08-22T16:39:30.195Z,1755880770.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967575
2025-08-22T16:39:30.321Z,1755880770.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:30.324Z,1755880770.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 145.612183 m,
      bearing: 351.479479 deg,
      approach rate: -0.499376 m/s,
      LOS rate: -0.018888 deg/s,
      cmd heading: 359.056051 deg,
      new cmd heading: 359.041554 deg.

2025-08-22T16:39:30.325Z,1755880770.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266457 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:30.447Z,1755880770.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219781
2025-08-22T16:39:30.699Z,1755880770.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471563
2025-08-22T16:39:30.732Z,1755880770.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:30.738Z,1755880770.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 145.417877 m,
      bearing: 351.472156 deg,
      approach rate: -0.474368 m/s,
      LOS rate: -0.017901 deg/s,
      cmd heading: 359.041543 deg,
      new cmd heading: 359.026879 deg.

2025-08-22T16:39:30.739Z,1755880770.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266201 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:30.951Z,1755880770.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723505
2025-08-22T16:39:31.154Z,1755880771.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:31.156Z,1755880771.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:31.161Z,1755880771.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 145.215118 m,
      bearing: 351.463732 deg,
      approach rate: -0.476651 m/s,
      LOS rate: -0.019830 deg/s,
      cmd heading: 359.026872 deg,
      new cmd heading: 359.010001 deg.

2025-08-22T16:39:31.162Z,1755880771.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265906 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:31.203Z,1755880771.203 [DAT](INFO): DAT read: Rx Time:16:39:31.8522

2025-08-22T16:39:31.203Z,1755880771.203 [DAT](INFO): Rx dataTimestamp_ set to:1755880771.202770
2025-08-22T16:39:31.204Z,1755880771.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976556
2025-08-22T16:39:31.455Z,1755880771.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228163
2025-08-22T16:39:31.527Z,1755880771.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:31.530Z,1755880771.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 145.039062 m,
      bearing: 351.456506 deg,
      approach rate: -0.474093 m/s,
      LOS rate: -0.019482 deg/s,
      cmd heading: 359.009988 deg,
      new cmd heading: 358.995518 deg.

2025-08-22T16:39:31.531Z,1755880771.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265654 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:31.710Z,1755880771.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481901
2025-08-22T16:39:31.940Z,1755880771.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.77 m.
2025-08-22T16:39:31.943Z,1755880771.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.767899 m,
      nav range: 144.842331 m,
      bearing: 351.449275 deg,
      approach rate: -0.477347 m/s,
      LOS rate: -0.017571 deg/s,
      cmd heading: 358.995508 deg,
      new cmd heading: 358.981025 deg.

2025-08-22T16:39:31.944Z,1755880771.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265401 target range: 150.767899 and range: 151.70 m.
2025-08-22T16:39:31.964Z,1755880771.964 [DAT](INFO): DAT read: 16:39:31.8522 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.04, 2.612, 1.071,-3.088, 2.683, PHS= 0.030,-1.568, 0.468, RAW= 161.8,  11.5, CAL= 162.0,  12.9, ROT= 348.0, -12.9

2025-08-22T16:39:31.965Z,1755880771.965 [DAT](INFO): got valid direction response:
 16:39:31.8522 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.04, 2.612, 1.071,-3.088, 2.683, PHS= 0.030,-1.568, 0.468, RAW= 161.8,  11.5, CAL= 162.0,  12.9, ROT= 348.0, -12.9

2025-08-22T16:39:31.966Z,1755880771.966 [DAT](INFO): DAT read: Bearing 167.3, -11.6 (Local)

2025-08-22T16:39:31.966Z,1755880771.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.3, -11.6 (Local)

2025-08-22T16:39:31.968Z,1755880771.968 [DAT](INFO): DAT read: Range 11 to 50 : 150.0 m  (Round-trip  200.0 ms) speed  0.5 m/s

2025-08-22T16:39:31.968Z,1755880771.968 [DAT](INFO): DAT read: user:181>

2025-08-22T16:39:31.969Z,1755880771.969 [DAT](INFO): DAT read: Tx time:16:39:32.9481

2025-08-22T16:39:31.969Z,1755880771.969 [DAT](INFO): Ping request sent.
2025-08-22T16:39:31.969Z,1755880771.969 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:31.970Z,1755880771.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:31.971Z,1755880771.971 [DAT](INFO): direction in FSK: [0.953460,-0.202664,0.223250]
2025-08-22T16:39:31.971Z,1755880771.971 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:31.971Z,1755880771.971 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:31.974Z,1755880771.974 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:31.975Z,1755880771.975 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:32.369Z,1755880772.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.000000 m,
      deltaT: 3.779338 s,
      deltaX: -1.699997 m,
      approachRate: -0.449813 m/s,
      rangeRepo size: 4

2025-08-22T16:39:32.375Z,1755880772.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.078217 m,
      bearing: 347.563156 deg,
      lat: 36.779415 deg,
      lon: -121.859552 deg,
      deltaT: 3.779338 s,
      deltaX: -1.689682 m,
      approachRate: -0.447084 m/s,
      posRepo size: 4

2025-08-22T16:39:32.376Z,1755880772.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:32.384Z,1755880772.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 144.881256 m,
      bearing: 350.843143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017571 deg/s,
      cmd heading: 358.981028 deg,
      new cmd heading: 358.965973 deg.

2025-08-22T16:39:32.385Z,1755880772.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265138 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:32.747Z,1755880772.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:32.750Z,1755880772.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 144.694656 m,
      bearing: 350.835689 deg,
      approach rate: -0.492036 m/s,
      LOS rate: -0.019679 deg/s,
      cmd heading: 358.965974 deg,
      new cmd heading: 358.951048 deg.

2025-08-22T16:39:32.751Z,1755880772.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264878 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:33.134Z,1755880773.134 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000227202.0, +10.9,   0.0,1493.3,  0
2025-08-22T16:39:33.162Z,1755880773.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:33.171Z,1755880773.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 144.500961 m,
      bearing: 350.827999 deg,
      approach rate: -0.481836 m/s,
      LOS rate: -0.019157 deg/s,
      cmd heading: 358.951057 deg,
      new cmd heading: 358.935655 deg.

2025-08-22T16:39:33.172Z,1755880773.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264609 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:33.549Z,1755880773.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:33.551Z,1755880773.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:33.554Z,1755880773.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 144.309982 m,
      bearing: 350.820464 deg,
      approach rate: -0.475377 m/s,
      LOS rate: -0.018780 deg/s,
      cmd heading: 358.935648 deg,
      new cmd heading: 358.920558 deg.

2025-08-22T16:39:33.555Z,1755880773.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264346 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:33.722Z,1755880773.722 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:33.722Z,1755880773.722 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:33.723Z,1755880773.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:33.902Z,1755880773.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:39:33.974Z,1755880773.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004974
2025-08-22T16:39:33.988Z,1755880773.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:33.991Z,1755880773.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 144.103867 m,
      bearing: 350.814230 deg,
      approach rate: -0.472092 m/s,
      LOS rate: -0.014298 deg/s,
      cmd heading: 358.920567 deg,
      new cmd heading: 358.908082 deg.

2025-08-22T16:39:33.992Z,1755880773.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264128 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:34.227Z,1755880774.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257027
2025-08-22T16:39:34.384Z,1755880774.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:34.394Z,1755880774.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 143.906769 m,
      bearing: 350.808362 deg,
      approach rate: -0.500786 m/s,
      LOS rate: -0.014932 deg/s,
      cmd heading: 358.908081 deg,
      new cmd heading: 358.896328 deg.

2025-08-22T16:39:34.395Z,1755880774.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263923 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:34.478Z,1755880774.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508945
2025-08-22T16:39:34.731Z,1755880774.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761106
2025-08-22T16:39:34.787Z,1755880774.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:34.796Z,1755880774.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 143.715332 m,
      bearing: 350.802738 deg,
      approach rate: -0.471736 m/s,
      LOS rate: -0.013875 deg/s,
      cmd heading: 358.896333 deg,
      new cmd heading: 358.885072 deg.

2025-08-22T16:39:34.797Z,1755880774.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263726 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:34.906Z,1755880774.906 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:39:34.982Z,1755880774.982 [DAT](INFO): DAT read: Rx Time:16:39:35.5499

2025-08-22T16:39:34.983Z,1755880774.983 [DAT](INFO): Rx dataTimestamp_ set to:1755880774.982679
2025-08-22T16:39:34.983Z,1755880774.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014008
2025-08-22T16:39:35.222Z,1755880775.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.08 m.
2025-08-22T16:39:35.225Z,1755880775.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.078217 m,
      nav range: 143.503937 m,
      bearing: 350.797675 deg,
      approach rate: -0.486830 m/s,
      LOS rate: -0.011678 deg/s,
      cmd heading: 358.885077 deg,
      new cmd heading: 358.874935 deg.

2025-08-22T16:39:35.226Z,1755880775.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263549 target range: 149.078217 and range: 150.00 m.
2025-08-22T16:39:35.235Z,1755880775.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265059
2025-08-22T16:39:35.496Z,1755880775.496 [DAT](INFO): DAT read: 16:39:35.5499 LVL= 32752, 32753, 27906, 32755, AGC= 67, IDX= 420,-0.09,-1.271,-2.733,-0.616,-1.162, PHS=-0.007,-1.526, 0.502, RAW= 164.0,  11.3, CAL= 164.1,  12.7, ROT= 345.9, -12.7

2025-08-22T16:39:35.497Z,1755880775.497 [DAT](INFO): got valid direction response:
 16:39:35.5499 LVL= 32752, 32753, 27906, 32755, AGC= 67, IDX= 420,-0.09,-1.271,-2.733,-0.616,-1.162, PHS=-0.007,-1.526, 0.502, RAW= 164.0,  11.3, CAL= 164.1,  12.7, ROT= 345.9, -12.7

2025-08-22T16:39:35.498Z,1755880775.498 [DAT](INFO): DAT read: Bearing 166.7, -15.7 (Local)

2025-08-22T16:39:35.498Z,1755880775.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.7, -15.7 (Local)

2025-08-22T16:39:35.500Z,1755880775.500 [DAT](INFO): DAT read: Range 11 to 50 : 148.2 m  (Round-trip  197.6 ms) speed  0.0 m/s

2025-08-22T16:39:35.500Z,1755880775.500 [DAT](INFO): DAT read: user:182>

2025-08-22T16:39:35.501Z,1755880775.501 [DAT](INFO): DAT read: Tx time:16:39:36.6481

2025-08-22T16:39:35.501Z,1755880775.501 [DAT](INFO): Ping request sent.
2025-08-22T16:39:35.501Z,1755880775.501 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:35.502Z,1755880775.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:35.503Z,1755880775.503 [DAT](INFO): direction in FSK: [0.946144,-0.237655,0.219846]
2025-08-22T16:39:35.503Z,1755880775.503 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:35.503Z,1755880775.503 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:35.507Z,1755880775.507 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:35.508Z,1755880775.508 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:35.677Z,1755880775.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.199997 m,
      deltaT: 3.529510 s,
      deltaX: -1.800003 m,
      approachRate: -0.509987 m/s,
      rangeRepo size: 4

2025-08-22T16:39:35.683Z,1755880775.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.289551 m,
      bearing: 345.132403 deg,
      lat: 36.779415 deg,
      lon: -121.859587 deg,
      deltaT: 3.529510 s,
      deltaX: -1.788666 m,
      approachRate: -0.506775 m/s,
      posRepo size: 4

2025-08-22T16:39:35.683Z,1755880775.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:35.688Z,1755880775.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 143.819031 m,
      bearing: 349.568142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011678 deg/s,
      cmd heading: 358.874941 deg,
      new cmd heading: 358.864321 deg.

2025-08-22T16:39:35.689Z,1755880775.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263364 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:36.070Z,1755880776.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:36.072Z,1755880776.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:36.081Z,1755880776.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 143.624680 m,
      bearing: 349.562437 deg,
      approach rate: -0.491040 m/s,
      LOS rate: -0.014435 deg/s,
      cmd heading: 358.864313 deg,
      new cmd heading: 358.852887 deg.

2025-08-22T16:39:36.087Z,1755880776.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263165 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:36.242Z,1755880776.242 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:36.242Z,1755880776.242 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:36.243Z,1755880776.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:36.452Z,1755880776.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:36.455Z,1755880776.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 143.438934 m,
      bearing: 349.557012 deg,
      approach rate: -0.491927 m/s,
      LOS rate: -0.014385 deg/s,
      cmd heading: 358.852893 deg,
      new cmd heading: 358.842031 deg.

2025-08-22T16:39:36.456Z,1755880776.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262975 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:36.495Z,1755880776.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993364
2025-08-22T16:39:36.746Z,1755880776.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245175
2025-08-22T16:39:36.974Z,1755880776.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:36.976Z,1755880776.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 143.191849 m,
      bearing: 349.550069 deg,
      approach rate: -0.475108 m/s,
      LOS rate: -0.013373 deg/s,
      cmd heading: 358.842020 deg,
      new cmd heading: 358.828110 deg.

2025-08-22T16:39:36.977Z,1755880776.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262732 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:36.999Z,1755880776.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497479
2025-08-22T16:39:37.250Z,1755880777.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749202
2025-08-22T16:39:37.451Z,1755880777.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:37.458Z,1755880777.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 142.957642 m,
      bearing: 349.543538 deg,
      approach rate: -0.485792 m/s,
      LOS rate: -0.013570 deg/s,
      cmd heading: 358.828113 deg,
      new cmd heading: 358.815029 deg.

2025-08-22T16:39:37.459Z,1755880777.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262504 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:37.503Z,1755880777.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001474
2025-08-22T16:39:37.754Z,1755880777.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253206
2025-08-22T16:39:37.954Z,1755880777.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:37.956Z,1755880777.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 142.717911 m,
      bearing: 349.537431 deg,
      approach rate: -0.477376 m/s,
      LOS rate: -0.012180 deg/s,
      cmd heading: 358.815027 deg,
      new cmd heading: 358.802794 deg.

2025-08-22T16:39:37.958Z,1755880777.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262290 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:38.007Z,1755880778.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505665
2025-08-22T16:39:38.258Z,1755880778.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757161
2025-08-22T16:39:38.307Z,1755880778.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:38.325Z,1755880778.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:38.328Z,1755880778.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 142.551056 m,
      bearing: 349.533184 deg,
      approach rate: -0.469223 m/s,
      LOS rate: -0.011958 deg/s,
      cmd heading: 358.802787 deg,
      new cmd heading: 358.794283 deg.

2025-08-22T16:39:38.329Z,1755880778.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262142 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:38.511Z,1755880778.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009251
2025-08-22T16:39:38.710Z,1755880778.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:38.712Z,1755880778.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 142.362747 m,
      bearing: 349.528344 deg,
      approach rate: -0.470464 m/s,
      LOS rate: -0.012109 deg/s,
      cmd heading: 358.794290 deg,
      new cmd heading: 358.784597 deg.

2025-08-22T16:39:38.713Z,1755880778.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261972 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:38.764Z,1755880778.764 [DAT](INFO): DAT read: Rx Time:16:39:39.2474

2025-08-22T16:39:38.764Z,1755880778.764 [DAT](INFO): Rx dataTimestamp_ set to:1755880778.764091
2025-08-22T16:39:38.766Z,1755880778.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979
2025-08-22T16:39:39.014Z,1755880779.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513213
2025-08-22T16:39:39.206Z,1755880779.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.29 m.
2025-08-22T16:39:39.209Z,1755880779.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.289551 m,
      nav range: 142.132370 m,
      bearing: 349.518864 deg,
      approach rate: -0.463863 m/s,
      LOS rate: -0.019118 deg/s,
      cmd heading: 358.784592 deg,
      new cmd heading: 358.765602 deg.

2025-08-22T16:39:39.226Z,1755880779.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261641 target range: 147.289551 and range: 148.20 m.
2025-08-22T16:39:39.275Z,1755880779.275 [DAT](INFO): DAT read: 16:39:39.2474 LVL= 27952, 32721, 23266, 32755, AGC= 67, IDX= 412, 0.02,-1.924, 2.882,-1.213,-1.785, PHS=-0.038,-1.571, 0.528, RAW= 165.1,  11.5, CAL= 165.2,  13.1, ROT= 344.8, -13.1

2025-08-22T16:39:39.277Z,1755880779.277 [DAT](INFO): got valid direction response:
 16:39:39.2474 LVL= 27952, 32721, 23266, 32755, AGC= 67, IDX= 412, 0.02,-1.924, 2.882,-1.213,-1.785, PHS=-0.038,-1.571, 0.528, RAW= 165.1,  11.5, CAL= 165.2,  13.1, ROT= 344.8, -13.1

2025-08-22T16:39:39.278Z,1755880779.278 [DAT](INFO): DAT read: Bearing 167.2, -18.1 (Local)

2025-08-22T16:39:39.279Z,1755880779.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.2, -18.1 (Local)

2025-08-22T16:39:39.281Z,1755880779.281 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m  (Round-trip  195.3 ms) speed  0.4 m/s

2025-08-22T16:39:39.282Z,1755880779.282 [DAT](INFO): DAT read: user:183>

2025-08-22T16:39:39.283Z,1755880779.283 [DAT](INFO): DAT read: Tx time:16:39:40.3480

2025-08-22T16:39:39.283Z,1755880779.283 [DAT](INFO): Ping request sent.
2025-08-22T16:39:39.284Z,1755880779.284 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:39.284Z,1755880779.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:39.288Z,1755880779.288 [DAT](INFO): direction in FSK: [0.939903,-0.255366,0.226651]
2025-08-22T16:39:39.288Z,1755880779.288 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:39.288Z,1755880779.288 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:39.310Z,1755880779.310 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:39.310Z,1755880779.310 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:39.577Z,1755880779.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.399994 m,
      deltaT: 3.778926 s,
      deltaX: -1.800003 m,
      approachRate: -0.476327 m/s,
      rangeRepo size: 4

2025-08-22T16:39:39.591Z,1755880779.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.499969 m,
      bearing: 343.818728 deg,
      lat: 36.779415 deg,
      lon: -121.859647 deg,
      deltaT: 3.778926 s,
      deltaX: -1.789581 m,
      approachRate: -0.473569 m/s,
      posRepo size: 4

2025-08-22T16:39:39.592Z,1755880779.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:39.601Z,1755880779.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 143.041306 m,
      bearing: 347.394928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019118 deg/s,
      cmd heading: 358.765604 deg,
      new cmd heading: 358.751493 deg.

2025-08-22T16:39:39.606Z,1755880779.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261395 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:39.982Z,1755880779.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:40.002Z,1755880780.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 142.842209 m,
      bearing: 347.383697 deg,
      approach rate: -0.489896 m/s,
      LOS rate: -0.027673 deg/s,
      cmd heading: 358.751506 deg,
      new cmd heading: 358.729013 deg.

2025-08-22T16:39:40.003Z,1755880780.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261003 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:40.353Z,1755880780.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:40.363Z,1755880780.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:40.370Z,1755880780.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 142.670578 m,
      bearing: 347.373906 deg,
      approach rate: -0.450130 m/s,
      LOS rate: -0.025709 deg/s,
      cmd heading: 358.729021 deg,
      new cmd heading: 358.709416 deg.

2025-08-22T16:39:40.371Z,1755880780.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260660 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:40.526Z,1755880780.526 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:40.526Z,1755880780.526 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:40.527Z,1755880780.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:40.758Z,1755880780.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:40.761Z,1755880780.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 142.484985 m,
      bearing: 347.363239 deg,
      approach rate: -0.469181 m/s,
      LOS rate: -0.027001 deg/s,
      cmd heading: 358.709405 deg,
      new cmd heading: 358.688043 deg.

2025-08-22T16:39:40.762Z,1755880780.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260287 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:40.779Z,1755880780.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494902
2025-08-22T16:39:41.031Z,1755880781.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747243
2025-08-22T16:39:41.208Z,1755880781.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:41.211Z,1755880781.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 142.273941 m,
      bearing: 347.349697 deg,
      approach rate: -0.469174 m/s,
      LOS rate: -0.030151 deg/s,
      cmd heading: 358.688040 deg,
      new cmd heading: 358.660915 deg.

2025-08-22T16:39:41.212Z,1755880781.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259814 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:41.283Z,1755880781.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999467
2025-08-22T16:39:41.535Z,1755880781.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250998
2025-08-22T16:39:41.577Z,1755880781.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:41.601Z,1755880781.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 142.104996 m,
      bearing: 347.338749 deg,
      approach rate: -0.459475 m/s,
      LOS rate: -0.029811 deg/s,
      cmd heading: 358.660910 deg,
      new cmd heading: 358.638988 deg.

2025-08-22T16:39:41.602Z,1755880781.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259431 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:41.786Z,1755880781.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502876
2025-08-22T16:39:42.022Z,1755880782.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:42.025Z,1755880782.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 141.888947 m,
      bearing: 347.324371 deg,
      approach rate: -0.484369 m/s,
      LOS rate: -0.032282 deg/s,
      cmd heading: 358.638999 deg,
      new cmd heading: 358.610201 deg.

2025-08-22T16:39:42.026Z,1755880782.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258929 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:42.039Z,1755880782.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754939
2025-08-22T16:39:42.290Z,1755880782.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006862
2025-08-22T16:39:42.508Z,1755880782.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:42.511Z,1755880782.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:42.513Z,1755880782.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 141.656586 m,
      bearing: 347.308859 deg,
      approach rate: -0.476474 m/s,
      LOS rate: -0.031861 deg/s,
      cmd heading: 358.610203 deg,
      new cmd heading: 358.579128 deg.

2025-08-22T16:39:42.514Z,1755880782.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258387 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:42.543Z,1755880782.543 [DAT](INFO): DAT read: Rx Time:16:39:42.9451

2025-08-22T16:39:42.544Z,1755880782.544 [DAT](INFO): Rx dataTimestamp_ set to:1755880782.543311
2025-08-22T16:39:42.545Z,1755880782.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260834
2025-08-22T16:39:42.798Z,1755880782.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513470
2025-08-22T16:39:42.949Z,1755880782.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-22T16:39:42.960Z,1755880782.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.499969 m,
      nav range: 141.464539 m,
      bearing: 347.296000 deg,
      approach rate: -0.438357 m/s,
      LOS rate: -0.029392 deg/s,
      cmd heading: 358.579139 deg,
      new cmd heading: 358.553386 deg.

2025-08-22T16:39:42.994Z,1755880782.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257937 target range: 145.499969 and range: 146.40 m.
2025-08-22T16:39:43.052Z,1755880783.052 [DAT](INFO): DAT read: 16:39:42.9451 LVL= 31696, 32753, 24034, 32755, AGC= 69, IDX= 420, 0.11, 3.052, 1.581,-2.489,-3.102, PHS=-0.028,-1.555, 0.569, RAW= 165.8,  10.7, CAL= 165.8,  12.0, ROT= 344.2, -12.0

2025-08-22T16:39:43.053Z,1755880783.053 [DAT](INFO): got valid direction response:
 16:39:42.9451 LVL= 31696, 32753, 24034, 32755, AGC= 69, IDX= 420, 0.11, 3.052, 1.581,-2.489,-3.102, PHS=-0.028,-1.555, 0.569, RAW= 165.8,  10.7, CAL= 165.8,  12.0, ROT= 344.2, -12.0

2025-08-22T16:39:43.054Z,1755880783.054 [DAT](INFO): DAT read: Bearing 166.7, -19.7 (Local)

2025-08-22T16:39:43.055Z,1755880783.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.7, -19.7 (Local)

2025-08-22T16:39:43.056Z,1755880783.056 [DAT](INFO): DAT read: Range 11 to 50 : 144.6 m  (Round-trip  192.9 ms) speed  0.5 m/s

2025-08-22T16:39:43.057Z,1755880783.057 [DAT](INFO): DAT read: user:184>

2025-08-22T16:39:43.058Z,1755880783.058 [DAT](INFO): DAT read: Tx time:16:39:44.0480

2025-08-22T16:39:43.058Z,1755880783.058 [DAT](INFO): Ping request sent.
2025-08-22T16:39:43.058Z,1755880783.058 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:43.059Z,1755880783.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:43.062Z,1755880783.062 [DAT](INFO): direction in FSK: [0.941191,-0.266330,0.207912]
2025-08-22T16:39:43.062Z,1755880783.062 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:43.063Z,1755880783.063 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:43.078Z,1755880783.078 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:43.079Z,1755880783.079 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:43.485Z,1755880783.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.600006 m,
      deltaT: 3.779771 s,
      deltaX: -1.799988 m,
      approachRate: -0.476216 m/s,
      rangeRepo size: 4

2025-08-22T16:39:43.487Z,1755880783.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.706726 m,
      bearing: 343.710723 deg,
      lat: 36.779410 deg,
      lon: -121.859713 deg,
      deltaT: 3.779771 s,
      deltaX: -1.793243 m,
      approachRate: -0.474432 m/s,
      posRepo size: 4

2025-08-22T16:39:43.488Z,1755880783.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:43.491Z,1755880783.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 142.077972 m,
      bearing: 344.911857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029392 deg/s,
      cmd heading: 358.553376 deg,
      new cmd heading: 358.521838 deg.

2025-08-22T16:39:43.492Z,1755880783.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257387 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:43.892Z,1755880783.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:43.895Z,1755880783.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 141.887329 m,
      bearing: 344.895864 deg,
      approach rate: -0.470329 m/s,
      LOS rate: -0.039510 deg/s,
      cmd heading: 358.521848 deg,
      new cmd heading: 358.489818 deg.

2025-08-22T16:39:43.896Z,1755880783.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256828 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:44.290Z,1755880784.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:44.293Z,1755880784.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 141.701187 m,
      bearing: 344.880466 deg,
      approach rate: -0.464900 m/s,
      LOS rate: -0.038506 deg/s,
      cmd heading: 358.489828 deg,
      new cmd heading: 358.458993 deg.

2025-08-22T16:39:44.295Z,1755880784.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256289 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:44.654Z,1755880784.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:44.656Z,1755880784.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:44.659Z,1755880784.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 141.519257 m,
      bearing: 344.865367 deg,
      approach rate: -0.497321 m/s,
      LOS rate: -0.041329 deg/s,
      cmd heading: 358.458983 deg,
      new cmd heading: 358.428745 deg.

2025-08-22T16:39:44.660Z,1755880784.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255762 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:44.810Z,1755880784.810 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:44.810Z,1755880784.810 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:44.811Z,1755880784.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:45.071Z,1755880785.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012957
2025-08-22T16:39:45.109Z,1755880785.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:45.111Z,1755880785.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 141.301910 m,
      bearing: 344.846451 deg,
      approach rate: -0.480171 m/s,
      LOS rate: -0.041855 deg/s,
      cmd heading: 358.428739 deg,
      new cmd heading: 358.390848 deg.

2025-08-22T16:39:45.112Z,1755880785.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255100 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:45.323Z,1755880785.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265092
2025-08-22T16:39:45.509Z,1755880785.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:45.516Z,1755880785.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 141.128830 m,
      bearing: 344.831291 deg,
      approach rate: -0.432432 m/s,
      LOS rate: -0.037921 deg/s,
      cmd heading: 358.390845 deg,
      new cmd heading: 358.360489 deg.

2025-08-22T16:39:45.517Z,1755880785.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254570 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:45.575Z,1755880785.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517201
2025-08-22T16:39:45.827Z,1755880785.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769109
2025-08-22T16:39:45.915Z,1755880785.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:45.918Z,1755880785.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 140.914749 m,
      bearing: 344.812445 deg,
      approach rate: -0.526358 m/s,
      LOS rate: -0.046407 deg/s,
      cmd heading: 358.360491 deg,
      new cmd heading: 358.322742 deg.

2025-08-22T16:39:45.919Z,1755880785.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253911 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:46.080Z,1755880786.080 [DAT](INFO): DAT read: Rx Time:16:39:46.6427

2025-08-22T16:39:46.081Z,1755880786.081 [DAT](INFO): Rx dataTimestamp_ set to:1755880786.080323
2025-08-22T16:39:46.082Z,1755880786.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023120
2025-08-22T16:39:46.321Z,1755880786.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.71 m.
2025-08-22T16:39:46.324Z,1755880786.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.706726 m,
      nav range: 140.727798 m,
      bearing: 344.795786 deg,
      approach rate: -0.461120 m/s,
      LOS rate: -0.041144 deg/s,
      cmd heading: 358.322734 deg,
      new cmd heading: 358.289373 deg.

2025-08-22T16:39:46.325Z,1755880786.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253329 target range: 143.706726 and range: 144.60 m.
2025-08-22T16:39:46.331Z,1755880786.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272562
2025-08-22T16:39:46.589Z,1755880786.589 [DAT](INFO): DAT read: 16:39:46.6427 LVL= 30560, 32753, 21538, 32755, AGC= 68, IDX= 412, 0.47,-1.575,-2.999,-0.846,-1.393, PHS=-0.080,-1.561, 0.503, RAW= 165.9,  12.3, CAL= 166.2,  14.3, ROT= 343.8, -14.3

2025-08-22T16:39:46.590Z,1755880786.590 [DAT](INFO): got valid direction response:
 16:39:46.6427 LVL= 30560, 32753, 21538, 32755, AGC= 68, IDX= 412, 0.47,-1.575,-2.999,-0.846,-1.393, PHS=-0.080,-1.561, 0.503, RAW= 165.9,  12.3, CAL= 166.2,  14.3, ROT= 343.8, -14.3

2025-08-22T16:39:46.591Z,1755880786.591 [DAT](INFO): DAT read: Bearing 169.6, -20.3 (Local)

2025-08-22T16:39:46.591Z,1755880786.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.6, -20.3 (Local)

2025-08-22T16:39:46.593Z,1755880786.593 [DAT](INFO): DAT read: Range 11 to 50 : 142.9 m  (Round-trip  190.6 ms) speed  0.1 m/s

2025-08-22T16:39:46.593Z,1755880786.593 [DAT](INFO): DAT read: user:185>

2025-08-22T16:39:46.595Z,1755880786.595 [DAT](INFO): DAT read: Tx time:16:39:47.7480

2025-08-22T16:39:46.596Z,1755880786.596 [DAT](INFO): Ping request sent.
2025-08-22T16:39:46.596Z,1755880786.596 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:46.596Z,1755880786.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:46.597Z,1755880786.597 [DAT](INFO): direction in FSK: [0.930540,-0.270347,0.246999]
2025-08-22T16:39:46.597Z,1755880786.597 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:46.598Z,1755880786.598 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:46.601Z,1755880786.601 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:46.601Z,1755880786.601 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:46.755Z,1755880786.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.899994 m,
      deltaT: 3.536635 s,
      deltaX: -1.700012 m,
      approachRate: -0.480686 m/s,
      rangeRepo size: 4

2025-08-22T16:39:46.757Z,1755880786.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.015106 m,
      bearing: 343.580442 deg,
      lat: 36.779407 deg,
      lon: -121.859745 deg,
      deltaT: 3.536635 s,
      deltaX: -1.691620 m,
      approachRate: -0.478313 m/s,
      posRepo size: 4

2025-08-22T16:39:46.762Z,1755880786.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:46.764Z,1755880786.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 140.968643 m,
      bearing: 343.629854 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041144 deg/s,
      cmd heading: 358.289375 deg,
      new cmd heading: 358.253710 deg.

2025-08-22T16:39:46.770Z,1755880786.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252707 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:47.132Z,1755880787.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:47.135Z,1755880787.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:47.138Z,1755880787.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 140.777176 m,
      bearing: 343.611692 deg,
      approach rate: -0.502677 m/s,
      LOS rate: -0.047747 deg/s,
      cmd heading: 358.253722 deg,
      new cmd heading: 358.217348 deg.

2025-08-22T16:39:47.139Z,1755880787.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252072 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:47.339Z,1755880787.339 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:47.339Z,1755880787.339 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:47.340Z,1755880787.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:47.591Z,1755880787.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995017
2025-08-22T16:39:47.621Z,1755880787.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:47.624Z,1755880787.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 140.548355 m,
      bearing: 343.589814 deg,
      approach rate: -0.471388 m/s,
      LOS rate: -0.045142 deg/s,
      cmd heading: 358.217358 deg,
      new cmd heading: 358.173532 deg.

2025-08-22T16:39:47.624Z,1755880787.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251307 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:47.843Z,1755880787.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246848
2025-08-22T16:39:48.084Z,1755880788.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:48.091Z,1755880788.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 140.341934 m,
      bearing: 343.570044 deg,
      approach rate: -0.445096 m/s,
      LOS rate: -0.042692 deg/s,
      cmd heading: 358.173535 deg,
      new cmd heading: 358.133937 deg.

2025-08-22T16:39:48.092Z,1755880788.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250617 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:48.095Z,1755880788.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498953
2025-08-22T16:39:48.347Z,1755880788.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751122
2025-08-22T16:39:48.594Z,1755880788.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:48.597Z,1755880788.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 140.093384 m,
      bearing: 343.546831 deg,
      approach rate: -0.487987 m/s,
      LOS rate: -0.045656 deg/s,
      cmd heading: 358.133948 deg,
      new cmd heading: 358.087439 deg.

2025-08-22T16:39:48.599Z,1755880788.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003063
2025-08-22T16:39:48.599Z,1755880788.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249805 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:48.851Z,1755880788.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255050
2025-08-22T16:39:48.962Z,1755880788.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:48.965Z,1755880788.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 139.921539 m,
      bearing: 343.530843 deg,
      approach rate: -0.467462 m/s,
      LOS rate: -0.043544 deg/s,
      cmd heading: 358.087448 deg,
      new cmd heading: 358.055433 deg.

2025-08-22T16:39:48.967Z,1755880788.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249246 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:49.103Z,1755880789.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506953
2025-08-22T16:39:49.355Z,1755880789.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758905
2025-08-22T16:39:49.391Z,1755880789.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:49.393Z,1755880789.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:49.396Z,1755880789.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 139.719894 m,
      bearing: 343.511029 deg,
      approach rate: -0.467180 m/s,
      LOS rate: -0.045972 deg/s,
      cmd heading: 358.055428 deg,
      new cmd heading: 358.015743 deg.

2025-08-22T16:39:49.397Z,1755880789.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248553 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:49.606Z,1755880789.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010836
2025-08-22T16:39:49.763Z,1755880789.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:49.765Z,1755880789.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 139.546722 m,
      bearing: 343.494068 deg,
      approach rate: -0.468566 m/s,
      LOS rate: -0.045949 deg/s,
      cmd heading: 358.015731 deg,
      new cmd heading: 357.981767 deg.

2025-08-22T16:39:49.794Z,1755880789.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247961 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:49.859Z,1755880789.859 [DAT](INFO): DAT read: Rx Time:16:39:50.3406

2025-08-22T16:39:49.860Z,1755880789.860 [DAT](INFO): Rx dataTimestamp_ set to:1755880789.859451
2025-08-22T16:39:49.861Z,1755880789.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264937
2025-08-22T16:39:50.110Z,1755880790.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514805
2025-08-22T16:39:50.268Z,1755880790.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.02 m.
2025-08-22T16:39:50.275Z,1755880790.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.015106 m,
      nav range: 139.316849 m,
      bearing: 343.474266 deg,
      approach rate: -0.454811 m/s,
      LOS rate: -0.039244 deg/s,
      cmd heading: 357.981771 deg,
      new cmd heading: 357.942101 deg.

2025-08-22T16:39:50.276Z,1755880790.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247268 target range: 142.015106 and range: 142.90 m.
2025-08-22T16:39:50.368Z,1755880790.368 [DAT](INFO): DAT read: 16:39:50.3406 LVL= 32752, 32753, 24258, 32755, AGC= 70, IDX= 422,-0.30, 2.651, 1.204,-2.850, 2.850, PHS=-0.098,-1.602, 0.539, RAW= 166.8,  12.2, CAL= 167.1,  14.2, ROT= 342.9, -14.2

2025-08-22T16:39:50.369Z,1755880790.369 [DAT](INFO): got valid direction response:
 16:39:50.3406 LVL= 32752, 32753, 24258, 32755, AGC= 70, IDX= 422,-0.30, 2.651, 1.204,-2.850, 2.850, PHS=-0.098,-1.602, 0.539, RAW= 166.8,  12.2, CAL= 167.1,  14.2, ROT= 342.9, -14.2

2025-08-22T16:39:50.370Z,1755880790.370 [DAT](INFO): DAT read: Bearing 169.3, -21.1 (Local)

2025-08-22T16:39:50.370Z,1755880790.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.3, -21.1 (Local)

2025-08-22T16:39:50.372Z,1755880790.372 [DAT](INFO): DAT read: Range 11 to 50 : 141.3 m  (Round-trip  188.4 ms) speed  0.4 m/s

2025-08-22T16:39:50.372Z,1755880790.372 [DAT](INFO): DAT read: user:186>

2025-08-22T16:39:50.373Z,1755880790.373 [DAT](INFO): DAT read: Tx time:16:39:51.4480

2025-08-22T16:39:50.373Z,1755880790.373 [DAT](INFO): Ping request sent.
2025-08-22T16:39:50.374Z,1755880790.374 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:50.374Z,1755880790.374 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:50.375Z,1755880790.375 [DAT](INFO): direction in FSK: [0.926589,-0.285056,0.245307]
2025-08-22T16:39:50.375Z,1755880790.375 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:50.375Z,1755880790.375 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:50.385Z,1755880790.385 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:50.385Z,1755880790.385 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:50.664Z,1755880790.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.300003 m,
      deltaT: 3.779276 s,
      deltaX: -1.599991 m,
      approachRate: -0.423359 m/s,
      rangeRepo size: 4

2025-08-22T16:39:50.671Z,1755880790.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.426208 m,
      bearing: 342.387646 deg,
      lat: 36.779405 deg,
      lon: -121.859748 deg,
      deltaT: 3.779276 s,
      deltaX: -1.588898 m,
      approachRate: -0.420424 m/s,
      posRepo size: 4

2025-08-22T16:39:50.672Z,1755880790.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:50.687Z,1755880790.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 138.930405 m,
      bearing: 343.337979 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039244 deg/s,
      cmd heading: 357.942101 deg,
      new cmd heading: 357.911049 deg.

2025-08-22T16:39:50.688Z,1755880790.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246726 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:51.078Z,1755880791.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:51.102Z,1755880791.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 138.740616 m,
      bearing: 343.321613 deg,
      approach rate: -0.493804 m/s,
      LOS rate: -0.042641 deg/s,
      cmd heading: 357.911038 deg,
      new cmd heading: 357.878260 deg.

2025-08-22T16:39:51.114Z,1755880791.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246154 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:51.470Z,1755880791.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:51.473Z,1755880791.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:51.475Z,1755880791.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 138.536514 m,
      bearing: 343.304628 deg,
      approach rate: -0.480726 m/s,
      LOS rate: -0.040065 deg/s,
      cmd heading: 357.878253 deg,
      new cmd heading: 357.844232 deg.

2025-08-22T16:39:51.476Z,1755880791.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245560 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:51.622Z,1755880791.622 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:51.622Z,1755880791.622 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:51.623Z,1755880791.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:51.865Z,1755880791.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:51.867Z,1755880791.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 138.360291 m,
      bearing: 343.290086 deg,
      approach rate: -0.449541 m/s,
      LOS rate: -0.037143 deg/s,
      cmd heading: 357.844238 deg,
      new cmd heading: 357.815118 deg.

2025-08-22T16:39:51.868Z,1755880791.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245052 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:51.875Z,1755880791.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501003
2025-08-22T16:39:52.127Z,1755880792.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753297
2025-08-22T16:39:52.288Z,1755880792.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:52.291Z,1755880792.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 138.159760 m,
      bearing: 343.274476 deg,
      approach rate: -0.473492 m/s,
      LOS rate: -0.036912 deg/s,
      cmd heading: 357.815114 deg,
      new cmd heading: 357.783849 deg.

2025-08-22T16:39:52.292Z,1755880792.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244506 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:52.380Z,1755880792.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006280
2025-08-22T16:39:52.631Z,1755880792.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256897
2025-08-22T16:39:52.658Z,1755880792.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:52.661Z,1755880792.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 137.975021 m,
      bearing: 343.260181 deg,
      approach rate: -0.499151 m/s,
      LOS rate: -0.038676 deg/s,
      cmd heading: 357.783860 deg,
      new cmd heading: 357.755231 deg.

2025-08-22T16:39:52.662Z,1755880792.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244007 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:52.883Z,1755880792.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509649
2025-08-22T16:39:53.138Z,1755880793.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763519
2025-08-22T16:39:53.220Z,1755880793.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:53.226Z,1755880793.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 137.729446 m,
      bearing: 343.241271 deg,
      approach rate: -0.437486 m/s,
      LOS rate: -0.033746 deg/s,
      cmd heading: 357.755227 deg,
      new cmd heading: 357.717341 deg.

2025-08-22T16:39:53.227Z,1755880793.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243345 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:53.387Z,1755880793.387 [DAT](INFO): DAT read: Rx Time:16:39:54.0381

2025-08-22T16:39:53.387Z,1755880793.387 [DAT](INFO): Rx dataTimestamp_ set to:1755880793.387079
2025-08-22T16:39:53.388Z,1755880793.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014286
2025-08-22T16:39:53.639Z,1755880793.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264928
2025-08-22T16:39:53.723Z,1755880793.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:53.725Z,1755880793.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.43 m.
2025-08-22T16:39:53.728Z,1755880793.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.426208 m,
      nav range: 137.492065 m,
      bearing: 343.223132 deg,
      approach rate: -0.469723 m/s,
      LOS rate: -0.035957 deg/s,
      cmd heading: 357.717333 deg,
      new cmd heading: 357.680991 deg.

2025-08-22T16:39:53.729Z,1755880793.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242711 target range: 140.426208 and range: 141.30 m.
2025-08-22T16:39:53.894Z,1755880793.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519536
2025-08-22T16:39:54.149Z,1755880794.149 [DAT](INFO): DAT read: 16:39:54.0381 LVL= 32752, 32753, 24642, 32755, AGC= 67, IDX= 413, 0.48, 0.758,-0.681, 1.510, 0.936, PHS=-0.076,-1.571, 0.531, RAW= 166.3,  11.9, CAL= 166.5,  13.8, ROT= 343.5, -13.8

2025-08-22T16:39:54.150Z,1755880794.150 [DAT](INFO): got valid direction response:
 16:39:54.0381 LVL= 32752, 32753, 24642, 32755, AGC= 67, IDX= 413, 0.48, 0.758,-0.681, 1.510, 0.936, PHS=-0.076,-1.571, 0.531, RAW= 166.3,  11.9, CAL= 166.5,  13.8, ROT= 343.5, -13.8

2025-08-22T16:39:54.151Z,1755880794.151 [DAT](INFO): DAT read: Bearing 167.9, -20.0 (Local)

2025-08-22T16:39:54.151Z,1755880794.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.9, -20.0 (Local)

2025-08-22T16:39:54.153Z,1755880794.153 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m  (Round-trip  186.0 ms) speed  0.4 m/s

2025-08-22T16:39:54.153Z,1755880794.153 [DAT](INFO): DAT read: user:187>

2025-08-22T16:39:54.154Z,1755880794.154 [DAT](INFO): DAT read: Tx time:16:39:55.1480

2025-08-22T16:39:54.155Z,1755880794.155 [DAT](INFO): Ping request sent.
2025-08-22T16:39:54.155Z,1755880794.155 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:54.155Z,1755880794.155 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:54.157Z,1755880794.157 [DAT](INFO): direction in FSK: [0.931143,-0.275817,0.238533]
2025-08-22T16:39:54.163Z,1755880794.163 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:54.164Z,1755880794.164 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:54.168Z,1755880794.168 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:54.168Z,1755880794.168 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:54.354Z,1755880794.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.500000 m,
      deltaT: 3.780777 s,
      deltaX: -1.800003 m,
      approachRate: -0.476093 m/s,
      rangeRepo size: 4

2025-08-22T16:39:54.356Z,1755880794.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.641159 m,
      bearing: 342.193944 deg,
      lat: 36.779403 deg,
      lon: -121.859748 deg,
      deltaT: 3.780777 s,
      deltaX: -1.785049 m,
      approachRate: -0.472138 m/s,
      posRepo size: 4

2025-08-22T16:39:54.356Z,1755880794.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:54.363Z,1755880794.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 137.070297 m,
      bearing: 343.161351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035957 deg/s,
      cmd heading: 357.680997 deg,
      new cmd heading: 357.636126 deg.

2025-08-22T16:39:54.364Z,1755880794.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241928 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:54.692Z,1755880794.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:54.696Z,1755880794.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 136.895050 m,
      bearing: 343.146382 deg,
      approach rate: -0.511260 m/s,
      LOS rate: -0.043725 deg/s,
      cmd heading: 357.636136 deg,
      new cmd heading: 357.606161 deg.

2025-08-22T16:39:54.697Z,1755880794.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241405 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:55.107Z,1755880795.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:55.116Z,1755880795.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 136.698593 m,
      bearing: 343.129553 deg,
      approach rate: -0.474973 m/s,
      LOS rate: -0.040745 deg/s,
      cmd heading: 357.606165 deg,
      new cmd heading: 357.572459 deg.

2025-08-22T16:39:55.120Z,1755880795.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240817 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:55.583Z,1755880795.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:55.585Z,1755880795.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 136.477417 m,
      bearing: 343.110647 deg,
      approach rate: -0.463341 m/s,
      LOS rate: -0.039671 deg/s,
      cmd heading: 357.572452 deg,
      new cmd heading: 357.534577 deg.

2025-08-22T16:39:55.586Z,1755880795.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240156 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:55.904Z,1755880795.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:55.906Z,1755880795.906 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:55.907Z,1755880795.907 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:55.907Z,1755880795.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:55.911Z,1755880795.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:55.914Z,1755880795.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 136.317245 m,
      bearing: 343.096947 deg,
      approach rate: -0.487214 m/s,
      LOS rate: -0.041720 deg/s,
      cmd heading: 357.534585 deg,
      new cmd heading: 357.507154 deg.

2025-08-22T16:39:55.915Z,1755880795.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239677 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:56.162Z,1755880796.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006321
2025-08-22T16:39:56.335Z,1755880796.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:56.338Z,1755880796.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 136.117554 m,
      bearing: 343.078717 deg,
      approach rate: -0.470972 m/s,
      LOS rate: -0.043059 deg/s,
      cmd heading: 357.507155 deg,
      new cmd heading: 357.470641 deg.

2025-08-22T16:39:56.339Z,1755880796.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239040 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:56.412Z,1755880796.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256718
2025-08-22T16:39:56.663Z,1755880796.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507658
2025-08-22T16:39:56.712Z,1755880796.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:56.723Z,1755880796.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 135.942413 m,
      bearing: 343.062701 deg,
      approach rate: -0.464382 m/s,
      LOS rate: -0.042523 deg/s,
      cmd heading: 357.470654 deg,
      new cmd heading: 357.438579 deg.

2025-08-22T16:39:56.723Z,1755880796.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238480 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:56.914Z,1755880796.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759595
2025-08-22T16:39:57.171Z,1755880797.171 [DAT](INFO): DAT read: Rx Time:16:39:57.7359

2025-08-22T16:39:57.172Z,1755880797.172 [DAT](INFO): Rx dataTimestamp_ set to:1755880797.171387
2025-08-22T16:39:57.175Z,1755880797.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019057
2025-08-22T16:39:57.242Z,1755880797.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:57.244Z,1755880797.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 135.710464 m,
      bearing: 343.041425 deg,
      approach rate: -0.445045 m/s,
      LOS rate: -0.040891 deg/s,
      cmd heading: 357.438580 deg,
      new cmd heading: 357.395956 deg.

2025-08-22T16:39:57.254Z,1755880797.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237736 target range: 138.641159 and range: 139.50 m.
2025-08-22T16:39:57.418Z,1755880797.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263613
2025-08-22T16:39:57.676Z,1755880797.676 [DAT](INFO): DAT read: 16:39:57.7359 LVL= 29584, 31505, 22226, 32755, AGC= 67, IDX= 422,-0.21, 3.091, 1.612,-2.483,-3.051, PHS=-0.040,-1.576, 0.523, RAW= 165.0,  11.6, CAL= 165.2,  13.2, ROT= 344.8, -13.2

2025-08-22T16:39:57.677Z,1755880797.677 [DAT](INFO): got valid direction response:
 16:39:57.7359 LVL= 29584, 31505, 22226, 32755, AGC= 67, IDX= 422,-0.21, 3.091, 1.612,-2.483,-3.051, PHS=-0.040,-1.576, 0.523, RAW= 165.0,  11.6, CAL= 165.2,  13.2, ROT= 344.8, -13.2

2025-08-22T16:39:57.678Z,1755880797.678 [DAT](INFO): DAT read: Bearing 167.3, -17.8 (Local)

2025-08-22T16:39:57.679Z,1755880797.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.3, -17.8 (Local)

2025-08-22T16:39:57.680Z,1755880797.680 [DAT](INFO): DAT read: Range 11 to 50 : 137.7 m  (Round-trip  183.7 ms) speed  0.5 m/s

2025-08-22T16:39:57.681Z,1755880797.681 [DAT](INFO): DAT read: user:188>

2025-08-22T16:39:57.682Z,1755880797.682 [DAT](INFO): DAT read: Tx time:16:39:58.8496

2025-08-22T16:39:57.682Z,1755880797.682 [DAT](INFO): Ping request sent.
2025-08-22T16:39:57.682Z,1755880797.682 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:39:57.683Z,1755880797.683 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:39:57.684Z,1755880797.684 [DAT](INFO): direction in FSK: [0.939520,-0.255262,0.228351]
2025-08-22T16:39:57.684Z,1755880797.684 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:57.684Z,1755880797.684 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:57.687Z,1755880797.687 [DAT](INFO): publishing transmit ping time
2025-08-22T16:39:57.688Z,1755880797.688 [DAT](INFO): publishing direction and range info
2025-08-22T16:39:57.692Z,1755880797.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.699997 m,
      deltaT: 3.527314 s,
      deltaX: -1.800003 m,
      approachRate: -0.510304 m/s,
      rangeRepo size: 4

2025-08-22T16:39:57.702Z,1755880797.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:57.704Z,1755880797.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 135.496613 m,
      bearing: 343.023001 deg,
      approach rate: -0.466750 m/s,
      LOS rate: -0.040275 deg/s,
      cmd heading: 357.395959 deg,
      new cmd heading: 357.359053 deg.

2025-08-22T16:39:57.710Z,1755880797.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237092 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:57.999Z,1755880797.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:58.002Z,1755880798.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 135.345917 m,
      bearing: 343.010036 deg,
      approach rate: -0.490760 m/s,
      LOS rate: -0.042271 deg/s,
      cmd heading: 357.359049 deg,
      new cmd heading: 357.333089 deg.

2025-08-22T16:39:58.005Z,1755880798.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236639 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:58.422Z,1755880798.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:39:58.424Z,1755880798.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:58.426Z,1755880798.426 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:39:58.426Z,1755880798.426 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:39:58.427Z,1755880798.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:39:58.434Z,1755880798.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 135.152512 m,
      bearing: 342.993805 deg,
      approach rate: -0.455188 m/s,
      LOS rate: -0.038255 deg/s,
      cmd heading: 357.333094 deg,
      new cmd heading: 357.300586 deg.

2025-08-22T16:39:58.435Z,1755880798.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236072 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:58.678Z,1755880798.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996146
2025-08-22T16:39:58.811Z,1755880798.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:58.814Z,1755880798.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 134.979828 m,
      bearing: 342.979290 deg,
      approach rate: -0.445666 m/s,
      LOS rate: -0.037508 deg/s,
      cmd heading: 357.300583 deg,
      new cmd heading: 357.271516 deg.

2025-08-22T16:39:58.815Z,1755880798.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235564 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:58.935Z,1755880798.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252238
2025-08-22T16:39:59.186Z,1755880799.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502865
2025-08-22T16:39:59.316Z,1755880799.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:59.319Z,1755880799.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 134.749847 m,
      bearing: 342.961715 deg,
      approach rate: -0.455244 m/s,
      LOS rate: -0.034849 deg/s,
      cmd heading: 357.271513 deg,
      new cmd heading: 357.236304 deg.

2025-08-22T16:39:59.320Z,1755880799.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234950 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:59.434Z,1755880799.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752067
2025-08-22T16:39:59.688Z,1755880799.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005284
2025-08-22T16:39:59.827Z,1755880799.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:39:59.830Z,1755880799.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 134.506470 m,
      bearing: 342.943050 deg,
      approach rate: -0.489374 m/s,
      LOS rate: -0.037599 deg/s,
      cmd heading: 357.236297 deg,
      new cmd heading: 357.198899 deg.

2025-08-22T16:39:59.831Z,1755880799.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234297 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:39:59.939Z,1755880799.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256253
2025-08-22T16:40:00.194Z,1755880800.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510854
2025-08-22T16:40:00.276Z,1755880800.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:40:00.279Z,1755880800.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 134.287140 m,
      bearing: 342.927073 deg,
      approach rate: -0.474844 m/s,
      LOS rate: -0.034646 deg/s,
      cmd heading: 357.198895 deg,
      new cmd heading: 357.166889 deg.

2025-08-22T16:40:00.279Z,1755880800.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233738 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:40:00.443Z,1755880800.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760278
2025-08-22T16:40:00.695Z,1755880800.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012628
2025-08-22T16:40:00.740Z,1755880800.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:00.744Z,1755880800.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:40:00.747Z,1755880800.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 134.066528 m,
      bearing: 342.910960 deg,
      approach rate: -0.470726 m/s,
      LOS rate: -0.034437 deg/s,
      cmd heading: 357.166902 deg,
      new cmd heading: 357.134624 deg.

2025-08-22T16:40:00.748Z,1755880800.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233175 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:40:00.946Z,1755880800.946 [DAT](INFO): DAT read: Rx Time:16:40:01.4351

2025-08-22T16:40:00.947Z,1755880800.947 [DAT](INFO): Rx dataTimestamp_ set to:1755880800.946635
2025-08-22T16:40:00.947Z,1755880800.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265113
2025-08-22T16:40:01.134Z,1755880801.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.64 m.
2025-08-22T16:40:01.137Z,1755880801.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.641159 m,
      nav range: 133.879288 m,
      bearing: 342.897255 deg,
      approach rate: -0.480443 m/s,
      LOS rate: -0.035216 deg/s,
      cmd heading: 357.134636 deg,
      new cmd heading: 357.107187 deg.

2025-08-22T16:40:01.138Z,1755880801.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232696 target range: 138.641159 and range: 137.70 m.
2025-08-22T16:40:01.202Z,1755880801.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518745
2025-08-22T16:40:01.458Z,1755880801.458 [DAT](INFO): DAT read: 16:40:01.4351 LVL= 30368, 32753, 25074, 32755, AGC= 67, IDX= 414,-0.37, 0.945,-0.526, 1.615, 1.080, PHS=-0.033,-1.561, 0.491, RAW= 164.2,  11.9, CAL= 164.5,  13.6, ROT= 345.5, -13.6

2025-08-22T16:40:01.459Z,1755880801.459 [DAT](INFO): got valid direction response:
 16:40:01.4351 LVL= 30368, 32753, 25074, 32755, AGC= 67, IDX= 414,-0.37, 0.945,-0.526, 1.615, 1.080, PHS=-0.033,-1.561, 0.491, RAW= 164.2,  11.9, CAL= 164.5,  13.6, ROT= 345.5, -13.6

2025-08-22T16:40:01.460Z,1755880801.460 [DAT](INFO): DAT read: Bearing 167.6, -15.8 (Local)

2025-08-22T16:40:01.461Z,1755880801.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.6, -15.8 (Local)

2025-08-22T16:40:01.469Z,1755880801.469 [DAT](INFO): DAT read: Range 11 to 50 : 136.0 m  (Round-trip  181.4 ms) speed  0.4 m/s

2025-08-22T16:40:01.491Z,1755880801.491 [DAT](INFO): DAT read: user:189>

2025-08-22T16:40:01.492Z,1755880801.492 [DAT](INFO): DAT read: Tx time:16:40:02.5480

2025-08-22T16:40:01.492Z,1755880801.492 [DAT](INFO): Ping request sent.
2025-08-22T16:40:01.492Z,1755880801.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:01.493Z,1755880801.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:01.495Z,1755880801.495 [DAT](INFO): direction in FSK: [0.941002,-0.243359,0.235142]
2025-08-22T16:40:01.495Z,1755880801.495 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:01.496Z,1755880801.496 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:01.504Z,1755880801.504 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:01.504Z,1755880801.504 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:01.676Z,1755880801.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.000000 m,
      deltaT: 3.780665 s,
      deltaX: -1.699997 m,
      approachRate: -0.449656 m/s,
      rangeRepo size: 4

2025-08-22T16:40:01.690Z,1755880801.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.163528 m,
      bearing: 343.603231 deg,
      lat: 36.779400 deg,
      lon: -121.859745 deg,
      deltaT: 7.307979 s,
      deltaX: -3.477631 m,
      approachRate: -0.475868 m/s,
      posRepo size: 4

2025-08-22T16:40:01.691Z,1755880801.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:01.693Z,1755880801.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 133.246536 m,
      bearing: 342.950095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035216 deg/s,
      cmd heading: 357.107179 deg,
      new cmd heading: 357.069070 deg.

2025-08-22T16:40:01.698Z,1755880801.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232031 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:02.084Z,1755880802.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:02.087Z,1755880802.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 133.042511 m,
      bearing: 342.935799 deg,
      approach rate: -0.499342 m/s,
      LOS rate: -0.035041 deg/s,
      cmd heading: 357.069067 deg,
      new cmd heading: 357.040432 deg.

2025-08-22T16:40:02.088Z,1755880802.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231531 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:02.551Z,1755880802.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:02.553Z,1755880802.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 132.832382 m,
      bearing: 342.921515 deg,
      approach rate: -0.450074 m/s,
      LOS rate: -0.030643 deg/s,
      cmd heading: 357.040434 deg,
      new cmd heading: 357.011821 deg.

2025-08-22T16:40:02.558Z,1755880802.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231032 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:02.898Z,1755880802.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:02.900Z,1755880802.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:02.903Z,1755880802.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 132.649933 m,
      bearing: 342.909169 deg,
      approach rate: -0.521525 m/s,
      LOS rate: -0.035338 deg/s,
      cmd heading: 357.011830 deg,
      new cmd heading: 356.987104 deg.

2025-08-22T16:40:02.904Z,1755880802.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230600 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:02.963Z,1755880802.963 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:02.963Z,1755880802.963 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:02.964Z,1755880802.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:03.216Z,1755880803.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723684
2025-08-22T16:40:03.375Z,1755880803.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:03.378Z,1755880803.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 132.429886 m,
      bearing: 342.891963 deg,
      approach rate: -0.463595 m/s,
      LOS rate: -0.036310 deg/s,
      cmd heading: 356.987104 deg,
      new cmd heading: 356.952635 deg.

2025-08-22T16:40:03.379Z,1755880803.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229999 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:03.467Z,1755880803.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974603
2025-08-22T16:40:03.706Z,1755880803.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:03.708Z,1755880803.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 132.260864 m,
      bearing: 342.878861 deg,
      approach rate: -0.511612 m/s,
      LOS rate: -0.039709 deg/s,
      cmd heading: 356.952625 deg,
      new cmd heading: 356.926388 deg.

2025-08-22T16:40:03.709Z,1755880803.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229541 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:03.719Z,1755880803.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226414
2025-08-22T16:40:03.974Z,1755880803.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481842
2025-08-22T16:40:04.120Z,1755880804.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:04.123Z,1755880804.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 132.065720 m,
      bearing: 342.863730 deg,
      approach rate: -0.470174 m/s,
      LOS rate: -0.036510 deg/s,
      cmd heading: 356.926398 deg,
      new cmd heading: 356.896091 deg.

2025-08-22T16:40:04.124Z,1755880804.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229012 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:04.223Z,1755880804.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730377
2025-08-22T16:40:04.475Z,1755880804.475 [DAT](INFO): DAT read: Rx Time:16:40:05.1310

2025-08-22T16:40:04.475Z,1755880804.475 [DAT](INFO): Rx dataTimestamp_ set to:1755880804.474732
2025-08-22T16:40:04.476Z,1755880804.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983336
2025-08-22T16:40:04.566Z,1755880804.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:04.569Z,1755880804.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 131.848419 m,
      bearing: 342.847205 deg,
      approach rate: -0.487362 m/s,
      LOS rate: -0.037124 deg/s,
      cmd heading: 356.896099 deg,
      new cmd heading: 356.862994 deg.

2025-08-22T16:40:04.574Z,1755880804.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228434 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:04.726Z,1755880804.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234189
2025-08-22T16:40:04.915Z,1755880804.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:04.917Z,1755880804.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.16 m.
2025-08-22T16:40:04.920Z,1755880804.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.163528 m,
      nav range: 131.678558 m,
      bearing: 342.834282 deg,
      approach rate: -0.484803 m/s,
      LOS rate: -0.036931 deg/s,
      cmd heading: 356.862986 deg,
      new cmd heading: 356.837107 deg.

2025-08-22T16:40:04.921Z,1755880804.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227983 target range: 135.163528 and range: 136.00 m.
2025-08-22T16:40:04.980Z,1755880804.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487512
2025-08-22T16:40:05.032Z,1755880805.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:40:05.236Z,1755880805.236 [DAT](INFO): DAT read: 16:40:05.1310 LVL= 30272, 31473, 25186, 32755, AGC= 68, IDX= 420, 0.20,-1.768, 2.947,-1.164,-1.722, PHS= 0.056,-1.569, 0.513, RAW= 162.1,  10.6, CAL= 162.1,  11.6, ROT= 347.9, -11.6

2025-08-22T16:40:05.237Z,1755880805.237 [DAT](INFO): got valid direction response:
 16:40:05.1310 LVL= 30272, 31473, 25186, 32755, AGC= 68, IDX= 420, 0.20,-1.768, 2.947,-1.164,-1.722, PHS= 0.056,-1.569, 0.513, RAW= 162.1,  10.6, CAL= 162.1,  11.6, ROT= 347.9, -11.6

2025-08-22T16:40:05.238Z,1755880805.238 [DAT](INFO): DAT read: Bearing 164.9, -12.0 (Local)

2025-08-22T16:40:05.239Z,1755880805.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.9, -12.0 (Local)

2025-08-22T16:40:05.241Z,1755880805.241 [DAT](INFO): DAT read: Range 11 to 50 : 134.1 m  (Round-trip  178.9 ms) speed  0.4 m/s

2025-08-22T16:40:05.244Z,1755880805.244 [DAT](INFO): DAT read: user:190>

2025-08-22T16:40:05.246Z,1755880805.246 [DAT](INFO): DAT read: Tx time:16:40:06.2480

2025-08-22T16:40:05.246Z,1755880805.246 [DAT](INFO): Ping request sent.
2025-08-22T16:40:05.246Z,1755880805.246 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:05.246Z,1755880805.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:05.247Z,1755880805.247 [DAT](INFO): direction in FSK: [0.957812,-0.205337,0.201078]
2025-08-22T16:40:05.248Z,1755880805.248 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:05.248Z,1755880805.248 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:05.251Z,1755880805.251 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:05.252Z,1755880805.252 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:05.446Z,1755880805.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.100006 m,
      deltaT: 3.779270 s,
      deltaX: -1.899994 m,
      approachRate: -0.502741 m/s,
      rangeRepo size: 4

2025-08-22T16:40:05.448Z,1755880805.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.275131 m,
      bearing: 345.427294 deg,
      lat: 36.779400 deg,
      lon: -121.859743 deg,
      deltaT: 3.779270 s,
      deltaX: -1.888397 m,
      approachRate: -0.499672 m/s,
      posRepo size: 4

2025-08-22T16:40:05.449Z,1755880805.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:05.468Z,1755880805.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 131.377609 m,
      bearing: 342.888964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036931 deg/s,
      cmd heading: 356.837113 deg,
      new cmd heading: 356.798092 deg.

2025-08-22T16:40:05.469Z,1755880805.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227302 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:05.780Z,1755880805.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:05.783Z,1755880805.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 131.207840 m,
      bearing: 342.875334 deg,
      approach rate: -0.507216 m/s,
      LOS rate: -0.040776 deg/s,
      cmd heading: 356.798099 deg,
      new cmd heading: 356.770803 deg.

2025-08-22T16:40:05.784Z,1755880805.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226825 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:06.035Z,1755880806.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:40:06.219Z,1755880806.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:06.222Z,1755880806.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 131.000397 m,
      bearing: 342.858631 deg,
      approach rate: -0.471866 m/s,
      LOS rate: -0.038053 deg/s,
      cmd heading: 356.770806 deg,
      new cmd heading: 356.737348 deg.

2025-08-22T16:40:06.223Z,1755880806.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226241 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:06.627Z,1755880806.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:06.634Z,1755880806.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 130.795624 m,
      bearing: 342.840029 deg,
      approach rate: -0.501893 m/s,
      LOS rate: -0.045665 deg/s,
      cmd heading: 356.737338 deg,
      new cmd heading: 356.700075 deg.

2025-08-22T16:40:06.635Z,1755880806.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225591 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:06.988Z,1755880806.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:06.990Z,1755880806.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:06.993Z,1755880806.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 130.615280 m,
      bearing: 342.823604 deg,
      approach rate: -0.497113 m/s,
      LOS rate: -0.045337 deg/s,
      cmd heading: 356.700072 deg,
      new cmd heading: 356.667177 deg.

2025-08-22T16:40:06.994Z,1755880806.994 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:06.994Z,1755880806.994 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:06.995Z,1755880806.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:06.997Z,1755880806.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225017 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:07.247Z,1755880807.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000699
2025-08-22T16:40:07.499Z,1755880807.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252561
2025-08-22T16:40:07.524Z,1755880807.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:07.551Z,1755880807.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 130.363159 m,
      bearing: 342.803679 deg,
      approach rate: -0.474996 m/s,
      LOS rate: -0.037612 deg/s,
      cmd heading: 356.667178 deg,
      new cmd heading: 356.627250 deg.

2025-08-22T16:40:07.552Z,1755880807.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224320 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:07.751Z,1755880807.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504745
2025-08-22T16:40:08.004Z,1755880808.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757846
2025-08-22T16:40:08.056Z,1755880808.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:08.063Z,1755880808.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 130.114914 m,
      bearing: 342.784044 deg,
      approach rate: -0.464151 m/s,
      LOS rate: -0.036782 deg/s,
      cmd heading: 356.627263 deg,
      new cmd heading: 356.587917 deg.

2025-08-22T16:40:08.064Z,1755880808.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223633 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:08.255Z,1755880808.255 [DAT](INFO): DAT read: Rx Time:16:40:08.8287

2025-08-22T16:40:08.256Z,1755880808.256 [DAT](INFO): Rx dataTimestamp_ set to:1755880808.255629
2025-08-22T16:40:08.257Z,1755880808.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010391
2025-08-22T16:40:08.508Z,1755880808.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262016
2025-08-22T16:40:08.603Z,1755880808.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.28 m.
2025-08-22T16:40:08.606Z,1755880808.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.275131 m,
      nav range: 129.839722 m,
      bearing: 342.764319 deg,
      approach rate: -0.503051 m/s,
      LOS rate: -0.036132 deg/s,
      cmd heading: 356.587921 deg,
      new cmd heading: 356.548389 deg.

2025-08-22T16:40:08.607Z,1755880808.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222943 target range: 133.275131 and range: 134.10 m.
2025-08-22T16:40:08.764Z,1755880808.764 [DAT](INFO): DAT read: 16:40:08.8287 LVL= 31984, 32753, 25842, 32755, AGC= 65, IDX= 412,-0.04, 0.595,-0.980, 1.118, 0.587, PHS= 0.110,-1.522, 0.487, RAW= 160.2,  10.0, CAL= 160.1,  10.8, ROT= 349.9, -10.8

2025-08-22T16:40:08.765Z,1755880808.765 [DAT](INFO): got valid direction response:
 16:40:08.8287 LVL= 31984, 32753, 25842, 32755, AGC= 65, IDX= 412,-0.04, 0.595,-0.980, 1.118, 0.587, PHS= 0.110,-1.522, 0.487, RAW= 160.2,  10.0, CAL= 160.1,  10.8, ROT= 349.9, -10.8

2025-08-22T16:40:08.766Z,1755880808.766 [DAT](INFO): DAT read: Bearing 163.4,  -8.7 (Local)

2025-08-22T16:40:08.767Z,1755880808.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.4,  -8.7 (Local)

2025-08-22T16:40:08.768Z,1755880808.768 [DAT](INFO): DAT read: Range 11 to 50 : 132.3 m  (Round-trip  176.5 ms) speed  0.4 m/s

2025-08-22T16:40:08.769Z,1755880808.769 [DAT](INFO): DAT read: user:191>

2025-08-22T16:40:08.770Z,1755880808.770 [DAT](INFO): DAT read: Tx time:16:40:09.9480

2025-08-22T16:40:08.770Z,1755880808.770 [DAT](INFO): Ping request sent.
2025-08-22T16:40:08.770Z,1755880808.770 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:08.770Z,1755880808.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:08.771Z,1755880808.771 [DAT](INFO): direction in FSK: [0.967065,-0.172261,0.187381]
2025-08-22T16:40:08.771Z,1755880808.771 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:08.772Z,1755880808.772 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:08.776Z,1755880808.776 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:08.776Z,1755880808.776 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:08.973Z,1755880808.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.300003 m,
      deltaT: 3.528129 s,
      deltaX: -1.800003 m,
      approachRate: -0.510186 m/s,
      rangeRepo size: 4

2025-08-22T16:40:08.980Z,1755880808.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.485809 m,
      bearing: 346.984303 deg,
      lat: 36.779401 deg,
      lon: -121.859727 deg,
      deltaT: 3.528129 s,
      deltaX: -1.789322 m,
      approachRate: -0.507159 m/s,
      posRepo size: 4

2025-08-22T16:40:08.980Z,1755880808.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:08.987Z,1755880808.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 129.367493 m,
      bearing: 343.360856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036132 deg/s,
      cmd heading: 356.548388 deg,
      new cmd heading: 356.521694 deg.

2025-08-22T16:40:08.988Z,1755880808.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222477 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:09.423Z,1755880809.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:09.426Z,1755880809.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:09.428Z,1755880809.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 129.144547 m,
      bearing: 343.347276 deg,
      approach rate: -0.492085 m/s,
      LOS rate: -0.030025 deg/s,
      cmd heading: 356.521695 deg,
      new cmd heading: 356.494488 deg.

2025-08-22T16:40:09.429Z,1755880809.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222003 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:09.516Z,1755880809.516 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:09.516Z,1755880809.516 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:09.517Z,1755880809.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:09.767Z,1755880809.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996613
2025-08-22T16:40:09.782Z,1755880809.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:09.785Z,1755880809.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 128.985245 m,
      bearing: 343.337580 deg,
      approach rate: -0.445994 m/s,
      LOS rate: -0.027179 deg/s,
      cmd heading: 356.494484 deg,
      new cmd heading: 356.475068 deg.

2025-08-22T16:40:09.786Z,1755880809.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221663 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:10.023Z,1755880810.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252243
2025-08-22T16:40:10.167Z,1755880810.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:10.183Z,1755880810.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 128.792450 m,
      bearing: 343.325847 deg,
      approach rate: -0.501568 m/s,
      LOS rate: -0.030570 deg/s,
      cmd heading: 356.475059 deg,
      new cmd heading: 356.451558 deg.

2025-08-22T16:40:10.185Z,1755880810.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221253 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:10.271Z,1755880810.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500898
2025-08-22T16:40:10.524Z,1755880810.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753917
2025-08-22T16:40:10.624Z,1755880810.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:10.627Z,1755880810.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 128.568314 m,
      bearing: 343.311762 deg,
      approach rate: -0.490676 m/s,
      LOS rate: -0.030888 deg/s,
      cmd heading: 356.451563 deg,
      new cmd heading: 356.423344 deg.

2025-08-22T16:40:10.627Z,1755880810.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220761 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:10.775Z,1755880810.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005376
2025-08-22T16:40:10.970Z,1755880810.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:10.972Z,1755880810.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 128.400177 m,
      bearing: 343.301223 deg,
      approach rate: -0.486006 m/s,
      LOS rate: -0.030504 deg/s,
      cmd heading: 356.423340 deg,
      new cmd heading: 356.402235 deg.

2025-08-22T16:40:10.974Z,1755880810.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220392 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:11.027Z,1755880811.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257203
2025-08-22T16:40:11.279Z,1755880811.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508819
2025-08-22T16:40:11.424Z,1755880811.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:11.427Z,1755880811.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 128.179199 m,
      bearing: 343.287330 deg,
      approach rate: -0.486202 m/s,
      LOS rate: -0.030621 deg/s,
      cmd heading: 356.402222 deg,
      new cmd heading: 356.374387 deg.

2025-08-22T16:40:11.428Z,1755880811.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219906 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:11.531Z,1755880811.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761172
2025-08-22T16:40:11.783Z,1755880811.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012553
2025-08-22T16:40:11.800Z,1755880811.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:11.803Z,1755880811.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:11.806Z,1755880811.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 127.997086 m,
      bearing: 343.276822 deg,
      approach rate: -0.481059 m/s,
      LOS rate: -0.027795 deg/s,
      cmd heading: 356.374382 deg,
      new cmd heading: 356.353337 deg.

2025-08-22T16:40:11.807Z,1755880811.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219539 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:12.035Z,1755880812.035 [DAT](INFO): DAT read: Rx Time:16:40:12.5262

2025-08-22T16:40:12.035Z,1755880812.035 [DAT](INFO): Rx dataTimestamp_ set to:1755880812.034784
2025-08-22T16:40:12.036Z,1755880812.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265589
2025-08-22T16:40:12.192Z,1755880812.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.49 m.
2025-08-22T16:40:12.195Z,1755880812.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.485809 m,
      nav range: 127.811203 m,
      bearing: 343.266088 deg,
      approach rate: -0.476847 m/s,
      LOS rate: -0.027577 deg/s,
      cmd heading: 356.353345 deg,
      new cmd heading: 356.331845 deg.

2025-08-22T16:40:12.196Z,1755880812.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219164 target range: 131.485809 and range: 132.30 m.
2025-08-22T16:40:12.287Z,1755880812.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516575
2025-08-22T16:40:12.544Z,1755880812.544 [DAT](INFO): DAT read: 16:40:12.5262 LVL= 28736, 32753, 24370, 32755, AGC= 65, IDX= 419,-0.10, 1.943, 0.381, 2.399, 1.888, PHS= 0.157,-1.462, 0.467, RAW= 158.6,   9.4, CAL= 158.4,  10.0, ROT= 351.6, -10.0

2025-08-22T16:40:12.545Z,1755880812.545 [DAT](INFO): got valid direction response:
 16:40:12.5262 LVL= 28736, 32753, 24370, 32755, AGC= 65, IDX= 419,-0.10, 1.943, 0.381, 2.399, 1.888, PHS= 0.157,-1.462, 0.467, RAW= 158.6,   9.4, CAL= 158.4,  10.0, ROT= 351.6, -10.0

2025-08-22T16:40:12.546Z,1755880812.546 [DAT](INFO): DAT read: Bearing 162.4,  -5.0 (Local)

2025-08-22T16:40:12.547Z,1755880812.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.4,  -5.0 (Local)

2025-08-22T16:40:12.548Z,1755880812.548 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m  (Round-trip  174.1 ms) speed  0.4 m/s

2025-08-22T16:40:12.549Z,1755880812.549 [DAT](INFO): DAT read: user:192>

2025-08-22T16:40:12.556Z,1755880812.556 [DAT](INFO): DAT read: Tx time:16:40:13.6480

2025-08-22T16:40:12.556Z,1755880812.556 [DAT](INFO): Ping request sent.
2025-08-22T16:40:12.556Z,1755880812.556 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:12.556Z,1755880812.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:12.566Z,1755880812.566 [DAT](INFO): direction in FSK: [0.974243,-0.143864,0.173648]
2025-08-22T16:40:12.566Z,1755880812.566 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:12.566Z,1755880812.566 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:12.569Z,1755880812.569 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:12.573Z,1755880812.573 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:12.704Z,1755880812.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.500000 m,
      deltaT: 3.779897 s,
      deltaX: -1.800003 m,
      approachRate: -0.476204 m/s,
      rangeRepo size: 4

2025-08-22T16:40:12.710Z,1755880812.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.695190 m,
      bearing: 348.485037 deg,
      lat: 36.779410 deg,
      lon: -121.859679 deg,
      deltaT: 3.779897 s,
      deltaX: -1.790619 m,
      approachRate: -0.473722 m/s,
      posRepo size: 4

2025-08-22T16:40:12.711Z,1755880812.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:12.718Z,1755880812.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 127.343979 m,
      bearing: 345.241427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027577 deg/s,
      cmd heading: 356.331843 deg,
      new cmd heading: 356.303666 deg.

2025-08-22T16:40:12.719Z,1755880812.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218672 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:12.987Z,1755880812.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:12.992Z,1755880812.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 127.199516 m,
      bearing: 345.234455 deg,
      approach rate: -0.509103 m/s,
      LOS rate: -0.024598 deg/s,
      cmd heading: 356.303676 deg,
      new cmd heading: 356.289716 deg.

2025-08-22T16:40:12.995Z,1755880812.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218429 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:13.456Z,1755880813.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:13.459Z,1755880813.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.979889 m,
      bearing: 345.223740 deg,
      approach rate: -0.468232 m/s,
      LOS rate: -0.022882 deg/s,
      cmd heading: 356.289715 deg,
      new cmd heading: 356.268248 deg.

2025-08-22T16:40:13.460Z,1755880813.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218054 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:13.809Z,1755880813.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:13.827Z,1755880813.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:13.830Z,1755880813.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.806854 m,
      bearing: 345.214562 deg,
      approach rate: -0.466352 m/s,
      LOS rate: -0.024770 deg/s,
      cmd heading: 356.268241 deg,
      new cmd heading: 356.249859 deg.

2025-08-22T16:40:13.831Z,1755880813.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217733 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:14.051Z,1755880814.051 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:14.051Z,1755880814.051 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:14.051Z,1755880814.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:14.206Z,1755880814.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:14.208Z,1755880814.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.621269 m,
      bearing: 345.204677 deg,
      approach rate: -0.490728 m/s,
      LOS rate: -0.026177 deg/s,
      cmd heading: 356.249854 deg,
      new cmd heading: 356.230054 deg.

2025-08-22T16:40:14.209Z,1755880814.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217387 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:14.303Z,1755880814.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746946
2025-08-22T16:40:14.554Z,1755880814.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998385
2025-08-22T16:40:14.648Z,1755880814.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:14.651Z,1755880814.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.410469 m,
      bearing: 345.189767 deg,
      approach rate: -0.476026 m/s,
      LOS rate: -0.033726 deg/s,
      cmd heading: 356.230046 deg,
      new cmd heading: 356.200176 deg.

2025-08-22T16:40:14.652Z,1755880814.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216866 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:14.807Z,1755880814.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250474
2025-08-22T16:40:15.023Z,1755880815.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:15.025Z,1755880815.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.234764 m,
      bearing: 345.177355 deg,
      approach rate: -0.469297 m/s,
      LOS rate: -0.033196 deg/s,
      cmd heading: 356.200185 deg,
      new cmd heading: 356.175327 deg.

2025-08-22T16:40:15.026Z,1755880815.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216432 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:15.061Z,1755880815.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505023
2025-08-22T16:40:15.310Z,1755880815.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754244
2025-08-22T16:40:15.476Z,1755880815.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:15.483Z,1755880815.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 126.044708 m,
      bearing: 345.163914 deg,
      approach rate: -0.419348 m/s,
      LOS rate: -0.029703 deg/s,
      cmd heading: 356.175323 deg,
      new cmd heading: 356.148399 deg.

2025-08-22T16:40:15.484Z,1755880815.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215962 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:15.564Z,1755880815.564 [DAT](INFO): DAT read: Rx Time:16:40:16.2239

2025-08-22T16:40:15.564Z,1755880815.564 [DAT](INFO): Rx dataTimestamp_ set to:1755880815.564033
2025-08-22T16:40:15.565Z,1755880815.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008773
2025-08-22T16:40:15.815Z,1755880815.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258534
2025-08-22T16:40:15.875Z,1755880815.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:15.877Z,1755880815.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:15.884Z,1755880815.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 125.832108 m,
      bearing: 345.148827 deg,
      approach rate: -0.530150 m/s,
      LOS rate: -0.037684 deg/s,
      cmd heading: 356.148412 deg,
      new cmd heading: 356.118187 deg.

2025-08-22T16:40:15.885Z,1755880815.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215435 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:16.067Z,1755880816.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510636
2025-08-22T16:40:16.246Z,1755880816.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-08-22T16:40:16.248Z,1755880816.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.695190 m,
      nav range: 125.650780 m,
      bearing: 345.136108 deg,
      approach rate: -0.492015 m/s,
      LOS rate: -0.034563 deg/s,
      cmd heading: 356.118195 deg,
      new cmd heading: 356.092719 deg.

2025-08-22T16:40:16.249Z,1755880816.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214991 target range: 129.695190 and range: 130.50 m.
2025-08-22T16:40:16.327Z,1755880816.327 [DAT](INFO): DAT read: 16:40:16.2239 LVL= 32752, 32753, 28130, 32755, AGC= 64, IDX= 411,-0.33, 0.213,-1.359, 0.620, 0.110, PHS= 0.205,-1.424, 0.466, RAW= 157.3,   8.5, CAL= 157.0,   9.0, ROT= 353.0,  -9.0

2025-08-22T16:40:16.328Z,1755880816.328 [DAT](INFO): got valid direction response:
 16:40:16.2239 LVL= 32752, 32753, 28130, 32755, AGC= 64, IDX= 411,-0.33, 0.213,-1.359, 0.620, 0.110, PHS= 0.205,-1.424, 0.466, RAW= 157.3,   8.5, CAL= 157.0,   9.0, ROT= 353.0,  -9.0

2025-08-22T16:40:16.329Z,1755880816.329 [DAT](INFO): DAT read: Bearing 161.4,  -1.5 (Local)

2025-08-22T16:40:16.329Z,1755880816.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.4,  -1.5 (Local)

2025-08-22T16:40:16.331Z,1755880816.331 [DAT](INFO): DAT read: Range 11 to 50 : 128.7 m  (Round-trip  171.7 ms) speed  0.4 m/s

2025-08-22T16:40:16.332Z,1755880816.332 [DAT](INFO): DAT read: user:193>

2025-08-22T16:40:16.332Z,1755880816.332 [DAT](INFO): DAT read: Tx time:16:40:17.3480

2025-08-22T16:40:16.332Z,1755880816.332 [DAT](INFO): Ping request sent.
2025-08-22T16:40:16.333Z,1755880816.333 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:16.333Z,1755880816.333 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:16.334Z,1755880816.334 [DAT](INFO): direction in FSK: [0.980326,-0.120369,0.156434]
2025-08-22T16:40:16.334Z,1755880816.334 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:16.335Z,1755880816.335 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:16.340Z,1755880816.340 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:16.340Z,1755880816.340 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:16.675Z,1755880816.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.699997 m,
      deltaT: 3.780642 s,
      deltaX: -1.800003 m,
      approachRate: -0.476110 m/s,
      rangeRepo size: 4

2025-08-22T16:40:16.677Z,1755880816.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.904305 m,
      bearing: 349.737857 deg,
      lat: 36.779415 deg,
      lon: -121.859637 deg,
      deltaT: 3.780642 s,
      deltaX: -1.790886 m,
      approachRate: -0.473699 m/s,
      posRepo size: 4

2025-08-22T16:40:16.678Z,1755880816.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:16.680Z,1755880816.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 125.046410 m,
      bearing: 346.830977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034563 deg/s,
      cmd heading: 356.092732 deg,
      new cmd heading: 356.063097 deg.

2025-08-22T16:40:16.681Z,1755880816.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214473 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:17.054Z,1755880817.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:17.056Z,1755880817.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 124.856529 m,
      bearing: 346.820682 deg,
      approach rate: -0.500390 m/s,
      LOS rate: -0.027170 deg/s,
      cmd heading: 356.063089 deg,
      new cmd heading: 356.042469 deg.

2025-08-22T16:40:17.058Z,1755880817.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214113 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:17.524Z,1755880817.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:17.531Z,1755880817.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 124.630173 m,
      bearing: 346.808569 deg,
      approach rate: -0.480824 m/s,
      LOS rate: -0.025778 deg/s,
      cmd heading: 356.042462 deg,
      new cmd heading: 356.018191 deg.

2025-08-22T16:40:17.532Z,1755880817.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213690 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:17.899Z,1755880817.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:17.901Z,1755880817.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:17.920Z,1755880817.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 124.436455 m,
      bearing: 346.799011 deg,
      approach rate: -0.514598 m/s,
      LOS rate: -0.025431 deg/s,
      cmd heading: 356.018201 deg,
      new cmd heading: 355.999054 deg.

2025-08-22T16:40:17.921Z,1755880817.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213356 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:18.082Z,1755880818.082 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:18.082Z,1755880818.082 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:18.083Z,1755880818.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:18.294Z,1755880818.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:18.297Z,1755880818.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 124.240608 m,
      bearing: 346.789474 deg,
      approach rate: -0.498489 m/s,
      LOS rate: -0.024313 deg/s,
      cmd heading: 355.999049 deg,
      new cmd heading: 355.979945 deg.

2025-08-22T16:40:18.298Z,1755880818.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213022 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:18.335Z,1755880818.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002070
2025-08-22T16:40:18.587Z,1755880818.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253887
2025-08-22T16:40:18.724Z,1755880818.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:18.731Z,1755880818.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 124.042244 m,
      bearing: 346.782470 deg,
      approach rate: -0.460827 m/s,
      LOS rate: -0.016296 deg/s,
      cmd heading: 355.979952 deg,
      new cmd heading: 355.965922 deg.

2025-08-22T16:40:18.732Z,1755880818.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212777 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:18.839Z,1755880818.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505954
2025-08-22T16:40:19.091Z,1755880819.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757912
2025-08-22T16:40:19.109Z,1755880819.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:19.112Z,1755880819.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 123.855835 m,
      bearing: 346.775991 deg,
      approach rate: -0.484704 m/s,
      LOS rate: -0.016872 deg/s,
      cmd heading: 355.965909 deg,
      new cmd heading: 355.952932 deg.

2025-08-22T16:40:19.113Z,1755880819.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212551 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:19.343Z,1755880819.343 [DAT](INFO): DAT read: Rx Time:16:40:19.9213

2025-08-22T16:40:19.343Z,1755880819.343 [DAT](INFO): Rx dataTimestamp_ set to:1755880819.343040
2025-08-22T16:40:19.344Z,1755880819.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011222
2025-08-22T16:40:19.589Z,1755880819.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.90 m.
2025-08-22T16:40:19.591Z,1755880819.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.904305 m,
      nav range: 123.604805 m,
      bearing: 346.766951 deg,
      approach rate: -0.523194 m/s,
      LOS rate: -0.018880 deg/s,
      cmd heading: 355.952932 deg,
      new cmd heading: 355.934814 deg.

2025-08-22T16:40:19.592Z,1755880819.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212234 target range: 127.904305 and range: 128.70 m.
2025-08-22T16:40:19.595Z,1755880819.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262033
2025-08-22T16:40:19.856Z,1755880819.856 [DAT](INFO): DAT read: 16:40:19.9213 LVL= 32496, 32593, 25906, 32755, AGC= 61, IDX= 417,-0.03, 2.976, 1.406,-2.937, 2.850, PHS= 0.228,-1.399, 0.453, RAW= 156.4,   8.3, CAL= 156.0,   8.7, ROT= 354.0,  -8.7

2025-08-22T16:40:19.857Z,1755880819.857 [DAT](INFO): got valid direction response:
 16:40:19.9213 LVL= 32496, 32593, 25906, 32755, AGC= 61, IDX= 417,-0.03, 2.976, 1.406,-2.937, 2.850, PHS= 0.228,-1.399, 0.453, RAW= 156.4,   8.3, CAL= 156.0,   8.7, ROT= 354.0,  -8.7

2025-08-22T16:40:19.858Z,1755880819.858 [DAT](INFO): DAT read: Bearing 160.1,   1.0 (Local)

2025-08-22T16:40:19.858Z,1755880819.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.1,   1.0 (Local)

2025-08-22T16:40:19.859Z,1755880819.859 [DAT](INFO): DAT read: Range 11 to 50 : 126.9 m  (Round-trip  169.2 ms) speed  0.4 m/s

2025-08-22T16:40:19.860Z,1755880819.860 [DAT](INFO): DAT read: user:194>

2025-08-22T16:40:19.861Z,1755880819.861 [DAT](INFO): DAT read: Tx time:16:40:21.0480

2025-08-22T16:40:19.861Z,1755880819.861 [DAT](INFO): Ping request sent.
2025-08-22T16:40:19.861Z,1755880819.861 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:19.862Z,1755880819.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:19.863Z,1755880819.863 [DAT](INFO): direction in FSK: [0.983079,-0.103326,0.151261]
2025-08-22T16:40:19.863Z,1755880819.863 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:19.864Z,1755880819.864 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:19.867Z,1755880819.867 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:19.867Z,1755880819.867 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:20.003Z,1755880820.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.900002 m,
      deltaT: 3.528718 s,
      deltaX: -1.799995 m,
      approachRate: -0.510099 m/s,
      rangeRepo size: 4

2025-08-22T16:40:20.010Z,1755880820.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.116699 m,
      bearing: 350.058088 deg,
      lat: 36.779415 deg,
      lon: -121.859598 deg,
      deltaT: 3.528718 s,
      deltaX: -1.787605 m,
      approachRate: -0.506588 m/s,
      posRepo size: 4

2025-08-22T16:40:20.011Z,1755880820.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:20.018Z,1755880820.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 122.662720 m,
      bearing: 348.347189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018880 deg/s,
      cmd heading: 355.934818 deg,
      new cmd heading: 355.919399 deg.

2025-08-22T16:40:20.019Z,1755880820.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211966 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:20.362Z,1755880820.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:20.364Z,1755880820.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:20.367Z,1755880820.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 122.461510 m,
      bearing: 348.342677 deg,
      approach rate: -0.547737 m/s,
      LOS rate: -0.012304 deg/s,
      cmd heading: 355.919409 deg,
      new cmd heading: 355.910370 deg.

2025-08-22T16:40:20.368Z,1755880820.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211808 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:20.602Z,1755880820.602 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:20.602Z,1755880820.602 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:20.603Z,1755880820.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:20.774Z,1755880820.774 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-22T16:40:20.774Z,1755880820.774 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-22T16:40:20.774Z,1755880820.774 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-22T16:40:20.795Z,1755880820.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:20.798Z,1755880820.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 122.244034 m,
      bearing: 348.337915 deg,
      approach rate: -0.504531 m/s,
      LOS rate: -0.011068 deg/s,
      cmd heading: 355.910366 deg,
      new cmd heading: 355.900824 deg.

2025-08-22T16:40:20.799Z,1755880820.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211641 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:20.855Z,1755880820.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994212
2025-08-22T16:40:21.086Z,1755880821.086 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-22T16:40:21.107Z,1755880821.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245491
2025-08-22T16:40:21.168Z,1755880821.168 [RDI_Pathfinder](INFO): Powering down
2025-08-22T16:40:21.210Z,1755880821.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:21.213Z,1755880821.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 122.039047 m,
      bearing: 348.333480 deg,
      approach rate: -0.494638 m/s,
      LOS rate: -0.010718 deg/s,
      cmd heading: 355.900831 deg,
      new cmd heading: 355.891947 deg.

2025-08-22T16:40:21.224Z,1755880821.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211486 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:21.358Z,1755880821.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497328
2025-08-22T16:40:21.567Z,1755880821.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:21.570Z,1755880821.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 121.854660 m,
      bearing: 348.329561 deg,
      approach rate: -0.515499 m/s,
      LOS rate: -0.010975 deg/s,
      cmd heading: 355.891952 deg,
      new cmd heading: 355.884100 deg.

2025-08-22T16:40:21.571Z,1755880821.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211349 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:21.611Z,1755880821.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749684
2025-08-22T16:40:21.862Z,1755880821.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001392
2025-08-22T16:40:21.994Z,1755880821.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:22.001Z,1755880822.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 121.650635 m,
      bearing: 348.325289 deg,
      approach rate: -0.497483 m/s,
      LOS rate: -0.010433 deg/s,
      cmd heading: 355.884111 deg,
      new cmd heading: 355.875554 deg.

2025-08-22T16:40:22.006Z,1755880822.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211200 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:22.115Z,1755880822.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253408
2025-08-22T16:40:22.317Z,1755880822.317 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-22T16:40:22.317Z,1755880822.317 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-22T16:40:22.359Z,1755880822.359 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-22T16:40:22.367Z,1755880822.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505521
2025-08-22T16:40:22.398Z,1755880822.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:22.400Z,1755880822.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:22.407Z,1755880822.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 121.448166 m,
      bearing: 348.321103 deg,
      approach rate: -0.479072 m/s,
      LOS rate: -0.009921 deg/s,
      cmd heading: 355.875559 deg,
      new cmd heading: 355.867173 deg.

2025-08-22T16:40:22.408Z,1755880822.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211054 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:22.619Z,1755880822.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758095
2025-08-22T16:40:22.778Z,1755880822.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:22.781Z,1755880822.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 121.244202 m,
      bearing: 348.316907 deg,
      approach rate: -0.539070 m/s,
      LOS rate: -0.011109 deg/s,
      cmd heading: 355.867172 deg,
      new cmd heading: 355.858765 deg.

2025-08-22T16:40:22.782Z,1755880822.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210907 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:22.872Z,1755880822.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010932
2025-08-22T16:40:23.123Z,1755880823.123 [DAT](INFO): DAT read: Rx Time:16:40:23.6189

2025-08-22T16:40:23.123Z,1755880823.123 [DAT](INFO): Rx dataTimestamp_ set to:1755880823.122962
2025-08-22T16:40:23.124Z,1755880823.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262684
2025-08-22T16:40:23.228Z,1755880823.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:23.237Z,1755880823.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 121.021805 m,
      bearing: 348.312407 deg,
      approach rate: -0.495145 m/s,
      LOS rate: -0.010037 deg/s,
      cmd heading: 355.858757 deg,
      new cmd heading: 355.849741 deg.

2025-08-22T16:40:23.242Z,1755880823.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210750 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:23.375Z,1755880823.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513412
2025-08-22T16:40:23.587Z,1755880823.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.12 m.
2025-08-22T16:40:23.590Z,1755880823.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.116699 m,
      nav range: 120.837234 m,
      bearing: 348.308691 deg,
      approach rate: -0.513678 m/s,
      LOS rate: -0.010356 deg/s,
      cmd heading: 355.849741 deg,
      new cmd heading: 355.842299 deg.

2025-08-22T16:40:23.591Z,1755880823.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210620 target range: 126.116699 and range: 126.90 m.
2025-08-22T16:40:23.637Z,1755880823.637 [DAT](INFO): DAT read: 16:40:23.6189 LVL= 27216, 32721, 23282, 32755, AGC= 65, IDX= 425,-0.41,-0.604,-2.216,-0.260,-0.776, PHS= 0.274,-1.395, 0.471, RAW= 155.5,   7.4, CAL= 155.0,   7.6, ROT= 355.0,  -7.6

2025-08-22T16:40:23.638Z,1755880823.638 [DAT](INFO): got valid direction response:
 16:40:23.6189 LVL= 27216, 32721, 23282, 32755, AGC= 65, IDX= 425,-0.41,-0.604,-2.216,-0.260,-0.776, PHS= 0.274,-1.395, 0.471, RAW= 155.5,   7.4, CAL= 155.0,   7.6, ROT= 355.0,  -7.6

2025-08-22T16:40:23.639Z,1755880823.639 [DAT](INFO): DAT read: Bearing 158.5,   3.3 (Local)

2025-08-22T16:40:23.639Z,1755880823.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.5,   3.3 (Local)

2025-08-22T16:40:23.641Z,1755880823.641 [DAT](INFO): DAT read: Range 11 to 50 : 125.0 m  (Round-trip  166.7 ms) speed  0.4 m/s

2025-08-22T16:40:23.641Z,1755880823.641 [DAT](INFO): DAT read: user:195>

2025-08-22T16:40:23.675Z,1755880823.675 [DAT](INFO): DAT read: Tx time:16:40:24.7480

2025-08-22T16:40:23.675Z,1755880823.675 [DAT](INFO): Ping request sent.
2025-08-22T16:40:23.675Z,1755880823.675 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:23.676Z,1755880823.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:23.683Z,1755880823.683 [DAT](INFO): direction in FSK: [0.987444,-0.086390,0.132256]
2025-08-22T16:40:23.683Z,1755880823.683 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:23.684Z,1755880823.684 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:23.704Z,1755880823.704 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:23.704Z,1755880823.704 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:24.013Z,1755880824.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.000000 m,
      deltaT: 3.778715 s,
      deltaX: -1.900002 m,
      approachRate: -0.502817 m/s,
      rangeRepo size: 4

2025-08-22T16:40:24.015Z,1755880824.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.229034 m,
      bearing: 350.567325 deg,
      lat: 36.779415 deg,
      lon: -121.859565 deg,
      deltaT: 3.778715 s,
      deltaX: -1.887665 m,
      approachRate: -0.499552 m/s,
      posRepo size: 4

2025-08-22T16:40:24.016Z,1755880824.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:24.019Z,1755880824.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 120.071228 m,
      bearing: 349.657811 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010356 deg/s,
      cmd heading: 355.842310 deg,
      new cmd heading: 355.833503 deg.

2025-08-22T16:40:24.020Z,1755880824.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210466 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:24.398Z,1755880824.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:24.400Z,1755880824.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 119.875053 m,
      bearing: 349.656184 deg,
      approach rate: -0.509087 m/s,
      LOS rate: -0.004229 deg/s,
      cmd heading: 355.833513 deg,
      new cmd heading: 355.830254 deg.

2025-08-22T16:40:24.401Z,1755880824.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210410 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:24.800Z,1755880824.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:24.802Z,1755880824.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:24.804Z,1755880824.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 119.671600 m,
      bearing: 349.654538 deg,
      approach rate: -0.503289 m/s,
      LOS rate: -0.004078 deg/s,
      cmd heading: 355.830261 deg,
      new cmd heading: 355.826964 deg.

2025-08-22T16:40:24.806Z,1755880824.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210352 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:24.886Z,1755880824.886 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:24.887Z,1755880824.887 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:24.887Z,1755880824.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:25.139Z,1755880825.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463837
2025-08-22T16:40:25.222Z,1755880825.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:25.224Z,1755880825.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 119.460030 m,
      bearing: 349.652845 deg,
      approach rate: -0.504188 m/s,
      LOS rate: -0.004043 deg/s,
      cmd heading: 355.826956 deg,
      new cmd heading: 355.823562 deg.

2025-08-22T16:40:25.226Z,1755880825.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210293 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:25.391Z,1755880825.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715709
2025-08-22T16:40:25.610Z,1755880825.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:25.613Z,1755880825.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 119.264519 m,
      bearing: 349.651288 deg,
      approach rate: -0.503549 m/s,
      LOS rate: -0.004015 deg/s,
      cmd heading: 355.823568 deg,
      new cmd heading: 355.820450 deg.

2025-08-22T16:40:25.614Z,1755880825.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210238 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:25.643Z,1755880825.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967606
2025-08-22T16:40:25.895Z,1755880825.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219465
2025-08-22T16:40:26.042Z,1755880826.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:26.045Z,1755880826.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 119.049431 m,
      bearing: 349.649570 deg,
      approach rate: -0.497260 m/s,
      LOS rate: -0.003979 deg/s,
      cmd heading: 355.820453 deg,
      new cmd heading: 355.817011 deg.

2025-08-22T16:40:26.046Z,1755880826.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210178 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:26.147Z,1755880826.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471762
2025-08-22T16:40:26.399Z,1755880826.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723580
2025-08-22T16:40:26.418Z,1755880826.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:26.420Z,1755880826.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 118.857803 m,
      bearing: 349.647985 deg,
      approach rate: -0.510434 m/s,
      LOS rate: -0.004229 deg/s,
      cmd heading: 355.817011 deg,
      new cmd heading: 355.813836 deg.

2025-08-22T16:40:26.422Z,1755880826.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210123 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:26.651Z,1755880826.651 [DAT](INFO): DAT read: Rx Time:16:40:27.3165

2025-08-22T16:40:26.651Z,1755880826.651 [DAT](INFO): Rx dataTimestamp_ set to:1755880826.650753
2025-08-22T16:40:26.652Z,1755880826.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976498
2025-08-22T16:40:26.828Z,1755880826.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:26.830Z,1755880826.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:26.833Z,1755880826.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 118.650612 m,
      bearing: 349.646198 deg,
      approach rate: -0.502275 m/s,
      LOS rate: -0.004340 deg/s,
      cmd heading: 355.813842 deg,
      new cmd heading: 355.810261 deg.

2025-08-22T16:40:26.835Z,1755880826.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210061 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:26.903Z,1755880826.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227604
2025-08-22T16:40:27.155Z,1755880827.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479829
2025-08-22T16:40:27.266Z,1755880827.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.23 m.
2025-08-22T16:40:27.268Z,1755880827.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.229034 m,
      nav range: 118.431122 m,
      bearing: 349.644144 deg,
      approach rate: -0.503964 m/s,
      LOS rate: -0.004725 deg/s,
      cmd heading: 355.810263 deg,
      new cmd heading: 355.806147 deg.

2025-08-22T16:40:27.270Z,1755880827.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209989 target range: 124.229034 and range: 125.00 m.
2025-08-22T16:40:27.412Z,1755880827.412 [DAT](INFO): DAT read: 16:40:27.3165 LVL= 29920, 32753, 24770, 32755, AGC= 64, IDX= 415, 0.30,-2.964, 1.696,-2.617, 3.113, PHS= 0.309,-1.371, 0.509, RAW= 155.6,   6.2, CAL= 154.9,   6.2, ROT= 355.1,  -6.2

2025-08-22T16:40:27.413Z,1755880827.413 [DAT](INFO): got valid direction response:
 16:40:27.3165 LVL= 29920, 32753, 24770, 32755, AGC= 64, IDX= 415, 0.30,-2.964, 1.696,-2.617, 3.113, PHS= 0.309,-1.371, 0.509, RAW= 155.6,   6.2, CAL= 154.9,   6.2, ROT= 355.1,  -6.2

2025-08-22T16:40:27.417Z,1755880827.417 [DAT](INFO): DAT read: Bearing 156.9,   4.5 (Local)

2025-08-22T16:40:27.440Z,1755880827.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,   4.5 (Local)

2025-08-22T16:40:27.441Z,1755880827.441 [DAT](INFO): DAT read: Range 11 to 50 : 123.2 m  (Round-trip  164.3 ms) speed  0.5 m/s

2025-08-22T16:40:27.446Z,1755880827.446 [DAT](INFO): DAT read: user:196>

2025-08-22T16:40:27.449Z,1755880827.449 [DAT](INFO): DAT read: Tx time:16:40:28.4480

2025-08-22T16:40:27.450Z,1755880827.450 [DAT](INFO): Ping request sent.
2025-08-22T16:40:27.450Z,1755880827.450 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:27.451Z,1755880827.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:27.452Z,1755880827.452 [DAT](INFO): direction in FSK: [0.990518,-0.084917,0.107999]
2025-08-22T16:40:27.452Z,1755880827.452 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:27.452Z,1755880827.452 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:27.456Z,1755880827.456 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:27.456Z,1755880827.456 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:27.655Z,1755880827.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.199997 m,
      deltaT: 3.779867 s,
      deltaX: -1.800003 m,
      approachRate: -0.476208 m/s,
      rangeRepo size: 4

2025-08-22T16:40:27.657Z,1755880827.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.441368 m,
      bearing: 350.730969 deg,
      lat: 36.779417 deg,
      lon: -121.859555 deg,
      deltaT: 3.779867 s,
      deltaX: -1.787666 m,
      approachRate: -0.472944 m/s,
      posRepo size: 4

2025-08-22T16:40:27.659Z,1755880827.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:27.662Z,1755880827.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 118.262604 m,
      bearing: 350.074626 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004725 deg/s,
      cmd heading: 355.806137 deg,
      new cmd heading: 355.802461 deg.

2025-08-22T16:40:27.663Z,1755880827.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209924 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:28.032Z,1755880828.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:28.034Z,1755880828.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 118.070671 m,
      bearing: 350.073458 deg,
      approach rate: -0.509147 m/s,
      LOS rate: -0.003105 deg/s,
      cmd heading: 355.802449 deg,
      new cmd heading: 355.800108 deg.

2025-08-22T16:40:28.038Z,1755880828.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209883 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:28.453Z,1755880828.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:28.467Z,1755880828.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 117.863991 m,
      bearing: 350.072087 deg,
      approach rate: -0.490715 m/s,
      LOS rate: -0.003262 deg/s,
      cmd heading: 355.800099 deg,
      new cmd heading: 355.797352 deg.

2025-08-22T16:40:28.469Z,1755880828.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209835 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:28.837Z,1755880828.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:28.843Z,1755880828.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:28.846Z,1755880828.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 117.665474 m,
      bearing: 350.070638 deg,
      approach rate: -0.508424 m/s,
      LOS rate: -0.003717 deg/s,
      cmd heading: 355.797340 deg,
      new cmd heading: 355.794437 deg.

2025-08-22T16:40:28.847Z,1755880828.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209785 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:28.919Z,1755880828.919 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:28.920Z,1755880828.920 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:28.920Z,1755880828.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:29.171Z,1755880829.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721206
2025-08-22T16:40:29.270Z,1755880829.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:29.273Z,1755880829.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 117.458481 m,
      bearing: 350.068966 deg,
      approach rate: -0.484967 m/s,
      LOS rate: -0.003924 deg/s,
      cmd heading: 355.794444 deg,
      new cmd heading: 355.791094 deg.

2025-08-22T16:40:29.278Z,1755880829.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209726 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:29.423Z,1755880829.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972248
2025-08-22T16:40:29.655Z,1755880829.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:29.658Z,1755880829.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 117.254700 m,
      bearing: 350.067178 deg,
      approach rate: -0.529221 m/s,
      LOS rate: -0.004652 deg/s,
      cmd heading: 355.791084 deg,
      new cmd heading: 355.787501 deg.

2025-08-22T16:40:29.659Z,1755880829.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209663 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:29.677Z,1755880829.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226569
2025-08-22T16:40:29.927Z,1755880829.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476242
2025-08-22T16:40:30.086Z,1755880830.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:30.088Z,1755880830.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 117.038429 m,
      bearing: 350.065143 deg,
      approach rate: -0.502267 m/s,
      LOS rate: -0.004734 deg/s,
      cmd heading: 355.787505 deg,
      new cmd heading: 355.783428 deg.

2025-08-22T16:40:30.090Z,1755880830.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209592 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:30.179Z,1755880830.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729201
2025-08-22T16:40:30.431Z,1755880830.431 [DAT](INFO): DAT read: Rx Time:16:40:31.0140

2025-08-22T16:40:30.431Z,1755880830.431 [DAT](INFO): Rx dataTimestamp_ set to:1755880830.430775
2025-08-22T16:40:30.432Z,1755880830.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981338
2025-08-22T16:40:30.505Z,1755880830.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.44 m.
2025-08-22T16:40:30.538Z,1755880830.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.441368 m,
      nav range: 116.832428 m,
      bearing: 350.063198 deg,
      approach rate: -0.491161 m/s,
      LOS rate: -0.004645 deg/s,
      cmd heading: 355.783434 deg,
      new cmd heading: 355.779537 deg.

2025-08-22T16:40:30.539Z,1755880830.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209524 target range: 122.441368 and range: 123.20 m.
2025-08-22T16:40:30.683Z,1755880830.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232261
2025-08-22T16:40:30.941Z,1755880830.941 [DAT](INFO): DAT read: 16:40:31.0140 LVL= 27712, 29297, 22498, 32179, AGC= 62, IDX= 423, 0.11, 0.780,-0.806, 1.139, 0.582, PHS= 0.299,-1.344, 0.512, RAW= 156.0,   6.1, CAL= 155.3,   6.0, ROT= 354.7,  -6.0

2025-08-22T16:40:30.942Z,1755880830.942 [DAT](INFO): got valid direction response:
 16:40:31.0140 LVL= 27712, 29297, 22498, 32179, AGC= 62, IDX= 423, 0.11, 0.780,-0.806, 1.139, 0.582, PHS= 0.299,-1.344, 0.512, RAW= 156.0,   6.1, CAL= 155.3,   6.0, ROT= 354.7,  -6.0

2025-08-22T16:40:30.943Z,1755880830.943 [DAT](INFO): DAT read: Bearing 157.0,   5.1 (Local)

2025-08-22T16:40:30.943Z,1755880830.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.0,   5.1 (Local)

2025-08-22T16:40:30.944Z,1755880830.944 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m  (Round-trip  162.0 ms) speed  0.4 m/s

2025-08-22T16:40:30.945Z,1755880830.945 [DAT](INFO): DAT read: user:197>

2025-08-22T16:40:30.946Z,1755880830.946 [DAT](INFO): DAT read: Tx time:16:40:32.0979

2025-08-22T16:40:30.946Z,1755880830.946 [DAT](INFO): Ping request sent.
2025-08-22T16:40:30.946Z,1755880830.946 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:30.947Z,1755880830.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:30.948Z,1755880830.948 [DAT](INFO): direction in FSK: [0.990270,-0.091865,0.104528]
2025-08-22T16:40:30.949Z,1755880830.949 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:30.950Z,1755880830.950 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:30.994Z,1755880830.994 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:30.994Z,1755880830.994 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:31.036Z,1755880831.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.500000 m,
      deltaT: 3.528107 s,
      deltaX: -1.699997 m,
      approachRate: -0.481844 m/s,
      rangeRepo size: 4

2025-08-22T16:40:31.046Z,1755880831.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.752609 m,
      bearing: 350.688102 deg,
      lat: 36.779414 deg,
      lon: -121.859543 deg,
      deltaT: 3.528107 s,
      deltaX: -1.688759 m,
      approachRate: -0.478659 m/s,
      posRepo size: 4

2025-08-22T16:40:31.047Z,1755880831.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:31.049Z,1755880831.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 116.189682 m,
      bearing: 350.559386 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004645 deg/s,
      cmd heading: 355.779527 deg,
      new cmd heading: 355.774603 deg.

2025-08-22T16:40:31.059Z,1755880831.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209438 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:31.385Z,1755880831.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:31.387Z,1755880831.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:31.390Z,1755880831.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 115.964729 m,
      bearing: 350.558090 deg,
      approach rate: -0.638967 m/s,
      LOS rate: -0.003689 deg/s,
      cmd heading: 355.774609 deg,
      new cmd heading: 355.772012 deg.

2025-08-22T16:40:31.391Z,1755880831.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209393 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:31.440Z,1755880831.440 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:31.440Z,1755880831.440 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:31.441Z,1755880831.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:31.691Z,1755880831.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743994
2025-08-22T16:40:31.786Z,1755880831.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:31.788Z,1755880831.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 115.764297 m,
      bearing: 350.556945 deg,
      approach rate: -0.503360 m/s,
      LOS rate: -0.002879 deg/s,
      cmd heading: 355.772014 deg,
      new cmd heading: 355.769721 deg.

2025-08-22T16:40:31.789Z,1755880831.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209353 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:31.943Z,1755880831.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996053
2025-08-22T16:40:32.195Z,1755880832.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248277
2025-08-22T16:40:32.203Z,1755880832.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:32.206Z,1755880832.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 115.555779 m,
      bearing: 350.555775 deg,
      approach rate: -0.499180 m/s,
      LOS rate: -0.002807 deg/s,
      cmd heading: 355.769719 deg,
      new cmd heading: 355.767374 deg.

2025-08-22T16:40:32.207Z,1755880832.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209312 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:32.448Z,1755880832.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501705
2025-08-22T16:40:32.589Z,1755880832.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:32.591Z,1755880832.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 115.361412 m,
      bearing: 350.554702 deg,
      approach rate: -0.503962 m/s,
      LOS rate: -0.002787 deg/s,
      cmd heading: 355.767369 deg,
      new cmd heading: 355.765219 deg.

2025-08-22T16:40:32.592Z,1755880832.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209274 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:32.699Z,1755880832.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752821
2025-08-22T16:40:32.952Z,1755880832.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005543
2025-08-22T16:40:33.004Z,1755880833.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:33.007Z,1755880833.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 115.153320 m,
      bearing: 350.553575 deg,
      approach rate: -0.501341 m/s,
      LOS rate: -0.002721 deg/s,
      cmd heading: 355.765211 deg,
      new cmd heading: 355.762952 deg.

2025-08-22T16:40:33.008Z,1755880833.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209235 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:33.204Z,1755880833.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257267
2025-08-22T16:40:33.455Z,1755880833.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508938
2025-08-22T16:40:33.522Z,1755880833.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:33.524Z,1755880833.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:33.527Z,1755880833.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 114.902313 m,
      bearing: 350.552306 deg,
      approach rate: -0.482494 m/s,
      LOS rate: -0.002445 deg/s,
      cmd heading: 355.762943 deg,
      new cmd heading: 355.760400 deg.

2025-08-22T16:40:33.528Z,1755880833.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209190 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:33.707Z,1755880833.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760205
2025-08-22T16:40:33.960Z,1755880833.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013233
2025-08-22T16:40:33.961Z,1755880833.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:33.982Z,1755880833.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 114.679573 m,
      bearing: 350.551198 deg,
      approach rate: -0.513813 m/s,
      LOS rate: -0.002561 deg/s,
      cmd heading: 355.760402 deg,
      new cmd heading: 355.758182 deg.

2025-08-22T16:40:33.983Z,1755880833.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209152 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:34.213Z,1755880834.213 [DAT](INFO): DAT read: Rx Time:16:40:34.6617

2025-08-22T16:40:34.214Z,1755880834.214 [DAT](INFO): Rx dataTimestamp_ set to:1755880834.213625
2025-08-22T16:40:34.214Z,1755880834.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267945
2025-08-22T16:40:34.366Z,1755880834.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m.
2025-08-22T16:40:34.369Z,1755880834.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.752609 m,
      nav range: 114.478600 m,
      bearing: 350.550182 deg,
      approach rate: -0.491883 m/s,
      LOS rate: -0.002490 deg/s,
      cmd heading: 355.758189 deg,
      new cmd heading: 355.756155 deg.

2025-08-22T16:40:34.370Z,1755880834.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209116 target range: 120.752609 and range: 121.50 m.
2025-08-22T16:40:34.464Z,1755880834.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517159
2025-08-22T16:40:34.745Z,1755880834.745 [DAT](INFO): DAT read: 16:40:34.6617 LVL= 28384, 32689, 24386, 32755, AGC= 63, IDX= 415, 0.07,-2.183, 2.541,-1.802,-2.390, PHS= 0.309,-1.307, 0.545, RAW= 156.7,   5.2, CAL= 155.9,   4.9, ROT= 354.1,  -4.9

2025-08-22T16:40:34.746Z,1755880834.746 [DAT](INFO): got valid direction response:
 16:40:34.6617 LVL= 28384, 32689, 24386, 32755, AGC= 63, IDX= 415, 0.07,-2.183, 2.541,-1.802,-2.390, PHS= 0.309,-1.307, 0.545, RAW= 156.7,   5.2, CAL= 155.9,   4.9, ROT= 354.1,  -4.9

2025-08-22T16:40:34.747Z,1755880834.747 [DAT](INFO): DAT read: Bearing 155.8,   5.3 (Local)

2025-08-22T16:40:34.747Z,1755880834.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8,   5.3 (Local)

2025-08-22T16:40:34.748Z,1755880834.748 [DAT](INFO): DAT read: Range 11 to 50 : 119.7 m  (Round-trip  159.6 ms) speed  0.4 m/s

2025-08-22T16:40:34.749Z,1755880834.749 [DAT](INFO): DAT read: user:198>

2025-08-22T16:40:34.770Z,1755880834.770 [DAT](INFO): DAT read: Tx time:16:40:35.7479

2025-08-22T16:40:34.770Z,1755880834.770 [DAT](INFO): Ping request sent.
2025-08-22T16:40:34.770Z,1755880834.770 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:34.771Z,1755880834.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:34.772Z,1755880834.772 [DAT](INFO): direction in FSK: [0.991067,-0.102417,0.085417]
2025-08-22T16:40:34.772Z,1755880834.772 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:34.772Z,1755880834.772 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:34.792Z,1755880834.792 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:34.792Z,1755880834.792 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:34.883Z,1755880834.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.699997 m,
      deltaT: 3.781496 s,
      deltaX: -1.800003 m,
      approachRate: -0.476003 m/s,
      rangeRepo size: 4

2025-08-22T16:40:34.890Z,1755880834.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.961075 m,
      bearing: 350.108947 deg,
      lat: 36.779414 deg,
      lon: -121.859543 deg,
      deltaT: 3.781496 s,
      deltaX: -1.791534 m,
      approachRate: -0.473763 m/s,
      posRepo size: 4

2025-08-22T16:40:34.890Z,1755880834.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:34.893Z,1755880834.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 114.231461 m,
      bearing: 350.548957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002490 deg/s,
      cmd heading: 355.756168 deg,
      new cmd heading: 355.753595 deg.

2025-08-22T16:40:34.902Z,1755880834.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209072 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:35.228Z,1755880835.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:35.231Z,1755880835.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 114.038696 m,
      bearing: 350.548005 deg,
      approach rate: -0.558323 m/s,
      LOS rate: -0.002762 deg/s,
      cmd heading: 355.753599 deg,
      new cmd heading: 355.751692 deg.

2025-08-22T16:40:35.232Z,1755880835.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209038 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:35.638Z,1755880835.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:35.641Z,1755880835.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:35.646Z,1755880835.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 113.839371 m,
      bearing: 350.547052 deg,
      approach rate: -0.483155 m/s,
      LOS rate: -0.002314 deg/s,
      cmd heading: 355.751687 deg,
      new cmd heading: 355.749778 deg.

2025-08-22T16:40:35.650Z,1755880835.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209005 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:35.724Z,1755880835.724 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:35.724Z,1755880835.724 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:35.725Z,1755880835.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:35.975Z,1755880835.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204154
2025-08-22T16:40:36.081Z,1755880836.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:36.088Z,1755880836.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 113.624176 m,
      bearing: 350.542577 deg,
      approach rate: -0.488575 m/s,
      LOS rate: -0.010179 deg/s,
      cmd heading: 355.749775 deg,
      new cmd heading: 355.740808 deg.

2025-08-22T16:40:36.089Z,1755880836.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208848 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:36.154Z,1755880836.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:40:36.227Z,1755880836.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456171
2025-08-22T16:40:36.440Z,1755880836.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:36.448Z,1755880836.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 113.441864 m,
      bearing: 350.538809 deg,
      approach rate: -0.509290 m/s,
      LOS rate: -0.010542 deg/s,
      cmd heading: 355.740813 deg,
      new cmd heading: 355.733266 deg.

2025-08-22T16:40:36.451Z,1755880836.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208717 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:36.479Z,1755880836.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708157
2025-08-22T16:40:36.733Z,1755880836.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962197
2025-08-22T16:40:36.875Z,1755880836.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:36.878Z,1755880836.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 113.222534 m,
      bearing: 350.535965 deg,
      approach rate: -0.502853 m/s,
      LOS rate: -0.006534 deg/s,
      cmd heading: 355.733273 deg,
      new cmd heading: 355.727573 deg.

2025-08-22T16:40:36.879Z,1755880836.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208617 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:36.988Z,1755880836.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217418
2025-08-22T16:40:37.158Z,1755880837.158 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:40:37.238Z,1755880837.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467961
2025-08-22T16:40:37.264Z,1755880837.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:37.267Z,1755880837.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 113.027878 m,
      bearing: 350.533431 deg,
      approach rate: -0.500938 m/s,
      LOS rate: -0.006532 deg/s,
      cmd heading: 355.727563 deg,
      new cmd heading: 355.722486 deg.

2025-08-22T16:40:37.268Z,1755880837.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208529 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:37.491Z,1755880837.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720361
2025-08-22T16:40:37.664Z,1755880837.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:37.670Z,1755880837.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:37.672Z,1755880837.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 112.836510 m,
      bearing: 350.531042 deg,
      approach rate: -0.476212 m/s,
      LOS rate: -0.005954 deg/s,
      cmd heading: 355.722481 deg,
      new cmd heading: 355.717696 deg.

2025-08-22T16:40:37.678Z,1755880837.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208445 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:37.747Z,1755880837.747 [DAT](INFO): DAT read: Rx Time:16:40:38.3092

2025-08-22T16:40:37.748Z,1755880837.748 [DAT](INFO): Rx dataTimestamp_ set to:1755880837.747511
2025-08-22T16:40:37.751Z,1755880837.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979664
2025-08-22T16:40:37.994Z,1755880837.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224075
2025-08-22T16:40:38.082Z,1755880838.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-08-22T16:40:38.084Z,1755880838.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.961075 m,
      nav range: 112.621239 m,
      bearing: 350.527634 deg,
      approach rate: -0.517490 m/s,
      LOS rate: -0.008209 deg/s,
      cmd heading: 355.717700 deg,
      new cmd heading: 355.710870 deg.

2025-08-22T16:40:38.102Z,1755880838.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208326 target range: 118.961075 and range: 119.70 m.
2025-08-22T16:40:38.252Z,1755880838.252 [DAT](INFO): DAT read: 16:40:38.3092 LVL= 27824, 29681, 25554, 32755, AGC= 64, IDX= 422, 0.02, 0.362,-1.208, 0.754, 0.150, PHS= 0.313,-1.313, 0.560, RAW= 157.0,   5.0, CAL= 156.1,   4.6, ROT= 353.9,  -4.6

2025-08-22T16:40:38.253Z,1755880838.253 [DAT](INFO): got valid direction response:
 16:40:38.3092 LVL= 27824, 29681, 25554, 32755, AGC= 64, IDX= 422, 0.02, 0.362,-1.208, 0.754, 0.150, PHS= 0.313,-1.313, 0.560, RAW= 157.0,   5.0, CAL= 156.1,   4.6, ROT= 353.9,  -4.6

2025-08-22T16:40:38.257Z,1755880838.257 [DAT](INFO): DAT read: Bearing 155.8,   5.6 (Local)

2025-08-22T16:40:38.258Z,1755880838.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8,   5.6 (Local)

2025-08-22T16:40:38.259Z,1755880838.259 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m  (Round-trip  157.2 ms) speed  0.4 m/s

2025-08-22T16:40:38.260Z,1755880838.260 [DAT](INFO): DAT read: user:199>

2025-08-22T16:40:38.260Z,1755880838.260 [DAT](INFO): DAT read: Tx time:16:40:39.3979

2025-08-22T16:40:38.261Z,1755880838.261 [DAT](INFO): Ping request sent.
2025-08-22T16:40:38.261Z,1755880838.261 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:38.261Z,1755880838.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:38.298Z,1755880838.298 [DAT](INFO): direction in FSK: [0.991135,-0.105922,0.080199]
2025-08-22T16:40:38.299Z,1755880838.299 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:38.299Z,1755880838.299 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:38.319Z,1755880838.319 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:38.319Z,1755880838.319 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:38.503Z,1755880838.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.900002 m,
      deltaT: 3.530509 s,
      deltaX: -1.799995 m,
      approachRate: -0.509840 m/s,
      rangeRepo size: 4

2025-08-22T16:40:38.505Z,1755880838.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.172440 m,
      bearing: 349.735270 deg,
      lat: 36.779416 deg,
      lon: -121.859543 deg,
      deltaT: 3.530509 s,
      deltaX: -1.788635 m,
      approachRate: -0.506622 m/s,
      posRepo size: 4

2025-08-22T16:40:38.506Z,1755880838.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:38.509Z,1755880838.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 112.592865 m,
      bearing: 350.538894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008209 deg/s,
      cmd heading: 355.710870 deg,
      new cmd heading: 355.703962 deg.

2025-08-22T16:40:38.518Z,1755880838.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208205 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:38.914Z,1755880838.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:38.916Z,1755880838.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 112.382309 m,
      bearing: 350.534542 deg,
      approach rate: -0.511902 m/s,
      LOS rate: -0.010602 deg/s,
      cmd heading: 355.703958 deg,
      new cmd heading: 355.695236 deg.

2025-08-22T16:40:38.918Z,1755880838.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208053 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:39.294Z,1755880839.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:39.296Z,1755880839.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 112.196655 m,
      bearing: 350.530690 deg,
      approach rate: -0.488709 m/s,
      LOS rate: -0.010155 deg/s,
      cmd heading: 355.695242 deg,
      new cmd heading: 355.687527 deg.

2025-08-22T16:40:39.297Z,1755880839.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207919 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:39.678Z,1755880839.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:39.680Z,1755880839.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:39.683Z,1755880839.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 112.008263 m,
      bearing: 350.526765 deg,
      approach rate: -0.486844 m/s,
      LOS rate: -0.010161 deg/s,
      cmd heading: 355.687538 deg,
      new cmd heading: 355.679674 deg.

2025-08-22T16:40:39.684Z,1755880839.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207781 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:39.759Z,1755880839.759 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:39.759Z,1755880839.759 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:39.759Z,1755880839.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:40.011Z,1755880840.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749735
2025-08-22T16:40:40.108Z,1755880840.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:40.111Z,1755880840.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 111.804192 m,
      bearing: 350.522001 deg,
      approach rate: -0.477767 m/s,
      LOS rate: -0.011174 deg/s,
      cmd heading: 355.679669 deg,
      new cmd heading: 355.670124 deg.

2025-08-22T16:40:40.112Z,1755880840.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207615 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:40.262Z,1755880840.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001594
2025-08-22T16:40:40.490Z,1755880840.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:40.493Z,1755880840.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 111.621574 m,
      bearing: 350.517764 deg,
      approach rate: -0.477453 m/s,
      LOS rate: -0.011096 deg/s,
      cmd heading: 355.670135 deg,
      new cmd heading: 355.661646 deg.

2025-08-22T16:40:40.494Z,1755880840.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207467 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:40.514Z,1755880840.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253609
2025-08-22T16:40:40.770Z,1755880840.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508860
2025-08-22T16:40:40.918Z,1755880840.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:40.921Z,1755880840.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 111.415077 m,
      bearing: 350.511832 deg,
      approach rate: -0.482520 m/s,
      LOS rate: -0.013887 deg/s,
      cmd heading: 355.661638 deg,
      new cmd heading: 355.649752 deg.

2025-08-22T16:40:40.922Z,1755880840.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207259 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:41.021Z,1755880841.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759828
2025-08-22T16:40:41.275Z,1755880841.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013972
2025-08-22T16:40:41.315Z,1755880841.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:41.321Z,1755880841.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 111.223274 m,
      bearing: 350.506259 deg,
      approach rate: -0.483238 m/s,
      LOS rate: -0.014065 deg/s,
      cmd heading: 355.649753 deg,
      new cmd heading: 355.638588 deg.

2025-08-22T16:40:41.322Z,1755880841.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207064 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:41.527Z,1755880841.527 [DAT](INFO): DAT read: Rx Time:16:40:41.9569

2025-08-22T16:40:41.527Z,1755880841.527 [DAT](INFO): Rx dataTimestamp_ set to:1755880841.526770
2025-08-22T16:40:41.528Z,1755880841.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266766
2025-08-22T16:40:41.700Z,1755880841.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:41.702Z,1755880841.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-08-22T16:40:41.705Z,1755880841.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.172440 m,
      nav range: 111.036583 m,
      bearing: 350.500825 deg,
      approach rate: -0.482089 m/s,
      LOS rate: -0.014056 deg/s,
      cmd heading: 355.638579 deg,
      new cmd heading: 355.627693 deg.

2025-08-22T16:40:41.706Z,1755880841.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206874 target range: 117.172440 and range: 117.90 m.
2025-08-22T16:40:41.780Z,1755880841.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518519
2025-08-22T16:40:42.036Z,1755880842.036 [DAT](INFO): DAT read: 16:40:41.9569 LVL= 28640, 29329, 24050, 30835, AGC= 64, IDX= 414, 0.16,-2.608, 2.106,-2.206,-2.842, PHS= 0.336,-1.290, 0.592, RAW= 157.2,   4.2, CAL= 156.2,   3.5, ROT= 353.8,  -3.5

2025-08-22T16:40:42.037Z,1755880842.037 [DAT](INFO): got valid direction response:
 16:40:41.9569 LVL= 28640, 29329, 24050, 30835, AGC= 64, IDX= 414, 0.16,-2.608, 2.106,-2.206,-2.842, PHS= 0.336,-1.290, 0.592, RAW= 157.2,   4.2, CAL= 156.2,   3.5, ROT= 353.8,  -3.5

2025-08-22T16:40:42.039Z,1755880842.039 [DAT](INFO): DAT read: Bearing 155.0,   5.8 (Local)

2025-08-22T16:40:42.039Z,1755880842.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.0,   5.8 (Local)

2025-08-22T16:40:42.041Z,1755880842.041 [DAT](INFO): DAT read: Range 11 to 50 : 116.1 m  (Round-trip  154.8 ms) speed  0.4 m/s

2025-08-22T16:40:42.042Z,1755880842.042 [DAT](INFO): DAT read: user:200>

2025-08-22T16:40:42.043Z,1755880842.043 [DAT](INFO): DAT read: Tx time:16:40:43.0479

2025-08-22T16:40:42.043Z,1755880842.043 [DAT](INFO): Ping request sent.
2025-08-22T16:40:42.043Z,1755880842.043 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:42.043Z,1755880842.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:42.044Z,1755880842.044 [DAT](INFO): direction in FSK: [0.992297,-0.107798,0.061049]
2025-08-22T16:40:42.044Z,1755880842.044 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:42.045Z,1755880842.045 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:42.048Z,1755880842.048 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:42.048Z,1755880842.048 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:42.196Z,1755880842.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.099998 m,
      deltaT: 3.783894 s,
      deltaX: -1.800003 m,
      approachRate: -0.475701 m/s,
      rangeRepo size: 4

2025-08-22T16:40:42.202Z,1755880842.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.381485 m,
      bearing: 349.573571 deg,
      lat: 36.779416 deg,
      lon: -121.859554 deg,
      deltaT: 3.783894 s,
      deltaX: -1.790955 m,
      approachRate: -0.473310 m/s,
      posRepo size: 4

2025-08-22T16:40:42.203Z,1755880842.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:42.210Z,1755880842.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 111.020142 m,
      bearing: 350.026764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014056 deg/s,
      cmd heading: 355.627705 deg,
      new cmd heading: 355.613850 deg.

2025-08-22T16:40:42.211Z,1755880842.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206633 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:42.532Z,1755880842.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:42.536Z,1755880842.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 110.837044 m,
      bearing: 350.021477 deg,
      approach rate: -0.543385 m/s,
      LOS rate: -0.015716 deg/s,
      cmd heading: 355.613854 deg,
      new cmd heading: 355.603262 deg.

2025-08-22T16:40:42.537Z,1755880842.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206448 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:42.977Z,1755880842.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:42.980Z,1755880842.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 110.625412 m,
      bearing: 350.016716 deg,
      approach rate: -0.475894 m/s,
      LOS rate: -0.010725 deg/s,
      cmd heading: 355.603253 deg,
      new cmd heading: 355.593714 deg.

2025-08-22T16:40:42.981Z,1755880842.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206281 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:43.363Z,1755880843.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:43.365Z,1755880843.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 110.441116 m,
      bearing: 350.012556 deg,
      approach rate: -0.477616 m/s,
      LOS rate: -0.010800 deg/s,
      cmd heading: 355.593718 deg,
      new cmd heading: 355.585384 deg.

2025-08-22T16:40:43.366Z,1755880843.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206136 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:43.741Z,1755880843.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:43.743Z,1755880843.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:43.746Z,1755880843.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 110.259918 m,
      bearing: 350.008555 deg,
      approach rate: -0.475933 m/s,
      LOS rate: -0.010527 deg/s,
      cmd heading: 355.585386 deg,
      new cmd heading: 355.577370 deg.

2025-08-22T16:40:43.747Z,1755880843.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205996 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:43.795Z,1755880843.795 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:43.795Z,1755880843.795 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:43.795Z,1755880843.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:44.046Z,1755880844.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003550
2025-08-22T16:40:44.180Z,1755880844.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:44.194Z,1755880844.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 110.057076 m,
      bearing: 350.004175 deg,
      approach rate: -0.464486 m/s,
      LOS rate: -0.010047 deg/s,
      cmd heading: 355.577381 deg,
      new cmd heading: 355.568606 deg.

2025-08-22T16:40:44.195Z,1755880844.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205843 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:44.299Z,1755880844.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256259
2025-08-22T16:40:44.551Z,1755880844.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507722
2025-08-22T16:40:44.554Z,1755880844.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:44.557Z,1755880844.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 109.866646 m,
      bearing: 350.000199 deg,
      approach rate: -0.508841 m/s,
      LOS rate: -0.010643 deg/s,
      cmd heading: 355.568611 deg,
      new cmd heading: 355.560644 deg.

2025-08-22T16:40:44.559Z,1755880844.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205704 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:44.803Z,1755880844.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760147
2025-08-22T16:40:45.003Z,1755880845.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:45.006Z,1755880845.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 109.649353 m,
      bearing: 349.995211 deg,
      approach rate: -0.484004 m/s,
      LOS rate: -0.011133 deg/s,
      cmd heading: 355.560633 deg,
      new cmd heading: 355.550636 deg.

2025-08-22T16:40:45.007Z,1755880845.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205529 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:45.055Z,1755880845.055 [DAT](INFO): DAT read: Rx Time:16:40:45.6045

2025-08-22T16:40:45.056Z,1755880845.056 [DAT](INFO): Rx dataTimestamp_ set to:1755880845.055797
2025-08-22T16:40:45.057Z,1755880845.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013785
2025-08-22T16:40:45.307Z,1755880845.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263642
2025-08-22T16:40:45.373Z,1755880845.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.38 m.
2025-08-22T16:40:45.380Z,1755880845.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.381485 m,
      nav range: 109.480469 m,
      bearing: 349.991370 deg,
      approach rate: -0.456932 m/s,
      LOS rate: -0.010406 deg/s,
      cmd heading: 355.550634 deg,
      new cmd heading: 355.542941 deg.

2025-08-22T16:40:45.381Z,1755880845.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205395 target range: 115.381485 and range: 116.10 m.
2025-08-22T16:40:45.564Z,1755880845.564 [DAT](INFO): DAT read: 16:40:45.6045 LVL= 23280, 29777, 21618, 32755, AGC= 63, IDX= 422, 0.31, 1.047,-0.496, 1.460, 0.830, PHS= 0.319,-1.281, 0.586, RAW= 157.6,   4.3, CAL= 156.6,   3.7, ROT= 353.4,  -3.7

2025-08-22T16:40:45.565Z,1755880845.565 [DAT](INFO): got valid direction response:
 16:40:45.6045 LVL= 23280, 29777, 21618, 32755, AGC= 63, IDX= 422, 0.31, 1.047,-0.496, 1.460, 0.830, PHS= 0.319,-1.281, 0.586, RAW= 157.6,   4.3, CAL= 156.6,   3.7, ROT= 353.4,  -3.7

2025-08-22T16:40:45.566Z,1755880845.566 [DAT](INFO): DAT read: Bearing 155.5,   5.7 (Local)

2025-08-22T16:40:45.567Z,1755880845.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5,   5.7 (Local)

2025-08-22T16:40:45.568Z,1755880845.568 [DAT](INFO): DAT read: Range 11 to 50 : 114.3 m  (Round-trip  152.5 ms) speed  0.4 m/s

2025-08-22T16:40:45.569Z,1755880845.569 [DAT](INFO): DAT read: user:201>

2025-08-22T16:40:45.570Z,1755880845.570 [DAT](INFO): DAT read: Tx time:16:40:46.6979

2025-08-22T16:40:45.572Z,1755880845.572 [DAT](INFO): Ping request sent.
2025-08-22T16:40:45.572Z,1755880845.572 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:45.574Z,1755880845.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:45.578Z,1755880845.578 [DAT](INFO): direction in FSK: [0.991302,-0.114698,0.064532]
2025-08-22T16:40:45.578Z,1755880845.578 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:45.578Z,1755880845.578 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:45.626Z,1755880845.626 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:45.626Z,1755880845.626 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:45.795Z,1755880845.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.300003 m,
      deltaT: 3.528079 s,
      deltaX: -1.799995 m,
      approachRate: -0.510191 m/s,
      rangeRepo size: 4

2025-08-22T16:40:45.797Z,1755880845.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.592651 m,
      bearing: 348.918236 deg,
      lat: 36.779416 deg,
      lon: -121.859561 deg,
      deltaT: 3.528079 s,
      deltaX: -1.788834 m,
      approachRate: -0.507028 m/s,
      posRepo size: 4

2025-08-22T16:40:45.797Z,1755880845.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:45.804Z,1755880845.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 109.345787 m,
      bearing: 349.633524 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010406 deg/s,
      cmd heading: 355.542929 deg,
      new cmd heading: 355.534253 deg.

2025-08-22T16:40:45.805Z,1755880845.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205243 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:46.218Z,1755880846.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:46.220Z,1755880846.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:46.224Z,1755880846.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 109.142410 m,
      bearing: 349.628121 deg,
      approach rate: -0.472469 m/s,
      LOS rate: -0.012574 deg/s,
      cmd heading: 355.534241 deg,
      new cmd heading: 355.523416 deg.

2025-08-22T16:40:46.225Z,1755880846.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205054 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:46.314Z,1755880846.314 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:46.314Z,1755880846.314 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:46.315Z,1755880846.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:46.566Z,1755880846.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994604
2025-08-22T16:40:46.583Z,1755880846.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:46.586Z,1755880846.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 108.959358 m,
      bearing: 349.623225 deg,
      approach rate: -0.503827 m/s,
      LOS rate: -0.013499 deg/s,
      cmd heading: 355.523422 deg,
      new cmd heading: 355.513613 deg.

2025-08-22T16:40:46.587Z,1755880846.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204883 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:46.818Z,1755880846.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246699
2025-08-22T16:40:47.001Z,1755880847.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:47.004Z,1755880847.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 108.758957 m,
      bearing: 349.616691 deg,
      approach rate: -0.479854 m/s,
      LOS rate: -0.015673 deg/s,
      cmd heading: 355.513614 deg,
      new cmd heading: 355.500523 deg.

2025-08-22T16:40:47.005Z,1755880847.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204655 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:47.071Z,1755880847.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498932
2025-08-22T16:40:47.323Z,1755880847.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750972
2025-08-22T16:40:47.385Z,1755880847.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:47.388Z,1755880847.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 108.575096 m,
      bearing: 349.610729 deg,
      approach rate: -0.479338 m/s,
      LOS rate: -0.015569 deg/s,
      cmd heading: 355.500527 deg,
      new cmd heading: 355.488584 deg.

2025-08-22T16:40:47.388Z,1755880847.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204446 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:47.574Z,1755880847.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002674
2025-08-22T16:40:47.779Z,1755880847.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:47.781Z,1755880847.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 108.385818 m,
      bearing: 349.604594 deg,
      approach rate: -0.480512 m/s,
      LOS rate: -0.015603 deg/s,
      cmd heading: 355.488588 deg,
      new cmd heading: 355.476296 deg.

2025-08-22T16:40:47.783Z,1755880847.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204232 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:47.827Z,1755880847.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877
2025-08-22T16:40:48.078Z,1755880848.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506666
2025-08-22T16:40:48.219Z,1755880848.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:48.222Z,1755880848.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:48.224Z,1755880848.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 108.169113 m,
      bearing: 349.596759 deg,
      approach rate: -0.489254 m/s,
      LOS rate: -0.017726 deg/s,
      cmd heading: 355.476294 deg,
      new cmd heading: 355.460591 deg.

2025-08-22T16:40:48.226Z,1755880848.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203958 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:48.331Z,1755880848.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758722
2025-08-22T16:40:48.583Z,1755880848.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011369
2025-08-22T16:40:48.704Z,1755880848.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:48.707Z,1755880848.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 107.931839 m,
      bearing: 349.588157 deg,
      approach rate: -0.491762 m/s,
      LOS rate: -0.017867 deg/s,
      cmd heading: 355.460584 deg,
      new cmd heading: 355.443343 deg.

2025-08-22T16:40:48.708Z,1755880848.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203657 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:48.835Z,1755880848.835 [DAT](INFO): DAT read: Rx Time:16:40:49.2523

2025-08-22T16:40:48.835Z,1755880848.835 [DAT](INFO): Rx dataTimestamp_ set to:1755880848.834765
2025-08-22T16:40:48.836Z,1755880848.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263808
2025-08-22T16:40:49.087Z,1755880849.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514742
2025-08-22T16:40:49.196Z,1755880849.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.59 m.
2025-08-22T16:40:49.199Z,1755880849.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.592651 m,
      nav range: 107.700981 m,
      bearing: 349.579001 deg,
      approach rate: -0.469281 m/s,
      LOS rate: -0.018651 deg/s,
      cmd heading: 355.443345 deg,
      new cmd heading: 355.424994 deg.

2025-08-22T16:40:49.200Z,1755880849.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203336 target range: 113.592651 and range: 114.30 m.
2025-08-22T16:40:49.345Z,1755880849.345 [DAT](INFO): DAT read: 16:40:49.2523 LVL= 24464, 30177, 24530, 32755, AGC= 63, IDX= 415,-0.44,-2.586, 2.182,-2.181,-2.819, PHS= 0.334,-1.238, 0.593, RAW= 157.5,   3.7, CAL= 156.4,   2.9, ROT= 353.6,  -2.9

2025-08-22T16:40:49.346Z,1755880849.346 [DAT](INFO): got valid direction response:
 16:40:49.2523 LVL= 24464, 30177, 24530, 32755, AGC= 63, IDX= 415,-0.44,-2.586, 2.182,-2.181,-2.819, PHS= 0.334,-1.238, 0.593, RAW= 157.5,   3.7, CAL= 156.4,   2.9, ROT= 353.6,  -2.9

2025-08-22T16:40:49.348Z,1755880849.348 [DAT](INFO): DAT read: Bearing 155.0,   6.1 (Local)

2025-08-22T16:40:49.348Z,1755880849.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.0,   6.1 (Local)

2025-08-22T16:40:49.351Z,1755880849.351 [DAT](INFO): DAT read: Range 11 to 50 : 112.6 m  (Round-trip  150.2 ms) speed  0.4 m/s

2025-08-22T16:40:49.352Z,1755880849.352 [DAT](INFO): DAT read: user:202>

2025-08-22T16:40:49.353Z,1755880849.353 [DAT](INFO): DAT read: Tx time:16:40:50.3479

2025-08-22T16:40:49.353Z,1755880849.353 [DAT](INFO): Ping request sent.
2025-08-22T16:40:49.354Z,1755880849.354 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:49.354Z,1755880849.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:49.355Z,1755880849.355 [DAT](INFO): direction in FSK: [0.992495,-0.111326,0.050593]
2025-08-22T16:40:49.356Z,1755880849.356 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:49.356Z,1755880849.356 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:49.361Z,1755880849.361 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:49.362Z,1755880849.362 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:49.674Z,1755880849.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.599998 m,
      deltaT: 3.779975 s,
      deltaX: -1.700005 m,
      approachRate: -0.449740 m/s,
      rangeRepo size: 4

2025-08-22T16:40:49.676Z,1755880849.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.902618 m,
      bearing: 349.016991 deg,
      lat: 36.779416 deg,
      lon: -121.859565 deg,
      deltaT: 3.779975 s,
      deltaX: -1.690033 m,
      approachRate: -0.447102 m/s,
      posRepo size: 4

2025-08-22T16:40:49.676Z,1755880849.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:49.699Z,1755880849.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 107.580513 m,
      bearing: 349.428052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018651 deg/s,
      cmd heading: 355.424985 deg,
      new cmd heading: 355.407196 deg.

2025-08-22T16:40:49.700Z,1755880849.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203026 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:50.128Z,1755880850.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:50.131Z,1755880850.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 107.353745 m,
      bearing: 349.421885 deg,
      approach rate: -0.498740 m/s,
      LOS rate: -0.013592 deg/s,
      cmd heading: 355.407200 deg,
      new cmd heading: 355.394839 deg.

2025-08-22T16:40:50.131Z,1755880850.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202810 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:50.502Z,1755880850.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:50.504Z,1755880850.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:50.507Z,1755880850.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 107.169746 m,
      bearing: 349.416957 deg,
      approach rate: -0.488859 m/s,
      LOS rate: -0.013116 deg/s,
      cmd heading: 355.394851 deg,
      new cmd heading: 355.384978 deg.

2025-08-22T16:40:50.508Z,1755880850.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202638 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:50.599Z,1755880850.599 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:50.599Z,1755880850.599 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:50.599Z,1755880850.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:50.850Z,1755880850.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496913
2025-08-22T16:40:50.976Z,1755880850.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:50.984Z,1755880850.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 106.972923 m,
      bearing: 349.411728 deg,
      approach rate: -0.418518 m/s,
      LOS rate: -0.011139 deg/s,
      cmd heading: 355.384988 deg,
      new cmd heading: 355.374511 deg.

2025-08-22T16:40:50.985Z,1755880850.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202456 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:51.103Z,1755880851.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749351
2025-08-22T16:40:51.347Z,1755880851.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:51.355Z,1755880851.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001129
2025-08-22T16:40:51.356Z,1755880851.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 106.762604 m,
      bearing: 349.405520 deg,
      approach rate: -0.563749 m/s,
      LOS rate: -0.016672 deg/s,
      cmd heading: 355.374524 deg,
      new cmd heading: 355.362084 deg.

2025-08-22T16:40:51.357Z,1755880851.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202239 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:51.607Z,1755880851.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253005
2025-08-22T16:40:51.717Z,1755880851.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:51.720Z,1755880851.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 106.571449 m,
      bearing: 349.399948 deg,
      approach rate: -0.517137 m/s,
      LOS rate: -0.015103 deg/s,
      cmd heading: 355.362093 deg,
      new cmd heading: 355.350928 deg.

2025-08-22T16:40:51.721Z,1755880851.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202044 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:51.859Z,1755880851.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504956
2025-08-22T16:40:52.111Z,1755880852.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757059
2025-08-22T16:40:52.148Z,1755880852.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:52.151Z,1755880852.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 106.358574 m,
      bearing: 349.395233 deg,
      approach rate: -0.493790 m/s,
      LOS rate: -0.010959 deg/s,
      cmd heading: 355.350919 deg,
      new cmd heading: 355.341470 deg.

2025-08-22T16:40:52.152Z,1755880852.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201879 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:52.363Z,1755880852.363 [DAT](INFO): DAT read: Rx Time:16:40:52.8999

2025-08-22T16:40:52.363Z,1755880852.363 [DAT](INFO): Rx dataTimestamp_ set to:1755880852.362729
2025-08-22T16:40:52.364Z,1755880852.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010019
2025-08-22T16:40:52.525Z,1755880852.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:52.527Z,1755880852.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m.
2025-08-22T16:40:52.530Z,1755880852.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.902618 m,
      nav range: 106.171745 m,
      bearing: 349.391167 deg,
      approach rate: -0.492844 m/s,
      LOS rate: -0.010744 deg/s,
      cmd heading: 355.341466 deg,
      new cmd heading: 355.333320 deg.

2025-08-22T16:40:52.531Z,1755880852.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201736 target range: 111.902618 and range: 112.60 m.
2025-08-22T16:40:52.615Z,1755880852.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261503
2025-08-22T16:40:52.874Z,1755880852.874 [DAT](INFO): DAT read: 16:40:52.8999 LVL= 25168, 30017, 22370, 31731, AGC= 62, IDX= 422, 0.48, 1.755, 0.188, 2.149, 1.516, PHS= 0.341,-1.282, 0.589, RAW= 157.0,   4.0, CAL= 156.0,   3.4, ROT= 354.0,  -3.4

2025-08-22T16:40:52.875Z,1755880852.875 [DAT](INFO): got valid direction response:
 16:40:52.8999 LVL= 25168, 30017, 22370, 31731, AGC= 62, IDX= 422, 0.48, 1.755, 0.188, 2.149, 1.516, PHS= 0.341,-1.282, 0.589, RAW= 157.0,   4.0, CAL= 156.0,   3.4, ROT= 354.0,  -3.4

2025-08-22T16:40:52.876Z,1755880852.876 [DAT](INFO): DAT read: Bearing 155.4,   6.5 (Local)

2025-08-22T16:40:52.876Z,1755880852.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.4,   6.5 (Local)

2025-08-22T16:40:52.879Z,1755880852.879 [DAT](INFO): DAT read: Range 11 to 50 : 110.8 m  (Round-trip  147.8 ms) speed  0.4 m/s

2025-08-22T16:40:52.880Z,1755880852.880 [DAT](INFO): DAT read: user:203>

2025-08-22T16:40:52.881Z,1755880852.881 [DAT](INFO): DAT read: Tx time:16:40:53.9979

2025-08-22T16:40:52.881Z,1755880852.881 [DAT](INFO): Ping request sent.
2025-08-22T16:40:52.881Z,1755880852.881 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:52.881Z,1755880852.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:52.882Z,1755880852.882 [DAT](INFO): direction in FSK: [0.992771,-0.104345,0.059306]
2025-08-22T16:40:52.883Z,1755880852.883 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:52.883Z,1755880852.883 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:52.886Z,1755880852.886 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:52.886Z,1755880852.886 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:53.122Z,1755880853.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.800003 m,
      deltaT: 3.529393 s,
      deltaX: -1.799995 m,
      approachRate: -0.510001 m/s,
      rangeRepo size: 4

2025-08-22T16:40:53.124Z,1755880853.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.113655 m,
      bearing: 348.907690 deg,
      lat: 36.779419 deg,
      lon: -121.859575 deg,
      deltaT: 3.529393 s,
      deltaX: -1.788963 m,
      approachRate: -0.506876 m/s,
      posRepo size: 4

2025-08-22T16:40:53.125Z,1755880853.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:53.132Z,1755880853.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 106.312126 m,
      bearing: 348.938640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010744 deg/s,
      cmd heading: 355.333324 deg,
      new cmd heading: 355.320638 deg.

2025-08-22T16:40:53.133Z,1755880853.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201515 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:53.435Z,1755880853.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:53.444Z,1755880853.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 106.162163 m,
      bearing: 348.934044 deg,
      approach rate: -0.471942 m/s,
      LOS rate: -0.014484 deg/s,
      cmd heading: 355.320647 deg,
      new cmd heading: 355.311442 deg.

2025-08-22T16:40:53.445Z,1755880853.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201355 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:53.811Z,1755880853.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:53.814Z,1755880853.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 105.964012 m,
      bearing: 348.927986 deg,
      approach rate: -0.527716 m/s,
      LOS rate: -0.016162 deg/s,
      cmd heading: 355.311440 deg,
      new cmd heading: 355.299303 deg.

2025-08-22T16:40:53.815Z,1755880853.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201143 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:54.234Z,1755880854.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:54.237Z,1755880854.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 105.759651 m,
      bearing: 348.921848 deg,
      approach rate: -0.482308 m/s,
      LOS rate: -0.014515 deg/s,
      cmd heading: 355.299310 deg,
      new cmd heading: 355.287010 deg.

2025-08-22T16:40:54.258Z,1755880854.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200928 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:54.744Z,1755880854.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:54.747Z,1755880854.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:54.750Z,1755880854.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 105.512718 m,
      bearing: 348.914427 deg,
      approach rate: -0.482032 m/s,
      LOS rate: -0.014520 deg/s,
      cmd heading: 355.287016 deg,
      new cmd heading: 355.272139 deg.

2025-08-22T16:40:54.751Z,1755880854.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200668 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:54.883Z,1755880854.883 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:54.883Z,1755880854.883 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:54.883Z,1755880854.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:55.135Z,1755880855.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253574
2025-08-22T16:40:55.199Z,1755880855.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:55.206Z,1755880855.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 105.312317 m,
      bearing: 348.906445 deg,
      approach rate: -0.442908 m/s,
      LOS rate: -0.017676 deg/s,
      cmd heading: 355.272126 deg,
      new cmd heading: 355.256130 deg.

2025-08-22T16:40:55.207Z,1755880855.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200389 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:55.387Z,1755880855.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506119
2025-08-22T16:40:55.640Z,1755880855.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758619
2025-08-22T16:40:55.687Z,1755880855.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:55.689Z,1755880855.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 105.065384 m,
      bearing: 348.896597 deg,
      approach rate: -0.506685 m/s,
      LOS rate: -0.020253 deg/s,
      cmd heading: 355.256143 deg,
      new cmd heading: 355.236402 deg.

2025-08-22T16:40:55.708Z,1755880855.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200045 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:55.891Z,1755880855.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010172
2025-08-22T16:40:56.143Z,1755880856.143 [DAT](INFO): DAT read: Rx Time:16:40:56.5476

2025-08-22T16:40:56.143Z,1755880856.143 [DAT](INFO): Rx dataTimestamp_ set to:1755880856.142738
2025-08-22T16:40:56.144Z,1755880856.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262500
2025-08-22T16:40:56.210Z,1755880856.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:56.213Z,1755880856.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 104.828430 m,
      bearing: 348.886123 deg,
      approach rate: -0.452972 m/s,
      LOS rate: -0.020069 deg/s,
      cmd heading: 355.236390 deg,
      new cmd heading: 355.215393 deg.

2025-08-22T16:40:56.218Z,1755880856.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199678 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:56.401Z,1755880856.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519145
2025-08-22T16:40:56.573Z,1755880856.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.11 m.
2025-08-22T16:40:56.576Z,1755880856.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.113655 m,
      nav range: 104.639206 m,
      bearing: 348.877724 deg,
      approach rate: -0.520702 m/s,
      LOS rate: -0.023154 deg/s,
      cmd heading: 355.215381 deg,
      new cmd heading: 355.198552 deg.

2025-08-22T16:40:56.577Z,1755880856.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199384 target range: 110.113655 and range: 110.80 m.
2025-08-22T16:40:56.652Z,1755880856.652 [DAT](INFO): DAT read: 16:40:56.5475 LVL= 26064, 27537, 25250, 28195, AGC= 61, IDX= 415,-0.02,-1.882, 2.854,-1.491,-2.099, PHS= 0.319,-1.285, 0.564, RAW= 157.0,   4.7, CAL= 156.1,   4.2, ROT= 353.9,  -4.2

2025-08-22T16:40:56.654Z,1755880856.654 [DAT](INFO): got valid direction response:
 16:40:56.5475 LVL= 26064, 27537, 25250, 28195, AGC= 61, IDX= 415,-0.02,-1.882, 2.854,-1.491,-2.099, PHS= 0.319,-1.285, 0.564, RAW= 157.0,   4.7, CAL= 156.1,   4.2, ROT= 353.9,  -4.2

2025-08-22T16:40:56.655Z,1755880856.655 [DAT](INFO): DAT read: Bearing 156.6,   6.1 (Local)

2025-08-22T16:40:56.656Z,1755880856.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6,   6.1 (Local)

2025-08-22T16:40:56.657Z,1755880856.657 [DAT](INFO): DAT read: Range 11 to 50 : 109.2 m  (Round-trip  145.6 ms) speed  0.4 m/s

2025-08-22T16:40:56.658Z,1755880856.658 [DAT](INFO): DAT read: user:204>

2025-08-22T16:40:56.659Z,1755880856.659 [DAT](INFO): DAT read: Tx time:16:40:57.6478

2025-08-22T16:40:56.659Z,1755880856.659 [DAT](INFO): Ping request sent.
2025-08-22T16:40:56.659Z,1755880856.659 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:40:56.659Z,1755880856.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:40:56.660Z,1755880856.660 [DAT](INFO): direction in FSK: [0.991668,-0.105979,0.073238]
2025-08-22T16:40:56.661Z,1755880856.661 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:56.661Z,1755880856.661 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:56.668Z,1755880856.668 [DAT](INFO): publishing transmit ping time
2025-08-22T16:40:56.668Z,1755880856.668 [DAT](INFO): publishing direction and range info
2025-08-22T16:40:56.980Z,1755880856.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.199997 m,
      deltaT: 3.778874 s,
      deltaX: -1.600006 m,
      approachRate: -0.423408 m/s,
      rangeRepo size: 4

2025-08-22T16:40:56.982Z,1755880856.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.523750 m,
      bearing: 348.707754 deg,
      lat: 36.779419 deg,
      lon: -121.859575 deg,
      deltaT: 3.778874 s,
      deltaX: -1.589905 m,
      approachRate: -0.420735 m/s,
      posRepo size: 4

2025-08-22T16:40:56.983Z,1755880856.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:56.986Z,1755880856.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 104.544937 m,
      bearing: 348.847158 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023154 deg/s,
      cmd heading: 355.198551 deg,
      new cmd heading: 355.179744 deg.

2025-08-22T16:40:56.986Z,1755880856.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199056 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:57.439Z,1755880857.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:57.441Z,1755880857.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:57.467Z,1755880857.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 104.322144 m,
      bearing: 348.836092 deg,
      approach rate: -0.482359 m/s,
      LOS rate: -0.024008 deg/s,
      cmd heading: 355.179754 deg,
      new cmd heading: 355.157577 deg.

2025-08-22T16:40:57.468Z,1755880857.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198669 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:57.657Z,1755880857.657 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:40:57.657Z,1755880857.657 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:40:57.657Z,1755880857.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:40:57.778Z,1755880857.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:57.780Z,1755880857.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 104.162170 m,
      bearing: 348.828101 deg,
      approach rate: -0.499142 m/s,
      LOS rate: -0.024974 deg/s,
      cmd heading: 355.157570 deg,
      new cmd heading: 355.141561 deg.

2025-08-22T16:40:57.782Z,1755880857.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198390 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:57.907Z,1755880857.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247619
2025-08-22T16:40:58.159Z,1755880858.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500267
2025-08-22T16:40:58.218Z,1755880858.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:58.221Z,1755880858.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 103.943069 m,
      bearing: 348.816847 deg,
      approach rate: -0.480071 m/s,
      LOS rate: -0.024710 deg/s,
      cmd heading: 355.141560 deg,
      new cmd heading: 355.119005 deg.

2025-08-22T16:40:58.222Z,1755880858.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197996 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:58.412Z,1755880858.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752478
2025-08-22T16:40:58.586Z,1755880858.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:58.588Z,1755880858.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 103.766083 m,
      bearing: 348.807739 deg,
      approach rate: -0.481770 m/s,
      LOS rate: -0.024835 deg/s,
      cmd heading: 355.118993 deg,
      new cmd heading: 355.100746 deg.

2025-08-22T16:40:58.589Z,1755880858.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197677 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:58.663Z,1755880858.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003663
2025-08-22T16:40:58.916Z,1755880858.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256133
2025-08-22T16:40:59.134Z,1755880859.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:59.137Z,1755880859.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 103.554749 m,
      bearing: 348.796818 deg,
      approach rate: -0.384874 m/s,
      LOS rate: -0.019929 deg/s,
      cmd heading: 355.100743 deg,
      new cmd heading: 355.078857 deg.

2025-08-22T16:40:59.138Z,1755880859.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197295 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:59.172Z,1755880859.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512934
2025-08-22T16:40:59.423Z,1755880859.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763543
2025-08-22T16:40:59.451Z,1755880859.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:40:59.453Z,1755880859.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:59.456Z,1755880859.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 103.366943 m,
      bearing: 348.788070 deg,
      approach rate: -0.589807 m/s,
      LOS rate: -0.027524 deg/s,
      cmd heading: 355.078859 deg,
      new cmd heading: 355.061330 deg.

2025-08-22T16:40:59.457Z,1755880859.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196989 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:59.675Z,1755880859.675 [DAT](INFO): DAT read: Rx Time:16:41:00.1953

2025-08-22T16:40:59.676Z,1755880859.676 [DAT](INFO): Rx dataTimestamp_ set to:1755880859.675660
2025-08-22T16:40:59.676Z,1755880859.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017403
2025-08-22T16:40:59.811Z,1755880859.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.52 m.
2025-08-22T16:40:59.814Z,1755880859.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.523750 m,
      nav range: 103.200363 m,
      bearing: 348.780284 deg,
      approach rate: -0.464711 m/s,
      LOS rate: -0.021756 deg/s,
      cmd heading: 355.061319 deg,
      new cmd heading: 355.045722 deg.

2025-08-22T16:40:59.815Z,1755880859.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196717 target range: 108.523750 and range: 109.20 m.
2025-08-22T16:40:59.927Z,1755880859.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267477
2025-08-22T16:41:00.187Z,1755880860.187 [DAT](INFO): DAT read: 16:41:00.1953 LVL= 25952, 32753, 23794, 32755, AGC= 64, IDX= 425,-0.33, 1.786, 0.204, 2.153, 1.560, PHS= 0.329,-1.310, 0.550, RAW= 156.2,   5.0, CAL= 155.4,   4.6, ROT= 354.6,  -4.6

2025-08-22T16:41:00.188Z,1755880860.188 [DAT](INFO): got valid direction response:
 16:41:00.1953 LVL= 25952, 32753, 23794, 32755, AGC= 64, IDX= 425,-0.33, 1.786, 0.204, 2.153, 1.560, PHS= 0.329,-1.310, 0.550, RAW= 156.2,   5.0, CAL= 155.4,   4.6, ROT= 354.6,  -4.6

2025-08-22T16:41:00.190Z,1755880860.190 [DAT](INFO): DAT read: Bearing 157.6,   5.8 (Local)

2025-08-22T16:41:00.190Z,1755880860.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,   5.8 (Local)

2025-08-22T16:41:00.192Z,1755880860.192 [DAT](INFO): DAT read: Range 11 to 50 : 107.4 m  (Round-trip  143.3 ms) speed  0.4 m/s

2025-08-22T16:41:00.193Z,1755880860.193 [DAT](INFO): DAT read: user:205>

2025-08-22T16:41:00.194Z,1755880860.194 [DAT](INFO): DAT read: Tx time:16:41:01.2978

2025-08-22T16:41:00.194Z,1755880860.194 [DAT](INFO): Ping request sent.
2025-08-22T16:41:00.194Z,1755880860.194 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:00.194Z,1755880860.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:00.195Z,1755880860.195 [DAT](INFO): direction in FSK: [0.992355,-0.093805,0.080199]
2025-08-22T16:41:00.195Z,1755880860.195 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:00.196Z,1755880860.196 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:00.199Z,1755880860.199 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:00.199Z,1755880860.199 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:00.255Z,1755880860.255 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720282000,35.0, +10.71492.4,  0
2025-08-22T16:41:00.319Z,1755880860.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.400002 m,
      deltaT: 3.532089 s,
      deltaX: -1.799995 m,
      approachRate: -0.509612 m/s,
      rangeRepo size: 4

2025-08-22T16:41:00.321Z,1755880860.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.735100 m,
      bearing: 349.490690 deg,
      lat: 36.779421 deg,
      lon: -121.859575 deg,
      deltaT: 3.532089 s,
      deltaX: -1.788651 m,
      approachRate: -0.506400 m/s,
      posRepo size: 4

2025-08-22T16:41:00.326Z,1755880860.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:00.329Z,1755880860.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 103.125885 m,
      bearing: 348.786928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021756 deg/s,
      cmd heading: 355.045719 deg,
      new cmd heading: 355.023650 deg.

2025-08-22T16:41:00.334Z,1755880860.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196332 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:00.655Z,1755880860.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:00.658Z,1755880860.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.963028 m,
      bearing: 348.779326 deg,
      approach rate: -0.484165 m/s,
      LOS rate: -0.022634 deg/s,
      cmd heading: 355.023643 deg,
      new cmd heading: 355.008417 deg.

2025-08-22T16:41:00.659Z,1755880860.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196066 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:01.111Z,1755880861.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:01.129Z,1755880861.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.775780 m,
      bearing: 348.770579 deg,
      approach rate: -0.419495 m/s,
      LOS rate: -0.019633 deg/s,
      cmd heading: 355.008426 deg,
      new cmd heading: 354.990898 deg.

2025-08-22T16:41:01.134Z,1755880861.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195760 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:01.488Z,1755880861.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:01.491Z,1755880861.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:01.494Z,1755880861.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.569702 m,
      bearing: 348.766310 deg,
      approach rate: -0.529054 m/s,
      LOS rate: -0.010980 deg/s,
      cmd heading: 354.990886 deg,
      new cmd heading: 354.982332 deg.

2025-08-22T16:41:01.495Z,1755880861.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195611 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:01.693Z,1755880861.693 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:01.694Z,1755880861.694 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:01.694Z,1755880861.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:01.871Z,1755880861.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:01.873Z,1755880861.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.384521 m,
      bearing: 348.762455 deg,
      approach rate: -0.487527 m/s,
      LOS rate: -0.010167 deg/s,
      cmd heading: 354.982334 deg,
      new cmd heading: 354.974611 deg.

2025-08-22T16:41:01.874Z,1755880861.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195476 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:01.944Z,1755880861.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749872
2025-08-22T16:41:02.194Z,1755880862.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000381
2025-08-22T16:41:02.307Z,1755880862.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:02.314Z,1755880862.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.183868 m,
      bearing: 348.758646 deg,
      approach rate: -0.459921 m/s,
      LOS rate: -0.008748 deg/s,
      cmd heading: 354.974603 deg,
      new cmd heading: 354.966969 deg.

2025-08-22T16:41:02.315Z,1755880862.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195343 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:02.447Z,1755880862.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252456
2025-08-22T16:41:02.694Z,1755880862.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:02.696Z,1755880862.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 102.000587 m,
      bearing: 348.755101 deg,
      approach rate: -0.499979 m/s,
      LOS rate: -0.009688 deg/s,
      cmd heading: 354.966980 deg,
      new cmd heading: 354.959877 deg.

2025-08-22T16:41:02.699Z,1755880862.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504629
2025-08-22T16:41:02.701Z,1755880862.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195219 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:02.951Z,1755880862.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756767
2025-08-22T16:41:03.088Z,1755880863.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:03.090Z,1755880863.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 101.804474 m,
      bearing: 348.751346 deg,
      approach rate: -0.473688 m/s,
      LOS rate: -0.009087 deg/s,
      cmd heading: 354.959877 deg,
      new cmd heading: 354.952352 deg.

2025-08-22T16:41:03.091Z,1755880863.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195087 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:03.204Z,1755880863.204 [DAT](INFO): DAT read: Rx Time:16:41:03.8430

2025-08-22T16:41:03.204Z,1755880863.204 [DAT](INFO): Rx dataTimestamp_ set to:1755880863.203774
2025-08-22T16:41:03.205Z,1755880863.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010888
2025-08-22T16:41:03.455Z,1755880863.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260566
2025-08-22T16:41:03.515Z,1755880863.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:03.517Z,1755880863.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:03.520Z,1755880863.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 101.598289 m,
      bearing: 348.744986 deg,
      approach rate: -0.479973 m/s,
      LOS rate: -0.014835 deg/s,
      cmd heading: 354.952364 deg,
      new cmd heading: 354.939618 deg.

2025-08-22T16:41:03.521Z,1755880863.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194865 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:03.710Z,1755880863.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515256
2025-08-22T16:41:03.908Z,1755880863.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.74 m.
2025-08-22T16:41:03.912Z,1755880863.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.735100 m,
      nav range: 101.415604 m,
      bearing: 348.739287 deg,
      approach rate: -0.467730 m/s,
      LOS rate: -0.014619 deg/s,
      cmd heading: 354.939605 deg,
      new cmd heading: 354.928185 deg.

2025-08-22T16:41:03.913Z,1755880863.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194665 target range: 106.735100 and range: 107.40 m.
2025-08-22T16:41:03.964Z,1755880863.964 [DAT](INFO): DAT read: 16:41:03.8430 LVL= 23664, 30481, 21266, 32755, AGC= 63, IDX= 417,-0.26,-0.251,-1.819, 0.120,-0.466, PHS= 0.317,-1.307, 0.542, RAW= 156.4,   5.2, CAL= 155.6,   4.9, ROT= 354.4,  -4.9

2025-08-22T16:41:03.965Z,1755880863.965 [DAT](INFO): got valid direction response:
 16:41:03.8430 LVL= 23664, 30481, 21266, 32755, AGC= 63, IDX= 417,-0.26,-0.251,-1.819, 0.120,-0.466, PHS= 0.317,-1.307, 0.542, RAW= 156.4,   5.2, CAL= 155.6,   4.9, ROT= 354.4,  -4.9

2025-08-22T16:41:03.967Z,1755880863.967 [DAT](INFO): DAT read: Bearing 158.4,   4.6 (Local)

2025-08-22T16:41:03.967Z,1755880863.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,   4.6 (Local)

2025-08-22T16:41:03.969Z,1755880863.969 [DAT](INFO): DAT read: Range 11 to 50 : 105.8 m  (Round-trip  141.1 ms) speed  0.4 m/s

2025-08-22T16:41:03.969Z,1755880863.969 [DAT](INFO): DAT read: user:206>

2025-08-22T16:41:03.970Z,1755880863.970 [DAT](INFO): DAT read: Tx time:16:41:04.9478

2025-08-22T16:41:03.970Z,1755880863.970 [DAT](INFO): Ping request sent.
2025-08-22T16:41:03.970Z,1755880863.970 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:03.971Z,1755880863.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:03.972Z,1755880863.972 [DAT](INFO): direction in FSK: [0.991590,-0.097226,0.085417]
2025-08-22T16:41:03.972Z,1755880863.972 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:03.972Z,1755880863.972 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:03.975Z,1755880863.975 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:03.976Z,1755880863.976 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:04.344Z,1755880864.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.800003 m,
      deltaT: 3.779668 s,
      deltaX: -1.599998 m,
      approachRate: -0.423317 m/s,
      rangeRepo size: 4

2025-08-22T16:41:04.350Z,1755880864.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.144188 m,
      bearing: 349.306128 deg,
      lat: 36.779421 deg,
      lon: -121.859575 deg,
      deltaT: 3.779668 s,
      deltaX: -1.590912 m,
      approachRate: -0.420913 m/s,
      posRepo size: 4

2025-08-22T16:41:04.351Z,1755880864.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:04.373Z,1755880864.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 101.215988 m,
      bearing: 348.765421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014619 deg/s,
      cmd heading: 354.928185 deg,
      new cmd heading: 354.915452 deg.

2025-08-22T16:41:04.375Z,1755880864.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194443 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:04.765Z,1755880864.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:04.768Z,1755880864.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 101.003838 m,
      bearing: 348.756907 deg,
      approach rate: -0.502722 m/s,
      LOS rate: -0.020218 deg/s,
      cmd heading: 354.915453 deg,
      new cmd heading: 354.898389 deg.

2025-08-22T16:41:04.769Z,1755880864.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194145 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:05.249Z,1755880865.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:05.252Z,1755880865.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 100.768570 m,
      bearing: 348.747137 deg,
      approach rate: -0.486635 m/s,
      LOS rate: -0.020257 deg/s,
      cmd heading: 354.898378 deg,
      new cmd heading: 354.878791 deg.

2025-08-22T16:41:05.253Z,1755880865.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193803 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:05.624Z,1755880865.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:05.627Z,1755880865.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:05.630Z,1755880865.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 100.584671 m,
      bearing: 348.739464 deg,
      approach rate: -0.486406 m/s,
      LOS rate: -0.020330 deg/s,
      cmd heading: 354.878789 deg,
      new cmd heading: 354.863416 deg.

2025-08-22T16:41:05.631Z,1755880865.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193535 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:05.722Z,1755880865.722 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:05.723Z,1755880865.723 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:05.723Z,1755880865.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:05.974Z,1755880865.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003942
2025-08-22T16:41:06.046Z,1755880866.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:06.049Z,1755880866.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 100.382195 m,
      bearing: 348.730910 deg,
      approach rate: -0.482526 m/s,
      LOS rate: -0.020426 deg/s,
      cmd heading: 354.863407 deg,
      new cmd heading: 354.846265 deg.

2025-08-22T16:41:06.055Z,1755880866.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193236 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:06.227Z,1755880866.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255946
2025-08-22T16:41:06.463Z,1755880866.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:06.466Z,1755880866.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 100.182350 m,
      bearing: 348.720395 deg,
      approach rate: -0.479983 m/s,
      LOS rate: -0.025307 deg/s,
      cmd heading: 354.846277 deg,
      new cmd heading: 354.825204 deg.

2025-08-22T16:41:06.467Z,1755880866.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192868 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:06.482Z,1755880866.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511278
2025-08-22T16:41:06.730Z,1755880866.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759895
2025-08-22T16:41:06.835Z,1755880866.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:06.838Z,1755880866.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 100.004959 m,
      bearing: 348.710990 deg,
      approach rate: -0.475813 m/s,
      LOS rate: -0.025271 deg/s,
      cmd heading: 354.825213 deg,
      new cmd heading: 354.806370 deg.

2025-08-22T16:41:06.839Z,1755880866.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192539 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:06.983Z,1755880866.983 [DAT](INFO): DAT read: Rx Time:16:41:07.4907

2025-08-22T16:41:06.983Z,1755880866.983 [DAT](INFO): Rx dataTimestamp_ set to:1755880866.982706
2025-08-22T16:41:06.984Z,1755880866.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012970
2025-08-22T16:41:07.235Z,1755880867.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264082
2025-08-22T16:41:07.288Z,1755880867.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.14 m.
2025-08-22T16:41:07.291Z,1755880867.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.144188 m,
      nav range: 99.788498 m,
      bearing: 348.699863 deg,
      approach rate: -0.477952 m/s,
      LOS rate: -0.024622 deg/s,
      cmd heading: 354.806361 deg,
      new cmd heading: 354.784060 deg.

2025-08-22T16:41:07.292Z,1755880867.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192150 target range: 105.144188 and range: 105.80 m.
2025-08-22T16:41:07.294Z,1755880867.294 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:41:07.492Z,1755880867.492 [DAT](INFO): DAT read: 16:41:07.4907 LVL= 25504, 31345, 25506, 32755, AGC= 64, IDX= 425, 0.07,-1.076,-2.669,-0.714,-1.274, PHS= 0.301,-1.350, 0.516, RAW= 156.1,   6.1, CAL= 155.4,   6.0, ROT= 354.6,  -6.0

2025-08-22T16:41:07.493Z,1755880867.493 [DAT](INFO): got valid direction response:
 16:41:07.4907 LVL= 25504, 31345, 25506, 32755, AGC= 64, IDX= 425, 0.07,-1.076,-2.669,-0.714,-1.274, PHS= 0.301,-1.350, 0.516, RAW= 156.1,   6.1, CAL= 155.4,   6.0, ROT= 354.6,  -6.0

2025-08-22T16:41:07.494Z,1755880867.494 [DAT](INFO): DAT read: Bearing 159.9,   3.7 (Local)

2025-08-22T16:41:07.494Z,1755880867.494 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.9,   3.7 (Local)

2025-08-22T16:41:07.496Z,1755880867.496 [DAT](INFO): DAT read: Range 11 to 50 : 104.0 m  (Round-trip  138.7 ms) speed  0.4 m/s

2025-08-22T16:41:07.497Z,1755880867.497 [DAT](INFO): DAT read: user:207>

2025-08-22T16:41:07.497Z,1755880867.497 [DAT](INFO): DAT read: Tx time:16:41:08.5978

2025-08-22T16:41:07.498Z,1755880867.498 [DAT](INFO): Ping request sent.
2025-08-22T16:41:07.498Z,1755880867.498 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:07.498Z,1755880867.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:07.499Z,1755880867.499 [DAT](INFO): direction in FSK: [0.990108,-0.093593,0.104528]
2025-08-22T16:41:07.499Z,1755880867.499 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:07.500Z,1755880867.500 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:07.519Z,1755880867.519 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:07.520Z,1755880867.520 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:07.673Z,1755880867.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.000000 m,
      deltaT: 3.527885 s,
      deltaX: -1.800003 m,
      approachRate: -0.510222 m/s,
      rangeRepo size: 4

2025-08-22T16:41:07.687Z,1755880867.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.354523 m,
      bearing: 349.549254 deg,
      lat: 36.779424 deg,
      lon: -121.859566 deg,
      deltaT: 3.527885 s,
      deltaX: -1.789665 m,
      approachRate: -0.507291 m/s,
      posRepo size: 4

2025-08-22T16:41:07.687Z,1755880867.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:07.694Z,1755880867.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 99.767769 m,
      bearing: 349.157523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024622 deg/s,
      cmd heading: 354.784068 deg,
      new cmd heading: 354.765153 deg.

2025-08-22T16:41:07.695Z,1755880867.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191820 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:08.049Z,1755880868.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:08.051Z,1755880868.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:08.070Z,1755880868.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 99.576706 m,
      bearing: 349.148534 deg,
      approach rate: -0.504751 m/s,
      LOS rate: -0.023793 deg/s,
      cmd heading: 354.765162 deg,
      new cmd heading: 354.747149 deg.

2025-08-22T16:41:08.074Z,1755880868.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191506 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:08.244Z,1755880868.244 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:08.244Z,1755880868.244 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:08.245Z,1755880868.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:08.299Z,1755880868.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:41:08.494Z,1755880868.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996626
2025-08-22T16:41:08.505Z,1755880868.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:08.508Z,1755880868.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 99.362228 m,
      bearing: 349.137220 deg,
      approach rate: -0.472414 m/s,
      LOS rate: -0.024976 deg/s,
      cmd heading: 354.747157 deg,
      new cmd heading: 354.724479 deg.

2025-08-22T16:41:08.509Z,1755880868.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191110 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:08.748Z,1755880868.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249972
2025-08-22T16:41:08.853Z,1755880868.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:08.881Z,1755880868.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 99.197815 m,
      bearing: 349.128566 deg,
      approach rate: -0.472490 m/s,
      LOS rate: -0.024910 deg/s,
      cmd heading: 354.724481 deg,
      new cmd heading: 354.707146 deg.

2025-08-22T16:41:08.888Z,1755880868.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190807 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:08.999Z,1755880868.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500786
2025-08-22T16:41:09.252Z,1755880869.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754473
2025-08-22T16:41:09.339Z,1755880869.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:09.341Z,1755880869.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 98.978615 m,
      bearing: 349.118731 deg,
      approach rate: -0.451442 m/s,
      LOS rate: -0.020300 deg/s,
      cmd heading: 354.707133 deg,
      new cmd heading: 354.687419 deg.

2025-08-22T16:41:09.346Z,1755880869.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190463 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:09.503Z,1755880869.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004800
2025-08-22T16:41:09.662Z,1755880869.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:09.664Z,1755880869.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 98.803596 m,
      bearing: 349.110890 deg,
      approach rate: -0.541696 m/s,
      LOS rate: -0.024311 deg/s,
      cmd heading: 354.687407 deg,
      new cmd heading: 354.671697 deg.

2025-08-22T16:41:09.666Z,1755880869.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190189 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:09.755Z,1755880869.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256920
2025-08-22T16:41:10.006Z,1755880870.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508646
2025-08-22T16:41:10.093Z,1755880870.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:10.095Z,1755880870.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:10.098Z,1755880870.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 98.592117 m,
      bearing: 349.101492 deg,
      approach rate: -0.487440 m/s,
      LOS rate: -0.021708 deg/s,
      cmd heading: 354.671697 deg,
      new cmd heading: 354.652861 deg.

2025-08-22T16:41:10.099Z,1755880870.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189860 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:10.261Z,1755880870.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762526
2025-08-22T16:41:10.498Z,1755880870.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:10.500Z,1755880870.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 98.394302 m,
      bearing: 349.094854 deg,
      approach rate: -0.492375 m/s,
      LOS rate: -0.016557 deg/s,
      cmd heading: 354.652873 deg,
      new cmd heading: 354.639570 deg.

2025-08-22T16:41:10.501Z,1755880870.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189628 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:10.511Z,1755880870.511 [DAT](INFO): DAT read: Rx Time:16:41:11.1383

2025-08-22T16:41:10.511Z,1755880870.511 [DAT](INFO): Rx dataTimestamp_ set to:1755880870.510775
2025-08-22T16:41:10.512Z,1755880870.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013856
2025-08-22T16:41:10.763Z,1755880870.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265620
2025-08-22T16:41:10.909Z,1755880870.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.35 m.
2025-08-22T16:41:10.916Z,1755880870.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.354523 m,
      nav range: 98.196228 m,
      bearing: 349.088281 deg,
      approach rate: -0.481172 m/s,
      LOS rate: -0.015999 deg/s,
      cmd heading: 354.639568 deg,
      new cmd heading: 354.626396 deg.

2025-08-22T16:41:10.917Z,1755880870.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189398 target range: 103.354523 and range: 104.00 m.
2025-08-22T16:41:11.019Z,1755880871.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520309
2025-08-22T16:41:11.298Z,1755880871.298 [DAT](INFO): DAT read: 16:41:11.1383 LVL= 23472, 29281, 19266, 30931, AGC= 64, IDX= 417, 0.42, 0.986,-0.640, 1.336, 0.803, PHS= 0.285,-1.397, 0.490, RAW= 155.7,   7.0, CAL= 155.1,   7.1, ROT= 354.9,  -7.1

2025-08-22T16:41:11.299Z,1755880871.299 [DAT](INFO): got valid direction response:
 16:41:11.1383 LVL= 23472, 29281, 19266, 30931, AGC= 64, IDX= 417, 0.42, 0.986,-0.640, 1.336, 0.803, PHS= 0.285,-1.397, 0.490, RAW= 155.7,   7.0, CAL= 155.1,   7.1, ROT= 354.9,  -7.1

2025-08-22T16:41:11.300Z,1755880871.300 [DAT](INFO): DAT read: Bearing 160.9,   2.3 (Local)

2025-08-22T16:41:11.300Z,1755880871.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,   2.3 (Local)

2025-08-22T16:41:11.306Z,1755880871.306 [DAT](INFO): DAT read: Range 11 to 50 : 102.3 m  (Round-trip  136.4 ms) speed  0.4 m/s

2025-08-22T16:41:11.307Z,1755880871.307 [DAT](INFO): DAT read: user:208>

2025-08-22T16:41:11.307Z,1755880871.307 [DAT](INFO): DAT read: Tx time:16:41:12.2478

2025-08-22T16:41:11.308Z,1755880871.308 [DAT](INFO): Ping request sent.
2025-08-22T16:41:11.308Z,1755880871.308 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:11.308Z,1755880871.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:11.309Z,1755880871.309 [DAT](INFO): direction in FSK: [0.988403,-0.088213,0.123601]
2025-08-22T16:41:11.309Z,1755880871.309 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:11.314Z,1755880871.314 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:11.317Z,1755880871.317 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:11.317Z,1755880871.317 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:11.445Z,1755880871.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.300003 m,
      deltaT: 3.781531 s,
      deltaX: -1.699997 m,
      approachRate: -0.449553 m/s,
      rangeRepo size: 4

2025-08-22T16:41:11.456Z,1755880871.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.665451 m,
      bearing: 349.539834 deg,
      lat: 36.779430 deg,
      lon: -121.859561 deg,
      deltaT: 3.781531 s,
      deltaX: -1.689072 m,
      approachRate: -0.446663 m/s,
      posRepo size: 4

2025-08-22T16:41:11.456Z,1755880871.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:11.459Z,1755880871.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 98.556313 m,
      bearing: 349.386451 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015999 deg/s,
      cmd heading: 354.626400 deg,
      new cmd heading: 354.609272 deg.

2025-08-22T16:41:11.460Z,1755880871.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189099 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:11.980Z,1755880871.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:11.986Z,1755880871.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 98.287140 m,
      bearing: 349.377880 deg,
      approach rate: -0.502557 m/s,
      LOS rate: -0.016048 deg/s,
      cmd heading: 354.609270 deg,
      new cmd heading: 354.592079 deg.

2025-08-22T16:41:11.987Z,1755880871.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188799 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:12.366Z,1755880872.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:12.371Z,1755880872.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:12.375Z,1755880872.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 98.093506 m,
      bearing: 349.371884 deg,
      approach rate: -0.495254 m/s,
      LOS rate: -0.015364 deg/s,
      cmd heading: 354.592085 deg,
      new cmd heading: 354.580071 deg.

2025-08-22T16:41:12.378Z,1755880872.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188590 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:12.526Z,1755880872.526 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:12.526Z,1755880872.526 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:12.527Z,1755880872.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:12.738Z,1755880872.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:12.740Z,1755880872.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 97.915916 m,
      bearing: 349.366475 deg,
      approach rate: -0.484044 m/s,
      LOS rate: -0.014770 deg/s,
      cmd heading: 354.580064 deg,
      new cmd heading: 354.569226 deg.

2025-08-22T16:41:12.742Z,1755880872.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188400 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:12.780Z,1755880872.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472614
2025-08-22T16:41:13.030Z,1755880873.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722701
2025-08-22T16:41:13.139Z,1755880873.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:13.141Z,1755880873.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 97.721130 m,
      bearing: 349.360614 deg,
      approach rate: -0.485914 m/s,
      LOS rate: -0.014651 deg/s,
      cmd heading: 354.569217 deg,
      new cmd heading: 354.557471 deg.

2025-08-22T16:41:13.159Z,1755880873.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188195 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:13.288Z,1755880873.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979196
2025-08-22T16:41:13.535Z,1755880873.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226885
2025-08-22T16:41:13.582Z,1755880873.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:13.584Z,1755880873.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 97.510468 m,
      bearing: 349.354962 deg,
      approach rate: -0.475394 m/s,
      LOS rate: -0.012783 deg/s,
      cmd heading: 354.557469 deg,
      new cmd heading: 354.546141 deg.

2025-08-22T16:41:13.602Z,1755880873.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187997 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:13.786Z,1755880873.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478744
2025-08-22T16:41:13.948Z,1755880873.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:13.951Z,1755880873.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 97.335953 m,
      bearing: 349.350368 deg,
      approach rate: -0.475835 m/s,
      LOS rate: -0.012549 deg/s,
      cmd heading: 354.546131 deg,
      new cmd heading: 354.536927 deg.

2025-08-22T16:41:13.952Z,1755880873.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187837 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:14.040Z,1755880874.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731791
2025-08-22T16:41:14.293Z,1755880874.293 [DAT](INFO): DAT read: Rx Time:16:41:14.7862

2025-08-22T16:41:14.295Z,1755880874.295 [DAT](INFO): Rx dataTimestamp_ set to:1755880874.293769
2025-08-22T16:41:14.296Z,1755880874.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988221
2025-08-22T16:41:14.438Z,1755880874.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:14.440Z,1755880874.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.67 m.
2025-08-22T16:41:14.447Z,1755880874.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.665451 m,
      nav range: 97.118050 m,
      bearing: 349.343853 deg,
      approach rate: -0.442924 m/s,
      LOS rate: -0.013271 deg/s,
      cmd heading: 354.536924 deg,
      new cmd heading: 354.523867 deg.

2025-08-22T16:41:14.448Z,1755880874.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187609 target range: 101.665451 and range: 102.30 m.
2025-08-22T16:41:14.542Z,1755880874.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234783
2025-08-22T16:41:14.800Z,1755880874.800 [DAT](INFO): DAT read: 16:41:14.7862 LVL= 27616, 32753, 23666, 32755, AGC= 66, IDX= 427,-0.05,-2.324, 2.335,-1.991,-2.485, PHS= 0.263,-1.419, 0.449, RAW= 155.2,   8.0, CAL= 154.7,   8.4, ROT= 355.3,  -8.4

2025-08-22T16:41:14.801Z,1755880874.801 [DAT](INFO): got valid direction response:
 16:41:14.7862 LVL= 27616, 32753, 23666, 32755, AGC= 66, IDX= 427,-0.05,-2.324, 2.335,-1.991,-2.485, PHS= 0.263,-1.419, 0.449, RAW= 155.2,   8.0, CAL= 154.7,   8.4, ROT= 355.3,  -8.4

2025-08-22T16:41:14.802Z,1755880874.802 [DAT](INFO): DAT read: Bearing 161.8,   1.2 (Local)

2025-08-22T16:41:14.803Z,1755880874.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,   1.2 (Local)

2025-08-22T16:41:14.804Z,1755880874.804 [DAT](INFO): DAT read: Range 11 to 50 : 100.6 m  (Round-trip  134.2 ms) speed  0.4 m/s

2025-08-22T16:41:14.805Z,1755880874.805 [DAT](INFO): DAT read: user:209>

2025-08-22T16:41:14.806Z,1755880874.806 [DAT](INFO): DAT read: Tx time:16:41:15.8994

2025-08-22T16:41:14.806Z,1755880874.806 [DAT](INFO): Ping request sent.
2025-08-22T16:41:14.806Z,1755880874.806 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:14.806Z,1755880874.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:14.807Z,1755880874.807 [DAT](INFO): direction in FSK: [0.985946,-0.081060,0.146083]
2025-08-22T16:41:14.808Z,1755880874.808 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:14.808Z,1755880874.808 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:14.811Z,1755880874.811 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:14.811Z,1755880874.811 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:14.892Z,1755880874.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.599998 m,
      deltaT: 3.526633 s,
      deltaX: -1.700005 m,
      approachRate: -0.482047 m/s,
      rangeRepo size: 4

2025-08-22T16:41:14.895Z,1755880874.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.975822 m,
      bearing: 349.527745 deg,
      lat: 36.779431 deg,
      lon: -121.859560 deg,
      deltaT: 3.526633 s,
      deltaX: -1.689629 m,
      approachRate: -0.479105 m/s,
      posRepo size: 4

2025-08-22T16:41:14.896Z,1755880874.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:14.899Z,1755880874.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.974304 m,
      bearing: 349.439906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013271 deg/s,
      cmd heading: 354.523865 deg,
      new cmd heading: 354.511885 deg.

2025-08-22T16:41:14.900Z,1755880874.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187400 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:15.252Z,1755880875.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:15.265Z,1755880875.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.785370 m,
      bearing: 349.434519 deg,
      approach rate: -0.525115 m/s,
      LOS rate: -0.015003 deg/s,
      cmd heading: 354.511898 deg,
      new cmd heading: 354.501102 deg.

2025-08-22T16:41:15.295Z,1755880875.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187212 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:15.708Z,1755880875.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:15.711Z,1755880875.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.576561 m,
      bearing: 349.429826 deg,
      approach rate: -0.457945 m/s,
      LOS rate: -0.010314 deg/s,
      cmd heading: 354.501107 deg,
      new cmd heading: 354.491701 deg.

2025-08-22T16:41:15.712Z,1755880875.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187047 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:16.076Z,1755880876.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:16.079Z,1755880876.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.396767 m,
      bearing: 349.425804 deg,
      approach rate: -0.487739 m/s,
      LOS rate: -0.010933 deg/s,
      cmd heading: 354.491708 deg,
      new cmd heading: 354.483648 deg.

2025-08-22T16:41:16.080Z,1755880876.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186907 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:16.516Z,1755880876.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:16.522Z,1755880876.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:16.525Z,1755880876.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.199745 m,
      bearing: 349.419417 deg,
      approach rate: -0.441693 m/s,
      LOS rate: -0.014348 deg/s,
      cmd heading: 354.483649 deg,
      new cmd heading: 354.470849 deg.

2025-08-22T16:41:16.530Z,1755880876.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186683 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:16.558Z,1755880876.558 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:16.559Z,1755880876.559 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:16.559Z,1755880876.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:16.811Z,1755880876.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004642
2025-08-22T16:41:16.906Z,1755880876.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:16.909Z,1755880876.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 96.011917 m,
      bearing: 349.413335 deg,
      approach rate: -0.488894 m/s,
      LOS rate: -0.015861 deg/s,
      cmd heading: 354.470835 deg,
      new cmd heading: 354.458648 deg.

2025-08-22T16:41:16.910Z,1755880876.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186471 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:17.062Z,1755880877.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256258
2025-08-22T16:41:17.286Z,1755880877.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:17.295Z,1755880877.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 95.836182 m,
      bearing: 349.407704 deg,
      approach rate: -0.463627 m/s,
      LOS rate: -0.014882 deg/s,
      cmd heading: 354.458650 deg,
      new cmd heading: 354.447368 deg.

2025-08-22T16:41:17.296Z,1755880877.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186274 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:17.318Z,1755880877.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510890
2025-08-22T16:41:17.569Z,1755880877.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763152
2025-08-22T16:41:17.721Z,1755880877.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:17.724Z,1755880877.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 95.629501 m,
      bearing: 349.401305 deg,
      approach rate: -0.474424 m/s,
      LOS rate: -0.014721 deg/s,
      cmd heading: 354.447367 deg,
      new cmd heading: 354.434540 deg.

2025-08-22T16:41:17.725Z,1755880877.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186050 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:17.819Z,1755880877.819 [DAT](INFO): DAT read: Rx Time:16:41:18.4354

2025-08-22T16:41:17.819Z,1755880877.819 [DAT](INFO): Rx dataTimestamp_ set to:1755880877.818942
2025-08-22T16:41:17.820Z,1755880877.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013541
2025-08-22T16:41:18.070Z,1755880878.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264222
2025-08-22T16:41:18.103Z,1755880878.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.98 m.
2025-08-22T16:41:18.106Z,1755880878.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.975822 m,
      nav range: 95.447975 m,
      bearing: 349.395714 deg,
      approach rate: -0.474951 m/s,
      LOS rate: -0.014655 deg/s,
      cmd heading: 354.434553 deg,
      new cmd heading: 354.423351 deg.

2025-08-22T16:41:18.107Z,1755880878.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185854 target range: 99.975822 and range: 100.60 m.
2025-08-22T16:41:18.392Z,1755880878.392 [DAT](INFO): DAT read: 16:41:18.4354 LVL= 32752, 30369, 26866, 32755, AGC= 66, IDX= 419,-0.22,-2.804, 1.821,-2.464,-2.968, PHS= 0.266,-1.449, 0.460, RAW= 155.3,   8.0, CAL= 154.8,   8.4, ROT= 355.2,  -8.4

2025-08-22T16:41:18.396Z,1755880878.396 [DAT](INFO): got valid direction response:
 16:41:18.4354 LVL= 32752, 30369, 26866, 32755, AGC= 66, IDX= 419,-0.22,-2.804, 1.821,-2.464,-2.968, PHS= 0.266,-1.449, 0.460, RAW= 155.3,   8.0, CAL= 154.8,   8.4, ROT= 355.2,  -8.4

2025-08-22T16:41:18.399Z,1755880878.399 [DAT](INFO): DAT read: Bearing 161.8,  -0.0 (Local)

2025-08-22T16:41:18.400Z,1755880878.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,  -0.0 (Local)

2025-08-22T16:41:18.402Z,1755880878.402 [DAT](INFO): DAT read: Range 11 to 50 : 98.9 m  (Round-trip  131.9 ms) speed  0.4 m/s

2025-08-22T16:41:18.403Z,1755880878.403 [DAT](INFO): DAT read: user:210>

2025-08-22T16:41:18.404Z,1755880878.404 [DAT](INFO): DAT read: Tx time:16:41:19.5494

2025-08-22T16:41:18.404Z,1755880878.404 [DAT](INFO): Ping request sent.
2025-08-22T16:41:18.404Z,1755880878.404 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:18.405Z,1755880878.405 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:18.406Z,1755880878.406 [DAT](INFO): direction in FSK: [0.985803,-0.082780,0.146083]
2025-08-22T16:41:18.406Z,1755880878.406 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:18.406Z,1755880878.406 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:18.409Z,1755880878.409 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:18.434Z,1755880878.434 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:18.570Z,1755880878.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.900002 m,
      deltaT: 3.530297 s,
      deltaX: -1.699997 m,
      approachRate: -0.481545 m/s,
      rangeRepo size: 4

2025-08-22T16:41:18.572Z,1755880878.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.286568 m,
      bearing: 349.117676 deg,
      lat: 36.779433 deg,
      lon: -121.859560 deg,
      deltaT: 3.530297 s,
      deltaX: -1.689255 m,
      approachRate: -0.478502 m/s,
      posRepo size: 4

2025-08-22T16:41:18.573Z,1755880878.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:18.580Z,1755880878.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 95.443130 m,
      bearing: 349.413785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014655 deg/s,
      cmd heading: 354.423352 deg,
      new cmd heading: 354.409819 deg.

2025-08-22T16:41:18.581Z,1755880878.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185618 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:18.910Z,1755880878.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:18.912Z,1755880878.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:18.915Z,1755880878.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 95.272995 m,
      bearing: 349.410265 deg,
      approach rate: -0.490694 m/s,
      LOS rate: -0.010169 deg/s,
      cmd heading: 354.409828 deg,
      new cmd heading: 354.402776 deg.

2025-08-22T16:41:18.916Z,1755880878.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185495 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:19.079Z,1755880879.079 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:19.079Z,1755880879.079 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:19.080Z,1755880879.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:19.331Z,1755880879.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926592
2025-08-22T16:41:19.455Z,1755880879.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:19.478Z,1755880879.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 95.001396 m,
      bearing: 349.405541 deg,
      approach rate: -0.499691 m/s,
      LOS rate: -0.008717 deg/s,
      cmd heading: 354.402779 deg,
      new cmd heading: 354.393303 deg.

2025-08-22T16:41:19.479Z,1755880879.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185330 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:19.584Z,1755880879.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.179436
2025-08-22T16:41:19.835Z,1755880879.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430290
2025-08-22T16:41:19.840Z,1755880879.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:19.843Z,1755880879.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 94.810303 m,
      bearing: 349.402272 deg,
      approach rate: -0.496721 m/s,
      LOS rate: -0.008514 deg/s,
      cmd heading: 354.393299 deg,
      new cmd heading: 354.386748 deg.

2025-08-22T16:41:19.844Z,1755880879.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185215 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:20.087Z,1755880880.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.682664
2025-08-22T16:41:20.310Z,1755880880.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:20.313Z,1755880880.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 94.574768 m,
      bearing: 349.398318 deg,
      approach rate: -0.501310 m/s,
      LOS rate: -0.008436 deg/s,
      cmd heading: 354.386742 deg,
      new cmd heading: 354.378815 deg.

2025-08-22T16:41:20.314Z,1755880880.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185077 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:20.355Z,1755880880.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950246
2025-08-22T16:41:20.602Z,1755880880.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198226
2025-08-22T16:41:20.741Z,1755880880.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:20.744Z,1755880880.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 94.358536 m,
      bearing: 349.393691 deg,
      approach rate: -0.501278 m/s,
      LOS rate: -0.010751 deg/s,
      cmd heading: 354.378819 deg,
      new cmd heading: 354.369544 deg.

2025-08-22T16:41:20.745Z,1755880880.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184916 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:20.856Z,1755880880.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451377
2025-08-22T16:41:21.107Z,1755880881.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702420
2025-08-22T16:41:21.113Z,1755880881.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:21.116Z,1755880881.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:21.118Z,1755880881.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 94.171860 m,
      bearing: 349.389689 deg,
      approach rate: -0.498616 m/s,
      LOS rate: -0.010712 deg/s,
      cmd heading: 354.369557 deg,
      new cmd heading: 354.361537 deg.

2025-08-22T16:41:21.119Z,1755880881.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184775 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:21.360Z,1755880881.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955827
2025-08-22T16:41:21.543Z,1755880881.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:21.546Z,1755880881.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 93.958374 m,
      bearing: 349.383568 deg,
      approach rate: -0.499012 m/s,
      LOS rate: -0.014340 deg/s,
      cmd heading: 354.361525 deg,
      new cmd heading: 354.349255 deg.

2025-08-22T16:41:21.547Z,1755880881.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184561 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:21.611Z,1755880881.611 [DAT](INFO): DAT read: Rx Time:16:41:22.0830

2025-08-22T16:41:21.611Z,1755880881.611 [DAT](INFO): Rx dataTimestamp_ set to:1755880881.610847
2025-08-22T16:41:21.612Z,1755880881.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207410
2025-08-22T16:41:21.863Z,1755880881.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459089
2025-08-22T16:41:21.922Z,1755880881.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.29 m.
2025-08-22T16:41:21.925Z,1755880881.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.286568 m,
      nav range: 93.770241 m,
      bearing: 349.378064 deg,
      approach rate: -0.496783 m/s,
      LOS rate: -0.014562 deg/s,
      cmd heading: 354.349258 deg,
      new cmd heading: 354.338229 deg.

2025-08-22T16:41:21.926Z,1755880881.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184369 target range: 98.286568 and range: 98.90 m.
2025-08-22T16:41:22.121Z,1755880882.121 [DAT](INFO): DAT read: 16:41:22.0830 LVL= 30672, 32145, 25042, 32755, AGC= 65, IDX= 410,-0.33,-1.930, 2.715,-1.603,-2.078, PHS= 0.249,-1.446, 0.431, RAW= 155.0,   8.6, CAL= 154.6,   9.1, ROT= 355.4,  -9.1

2025-08-22T16:41:22.122Z,1755880882.122 [DAT](INFO): got valid direction response:
 16:41:22.0830 LVL= 30672, 32145, 25042, 32755, AGC= 65, IDX= 410,-0.33,-1.930, 2.715,-1.603,-2.078, PHS= 0.249,-1.446, 0.431, RAW= 155.0,   8.6, CAL= 154.6,   9.1, ROT= 355.4,  -9.1

2025-08-22T16:41:22.123Z,1755880882.123 [DAT](INFO): DAT read: Bearing 162.4,  -1.1 (Local)

2025-08-22T16:41:22.123Z,1755880882.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.4,  -1.1 (Local)

2025-08-22T16:41:22.125Z,1755880882.125 [DAT](INFO): DAT read: Range 11 to 50 : 97.0 m  (Round-trip  129.4 ms) speed  0.4 m/s

2025-08-22T16:41:22.126Z,1755880882.126 [DAT](INFO): DAT read: user:211>

2025-08-22T16:41:22.126Z,1755880882.126 [DAT](INFO): DAT read: Tx time:16:41:23.1978

2025-08-22T16:41:22.127Z,1755880882.127 [DAT](INFO): Ping request sent.
2025-08-22T16:41:22.127Z,1755880882.127 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:22.127Z,1755880882.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:22.128Z,1755880882.128 [DAT](INFO): direction in FSK: [0.984233,-0.079190,0.158158]
2025-08-22T16:41:22.128Z,1755880882.128 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:22.129Z,1755880882.129 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:22.132Z,1755880882.132 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:22.132Z,1755880882.132 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:22.364Z,1755880882.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.000000 m,
      deltaT: 3.790470 s,
      deltaX: -1.900002 m,
      approachRate: -0.501257 m/s,
      rangeRepo size: 4

2025-08-22T16:41:22.372Z,1755880882.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.398331 m,
      bearing: 349.056946 deg,
      lat: 36.779434 deg,
      lon: -121.859560 deg,
      deltaT: 3.790470 s,
      deltaX: -1.888237 m,
      approachRate: -0.498154 m/s,
      posRepo size: 4

2025-08-22T16:41:22.378Z,1755880882.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:22.398Z,1755880882.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 93.707069 m,
      bearing: 349.388247 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014562 deg/s,
      cmd heading: 354.338220 deg,
      new cmd heading: 354.325388 deg.

2025-08-22T16:41:22.406Z,1755880882.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184144 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:22.817Z,1755880882.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:22.827Z,1755880882.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 93.486084 m,
      bearing: 349.382424 deg,
      approach rate: -0.486773 m/s,
      LOS rate: -0.012858 deg/s,
      cmd heading: 354.325380 deg,
      new cmd heading: 354.313705 deg.

2025-08-22T16:41:22.828Z,1755880882.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183941 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:23.237Z,1755880883.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:23.239Z,1755880883.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:23.242Z,1755880883.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 93.267555 m,
      bearing: 349.376638 deg,
      approach rate: -0.517055 m/s,
      LOS rate: -0.013722 deg/s,
      cmd heading: 354.313714 deg,
      new cmd heading: 354.302115 deg.

2025-08-22T16:41:23.243Z,1755880883.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183738 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:23.375Z,1755880883.375 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:23.375Z,1755880883.375 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:23.375Z,1755880883.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:23.619Z,1755880883.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:23.622Z,1755880883.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 93.086700 m,
      bearing: 349.370650 deg,
      approach rate: -0.476341 m/s,
      LOS rate: -0.015802 deg/s,
      cmd heading: 354.302102 deg,
      new cmd heading: 354.290103 deg.

2025-08-22T16:41:23.623Z,1755880883.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183529 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:23.627Z,1755880883.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499762
2025-08-22T16:41:23.878Z,1755880883.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751606
2025-08-22T16:41:24.013Z,1755880884.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:24.016Z,1755880884.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 92.900856 m,
      bearing: 349.364473 deg,
      approach rate: -0.471507 m/s,
      LOS rate: -0.015704 deg/s,
      cmd heading: 354.290108 deg,
      new cmd heading: 354.277729 deg.

2025-08-22T16:41:24.017Z,1755880884.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183313 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:24.132Z,1755880884.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004917
2025-08-22T16:41:24.383Z,1755880884.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255787
2025-08-22T16:41:24.419Z,1755880884.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:24.422Z,1755880884.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 92.711243 m,
      bearing: 349.358015 deg,
      approach rate: -0.466592 m/s,
      LOS rate: -0.015923 deg/s,
      cmd heading: 354.277732 deg,
      new cmd heading: 354.264790 deg.

2025-08-22T16:41:24.423Z,1755880884.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183087 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:24.635Z,1755880884.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507862
2025-08-22T16:41:24.850Z,1755880884.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:24.860Z,1755880884.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 92.499359 m,
      bearing: 349.349415 deg,
      approach rate: -0.497452 m/s,
      LOS rate: -0.020236 deg/s,
      cmd heading: 354.264782 deg,
      new cmd heading: 354.247543 deg.

2025-08-22T16:41:24.861Z,1755880884.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182786 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:24.887Z,1755880884.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759778
2025-08-22T16:41:25.139Z,1755880885.139 [DAT](INFO): DAT read: Rx Time:16:41:25.7291

2025-08-22T16:41:25.139Z,1755880885.139 [DAT](INFO): Rx dataTimestamp_ set to:1755880885.138750
2025-08-22T16:41:25.140Z,1755880885.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012743
2025-08-22T16:41:25.234Z,1755880885.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.40 m.
2025-08-22T16:41:25.239Z,1755880885.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.398331 m,
      nav range: 92.306801 m,
      bearing: 349.341478 deg,
      approach rate: -0.495137 m/s,
      LOS rate: -0.020453 deg/s,
      cmd heading: 354.247543 deg,
      new cmd heading: 354.231635 deg.

2025-08-22T16:41:25.240Z,1755880885.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182508 target range: 96.398331 and range: 97.00 m.
2025-08-22T16:41:25.391Z,1755880885.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263773
2025-08-22T16:41:25.650Z,1755880885.650 [DAT](INFO): DAT read: 16:41:25.7291 LVL= 29424, 32753, 24226, 32755, AGC= 66, IDX= 418, 0.13, 2.755, 1.118, 3.133, 2.640, PHS= 0.217,-1.476, 0.449, RAW= 156.3,   8.9, CAL= 156.0,   9.5, ROT= 354.0,  -9.5

2025-08-22T16:41:25.651Z,1755880885.651 [DAT](INFO): got valid direction response:
 16:41:25.7291 LVL= 29424, 32753, 24226, 32755, AGC= 66, IDX= 418, 0.13, 2.755, 1.118, 3.133, 2.640, PHS= 0.217,-1.476, 0.449, RAW= 156.3,   8.9, CAL= 156.0,   9.5, ROT= 354.0,  -9.5

2025-08-22T16:41:25.652Z,1755880885.652 [DAT](INFO): DAT read: Bearing 163.1,  -4.0 (Local)

2025-08-22T16:41:25.653Z,1755880885.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.1,  -4.0 (Local)

2025-08-22T16:41:25.654Z,1755880885.654 [DAT](INFO): DAT read: Range 11 to 50 : 95.3 m  (Round-trip  127.1 ms) speed  0.4 m/s

2025-08-22T16:41:25.655Z,1755880885.655 [DAT](INFO): DAT read: user:212>

2025-08-22T16:41:25.656Z,1755880885.656 [DAT](INFO): DAT read: Tx time:16:41:26.8478

2025-08-22T16:41:25.656Z,1755880885.656 [DAT](INFO): Ping request sent.
2025-08-22T16:41:25.656Z,1755880885.656 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:25.656Z,1755880885.656 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:25.657Z,1755880885.657 [DAT](INFO): direction in FSK: [0.980883,-0.103095,0.165048]
2025-08-22T16:41:25.658Z,1755880885.658 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:25.658Z,1755880885.658 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:25.661Z,1755880885.661 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:25.661Z,1755880885.661 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:25.830Z,1755880885.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.300003 m,
      deltaT: 3.528517 s,
      deltaX: -1.699997 m,
      approachRate: -0.481788 m/s,
      rangeRepo size: 4

2025-08-22T16:41:25.832Z,1755880885.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.708961 m,
      bearing: 347.848956 deg,
      lat: 36.779437 deg,
      lon: -121.859566 deg,
      deltaT: 3.528517 s,
      deltaX: -1.689369 m,
      approachRate: -0.478776 m/s,
      posRepo size: 4

2025-08-22T16:41:25.833Z,1755880885.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:25.847Z,1755880885.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 92.459351 m,
      bearing: 349.011855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020453 deg/s,
      cmd heading: 354.231642 deg,
      new cmd heading: 354.207636 deg.

2025-08-22T16:41:25.848Z,1755880885.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182089 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:26.180Z,1755880886.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:26.183Z,1755880886.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:26.188Z,1755880886.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 92.281509 m,
      bearing: 349.007139 deg,
      approach rate: -0.491020 m/s,
      LOS rate: -0.013046 deg/s,
      cmd heading: 354.207627 deg,
      new cmd heading: 354.198177 deg.

2025-08-22T16:41:26.190Z,1755880886.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181924 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:26.398Z,1755880886.398 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:26.399Z,1755880886.399 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:26.399Z,1755880886.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:26.604Z,1755880886.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:26.623Z,1755880886.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 92.072769 m,
      bearing: 349.001962 deg,
      approach rate: -0.496055 m/s,
      LOS rate: -0.012329 deg/s,
      cmd heading: 354.198174 deg,
      new cmd heading: 354.187798 deg.

2025-08-22T16:41:26.624Z,1755880886.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181743 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:26.651Z,1755880886.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994796
2025-08-22T16:41:26.904Z,1755880886.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248010
2025-08-22T16:41:26.975Z,1755880886.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:26.978Z,1755880886.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 91.890991 m,
      bearing: 348.997425 deg,
      approach rate: -0.489573 m/s,
      LOS rate: -0.012245 deg/s,
      cmd heading: 354.187792 deg,
      new cmd heading: 354.178699 deg.

2025-08-22T16:41:26.979Z,1755880886.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181584 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:27.155Z,1755880887.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499231
2025-08-22T16:41:27.389Z,1755880887.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:27.392Z,1755880887.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 91.688675 m,
      bearing: 348.992404 deg,
      approach rate: -0.489210 m/s,
      LOS rate: -0.012168 deg/s,
      cmd heading: 354.178694 deg,
      new cmd heading: 354.168630 deg.

2025-08-22T16:41:27.393Z,1755880887.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181409 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:27.407Z,1755880887.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750629
2025-08-22T16:41:27.659Z,1755880887.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002591
2025-08-22T16:41:27.828Z,1755880887.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:27.830Z,1755880887.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 91.477081 m,
      bearing: 348.990554 deg,
      approach rate: -0.482613 m/s,
      LOS rate: -0.004230 deg/s,
      cmd heading: 354.168640 deg,
      new cmd heading: 354.164931 deg.

2025-08-22T16:41:27.832Z,1755880887.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181344 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:27.912Z,1755880887.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255460
2025-08-22T16:41:28.163Z,1755880888.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506764
2025-08-22T16:41:28.209Z,1755880888.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:28.211Z,1755880888.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:28.214Z,1755880888.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 91.292229 m,
      bearing: 348.988989 deg,
      approach rate: -0.482210 m/s,
      LOS rate: -0.004091 deg/s,
      cmd heading: 354.164925 deg,
      new cmd heading: 354.161788 deg.

2025-08-22T16:41:28.215Z,1755880888.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181289 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:28.414Z,1755880888.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758561
2025-08-22T16:41:28.627Z,1755880888.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:28.634Z,1755880888.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 91.100616 m,
      bearing: 348.988290 deg,
      approach rate: -0.460545 m/s,
      LOS rate: -0.001681 deg/s,
      cmd heading: 354.161783 deg,
      new cmd heading: 354.160384 deg.

2025-08-22T16:41:28.635Z,1755880888.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181265 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:28.667Z,1755880888.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010806
2025-08-22T16:41:28.919Z,1755880888.919 [DAT](INFO): DAT read: Rx Time:16:41:29.3767

2025-08-22T16:41:28.919Z,1755880888.919 [DAT](INFO): Rx dataTimestamp_ set to:1755880888.918691
2025-08-22T16:41:28.919Z,1755880888.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263597
2025-08-22T16:41:29.012Z,1755880889.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:29.019Z,1755880889.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 90.916130 m,
      bearing: 348.987610 deg,
      approach rate: -0.478913 m/s,
      LOS rate: -0.001770 deg/s,
      cmd heading: 354.160390 deg,
      new cmd heading: 354.159026 deg.

2025-08-22T16:41:29.020Z,1755880889.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181241 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:29.171Z,1755880889.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514927
2025-08-22T16:41:29.403Z,1755880889.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.71 m.
2025-08-22T16:41:29.406Z,1755880889.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.708961 m,
      nav range: 90.721161 m,
      bearing: 348.986867 deg,
      approach rate: -0.498650 m/s,
      LOS rate: -0.001904 deg/s,
      cmd heading: 354.159023 deg,
      new cmd heading: 354.157534 deg.

2025-08-22T16:41:29.407Z,1755880889.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181215 target range: 94.708961 and range: 95.30 m.
2025-08-22T16:41:29.431Z,1755880889.431 [DAT](INFO): DAT read: 16:41:29.3767 LVL= 30112, 30817, 25714, 32755, AGC= 63, IDX= 410, 0.02, 0.676,-0.918, 1.083, 0.608, PHS= 0.170,-1.480, 0.431, RAW= 157.3,   9.8, CAL= 157.1,  10.6, ROT= 352.9, -10.6

2025-08-22T16:41:29.432Z,1755880889.432 [DAT](INFO): got valid direction response:
 16:41:29.3767 LVL= 30112, 30817, 25714, 32755, AGC= 63, IDX= 410, 0.02, 0.676,-0.918, 1.083, 0.608, PHS= 0.170,-1.480, 0.431, RAW= 157.3,   9.8, CAL= 157.1,  10.6, ROT= 352.9, -10.6

2025-08-22T16:41:29.432Z,1755880889.432 [DAT](INFO): DAT read: Bearing 164.2,  -6.6 (Local)

2025-08-22T16:41:29.433Z,1755880889.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.2,  -6.6 (Local)

2025-08-22T16:41:29.434Z,1755880889.434 [DAT](INFO): DAT read: Range 11 to 50 : 93.6 m  (Round-trip  124.8 ms) speed  0.4 m/s

2025-08-22T16:41:29.435Z,1755880889.435 [DAT](INFO): DAT read: user:213>

2025-08-22T16:41:29.436Z,1755880889.436 [DAT](INFO): DAT read: Tx time:16:41:30.4978

2025-08-22T16:41:29.437Z,1755880889.437 [DAT](INFO): Ping request sent.
2025-08-22T16:41:29.437Z,1755880889.437 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:29.437Z,1755880889.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:29.439Z,1755880889.439 [DAT](INFO): direction in FSK: [0.975398,-0.121492,0.183951]
2025-08-22T16:41:29.439Z,1755880889.439 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:29.440Z,1755880889.440 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:29.445Z,1755880889.445 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:29.445Z,1755880889.445 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:29.872Z,1755880889.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.599998 m,
      deltaT: 3.780773 s,
      deltaX: -1.700005 m,
      approachRate: -0.449645 m/s,
      rangeRepo size: 4

2025-08-22T16:41:29.878Z,1755880889.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.019600 m,
      bearing: 346.702392 deg,
      lat: 36.779439 deg,
      lon: -121.859567 deg,
      deltaT: 3.780773 s,
      deltaX: -1.689362 m,
      approachRate: -0.446830 m/s,
      posRepo size: 4

2025-08-22T16:41:29.879Z,1755880889.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:29.886Z,1755880889.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 90.741585 m,
      bearing: 348.969922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001904 deg/s,
      cmd heading: 354.157521 deg,
      new cmd heading: 354.155738 deg.

2025-08-22T16:41:29.887Z,1755880889.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181184 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:30.230Z,1755880890.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:30.232Z,1755880890.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:30.234Z,1755880890.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 90.554443 m,
      bearing: 348.969646 deg,
      approach rate: -0.519504 m/s,
      LOS rate: -0.000766 deg/s,
      cmd heading: 354.155745 deg,
      new cmd heading: 354.155193 deg.

2025-08-22T16:41:30.235Z,1755880890.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181174 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:30.430Z,1755880890.430 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:30.430Z,1755880890.430 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:30.431Z,1755880890.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:30.635Z,1755880890.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:30.638Z,1755880890.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 90.364769 m,
      bearing: 348.969396 deg,
      approach rate: -0.470402 m/s,
      LOS rate: -0.000621 deg/s,
      cmd heading: 354.155199 deg,
      new cmd heading: 354.154697 deg.

2025-08-22T16:41:30.639Z,1755880890.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181166 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:30.684Z,1755880890.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246814
2025-08-22T16:41:30.935Z,1755880890.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497790
2025-08-22T16:41:31.018Z,1755880891.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:31.020Z,1755880891.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 90.184013 m,
      bearing: 348.969145 deg,
      approach rate: -0.472113 m/s,
      LOS rate: -0.000656 deg/s,
      cmd heading: 354.154707 deg,
      new cmd heading: 354.154204 deg.

2025-08-22T16:41:31.022Z,1755880891.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181157 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:31.187Z,1755880891.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750091
2025-08-22T16:41:31.437Z,1755880891.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:31.439Z,1755880891.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001861
2025-08-22T16:41:31.444Z,1755880891.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 89.994476 m,
      bearing: 348.968888 deg,
      approach rate: -0.452262 m/s,
      LOS rate: -0.000614 deg/s,
      cmd heading: 354.154215 deg,
      new cmd heading: 354.153700 deg.

2025-08-22T16:41:31.445Z,1755880891.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181148 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:31.691Z,1755880891.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253822
2025-08-22T16:41:31.887Z,1755880891.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:31.890Z,1755880891.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 89.774864 m,
      bearing: 348.968647 deg,
      approach rate: -0.487411 m/s,
      LOS rate: -0.000536 deg/s,
      cmd heading: 354.153696 deg,
      new cmd heading: 354.153213 deg.

2025-08-22T16:41:31.891Z,1755880891.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181139 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:31.945Z,1755880891.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508134
2025-08-22T16:41:32.194Z,1755880892.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757669
2025-08-22T16:41:32.228Z,1755880892.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:32.247Z,1755880892.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 89.614258 m,
      bearing: 348.968466 deg,
      approach rate: -0.471332 m/s,
      LOS rate: -0.000533 deg/s,
      cmd heading: 354.153204 deg,
      new cmd heading: 354.152841 deg.

2025-08-22T16:41:32.248Z,1755880892.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181133 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:32.447Z,1755880892.447 [DAT](INFO): DAT read: Rx Time:16:41:33.0243

2025-08-22T16:41:32.448Z,1755880892.448 [DAT](INFO): Rx dataTimestamp_ set to:1755880892.447716
2025-08-22T16:41:32.449Z,1755880892.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011786
2025-08-22T16:41:32.659Z,1755880892.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:32.661Z,1755880892.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.02 m.
2025-08-22T16:41:32.664Z,1755880892.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.019600 m,
      nav range: 89.405441 m,
      bearing: 348.963790 deg,
      approach rate: -0.482505 m/s,
      LOS rate: -0.010830 deg/s,
      cmd heading: 354.152849 deg,
      new cmd heading: 354.143475 deg.

2025-08-22T16:41:32.665Z,1755880892.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180970 target range: 93.019600 and range: 93.60 m.
2025-08-22T16:41:32.699Z,1755880892.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261793
2025-08-22T16:41:32.956Z,1755880892.956 [DAT](INFO): DAT read: 16:41:33.0243 LVL= 28288, 32561, 23250, 32755, AGC= 65, IDX= 418, 0.07,-1.849, 2.847,-1.369,-1.907, PHS= 0.160,-1.485, 0.494, RAW= 159.1,   9.1, CAL= 158.8,   9.6, ROT= 351.2,  -9.6

2025-08-22T16:41:32.958Z,1755880892.958 [DAT](INFO): got valid direction response:
 16:41:33.0243 LVL= 28288, 32561, 23250, 32755, AGC= 65, IDX= 418, 0.07,-1.849, 2.847,-1.369,-1.907, PHS= 0.160,-1.485, 0.494, RAW= 159.1,   9.1, CAL= 158.8,   9.6, ROT= 351.2,  -9.6

2025-08-22T16:41:32.959Z,1755880892.959 [DAT](INFO): DAT read: Bearing 163.5,  -9.5 (Local)

2025-08-22T16:41:32.959Z,1755880892.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.5,  -9.5 (Local)

2025-08-22T16:41:32.960Z,1755880892.960 [DAT](INFO): DAT read: Range 11 to 50 : 91.8 m  (Round-trip  122.4 ms) speed  0.4 m/s

2025-08-22T16:41:32.961Z,1755880892.961 [DAT](INFO): DAT read: user:214>

2025-08-22T16:41:32.962Z,1755880892.962 [DAT](INFO): DAT read: Tx time:16:41:34.1477

2025-08-22T16:41:32.962Z,1755880892.962 [DAT](INFO): Ping request sent.
2025-08-22T16:41:32.962Z,1755880892.962 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:32.963Z,1755880892.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:32.963Z,1755880892.963 [DAT](INFO): direction in FSK: [0.974389,-0.150843,0.166769]
2025-08-22T16:41:32.964Z,1755880892.964 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:32.964Z,1755880892.964 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:32.980Z,1755880892.980 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:32.981Z,1755880892.981 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:33.082Z,1755880893.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.800003 m,
      deltaT: 3.526308 s,
      deltaX: -1.799995 m,
      approachRate: -0.510448 m/s,
      rangeRepo size: 4

2025-08-22T16:41:33.084Z,1755880893.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.230965 m,
      bearing: 345.052134 deg,
      lat: 36.779439 deg,
      lon: -121.859588 deg,
      deltaT: 3.526308 s,
      deltaX: -1.788635 m,
      approachRate: -0.507226 m/s,
      posRepo size: 4

2025-08-22T16:41:33.085Z,1755880893.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:33.096Z,1755880893.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 89.590485 m,
      bearing: 347.768630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010830 deg/s,
      cmd heading: 354.143478 deg,
      new cmd heading: 354.134364 deg.

2025-08-22T16:41:33.097Z,1755880893.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180810 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:33.438Z,1755880893.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:33.440Z,1755880893.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 89.412300 m,
      bearing: 347.762137 deg,
      approach rate: -0.500514 m/s,
      LOS rate: -0.018275 deg/s,
      cmd heading: 354.134353 deg,
      new cmd heading: 354.121341 deg.

2025-08-22T16:41:33.442Z,1755880893.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180583 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:33.895Z,1755880893.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:33.898Z,1755880893.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 89.197708 m,
      bearing: 347.751556 deg,
      approach rate: -0.468854 m/s,
      LOS rate: -0.023174 deg/s,
      cmd heading: 354.121348 deg,
      new cmd heading: 354.100135 deg.

2025-08-22T16:41:33.899Z,1755880893.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180213 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:34.262Z,1755880894.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:34.265Z,1755880894.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 89.033119 m,
      bearing: 347.743430 deg,
      approach rate: -0.448442 m/s,
      LOS rate: -0.022181 deg/s,
      cmd heading: 354.100147 deg,
      new cmd heading: 354.083865 deg.

2025-08-22T16:41:34.287Z,1755880894.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179929 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:34.692Z,1755880894.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:34.695Z,1755880894.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:34.698Z,1755880894.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 88.823265 m,
      bearing: 347.734220 deg,
      approach rate: -0.485059 m/s,
      LOS rate: -0.021340 deg/s,
      cmd heading: 354.083864 deg,
      new cmd heading: 354.065399 deg.

2025-08-22T16:41:34.699Z,1755880894.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179607 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:34.717Z,1755880894.717 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:34.717Z,1755880894.717 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:34.718Z,1755880894.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:34.966Z,1755880894.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004158
2025-08-22T16:41:35.070Z,1755880895.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:35.078Z,1755880895.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 88.654419 m,
      bearing: 347.726739 deg,
      approach rate: -0.471131 m/s,
      LOS rate: -0.020912 deg/s,
      cmd heading: 354.065395 deg,
      new cmd heading: 354.050406 deg.

2025-08-22T16:41:35.079Z,1755880895.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179345 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:35.219Z,1755880895.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256474
2025-08-22T16:41:35.458Z,1755880895.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:35.461Z,1755880895.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 88.464447 m,
      bearing: 347.718260 deg,
      approach rate: -0.469311 m/s,
      LOS rate: -0.020992 deg/s,
      cmd heading: 354.050396 deg,
      new cmd heading: 354.033401 deg.

2025-08-22T16:41:35.462Z,1755880895.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179049 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:35.471Z,1755880895.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508330
2025-08-22T16:41:35.724Z,1755880895.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761436
2025-08-22T16:41:35.870Z,1755880895.870 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720285551,35.0, +10.6,   0.0,10
2025-08-22T16:41:35.910Z,1755880895.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:35.912Z,1755880895.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 88.258423 m,
      bearing: 347.709024 deg,
      approach rate: -0.460597 m/s,
      LOS rate: -0.020698 deg/s,
      cmd heading: 354.033403 deg,
      new cmd heading: 354.014887 deg.

2025-08-22T16:41:35.913Z,1755880895.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178725 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:35.975Z,1755880895.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012649
2025-08-22T16:41:36.227Z,1755880896.227 [DAT](INFO): DAT read: Rx Time:16:41:36.6719

2025-08-22T16:41:36.227Z,1755880896.227 [DAT](INFO): Rx dataTimestamp_ set to:1755880896.227166
2025-08-22T16:41:36.228Z,1755880896.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265681
2025-08-22T16:41:36.266Z,1755880896.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:36.269Z,1755880896.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 88.085541 m,
      bearing: 347.701258 deg,
      approach rate: -0.479743 m/s,
      LOS rate: -0.021592 deg/s,
      cmd heading: 354.014879 deg,
      new cmd heading: 353.999317 deg.

2025-08-22T16:41:36.282Z,1755880896.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178453 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:36.481Z,1755880896.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519040
2025-08-22T16:41:36.722Z,1755880896.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:36.724Z,1755880896.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.23 m.
2025-08-22T16:41:36.727Z,1755880896.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.230965 m,
      nav range: 87.856133 m,
      bearing: 347.687728 deg,
      approach rate: -0.501015 m/s,
      LOS rate: -0.029626 deg/s,
      cmd heading: 353.999306 deg,
      new cmd heading: 353.972176 deg.

2025-08-22T16:41:36.727Z,1755880896.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177980 target range: 91.230965 and range: 91.80 m.
2025-08-22T16:41:36.737Z,1755880896.737 [DAT](INFO): DAT read: 16:41:36.6719 LVL= 31728, 32753, 29026, 32755, AGC= 67, IDX= 410, 0.39, 1.379,-0.226, 1.893, 1.373, PHS= 0.108,-1.554, 0.476, RAW= 159.8,  10.4, CAL= 159.8,  11.3, ROT= 350.2, -11.3

2025-08-22T16:41:36.738Z,1755880896.738 [DAT](INFO): got valid direction response:
 16:41:36.6719 LVL= 31728, 32753, 29026, 32755, AGC= 67, IDX= 410, 0.39, 1.379,-0.226, 1.893, 1.373, PHS= 0.108,-1.554, 0.476, RAW= 159.8,  10.4, CAL= 159.8,  11.3, ROT= 350.2, -11.3

2025-08-22T16:41:36.739Z,1755880896.739 [DAT](INFO): DAT read: Bearing 165.4, -11.3 (Local)

2025-08-22T16:41:36.739Z,1755880896.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.4, -11.3 (Local)

2025-08-22T16:41:36.740Z,1755880896.740 [DAT](INFO): DAT read: Range 11 to 50 : 90.0 m  (Round-trip  120.1 ms) speed  0.4 m/s

2025-08-22T16:41:36.741Z,1755880896.741 [DAT](INFO): DAT read: user:215>

2025-08-22T16:41:36.742Z,1755880896.742 [DAT](INFO): DAT read: Tx time:16:41:37.7977

2025-08-22T16:41:36.742Z,1755880896.742 [DAT](INFO): Ping request sent.
2025-08-22T16:41:36.742Z,1755880896.742 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:36.743Z,1755880896.743 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:36.744Z,1755880896.744 [DAT](INFO): direction in FSK: [0.966305,-0.166910,0.195946]
2025-08-22T16:41:36.744Z,1755880896.744 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:36.744Z,1755880896.744 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:36.748Z,1755880896.748 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:36.748Z,1755880896.748 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:37.132Z,1755880897.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.000000 m,
      deltaT: 3.779908 s,
      deltaX: -1.800003 m,
      approachRate: -0.476203 m/s,
      rangeRepo size: 4

2025-08-22T16:41:37.138Z,1755880897.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.441948 m,
      bearing: 344.058466 deg,
      lat: 36.779439 deg,
      lon: -121.859609 deg,
      deltaT: 3.779908 s,
      deltaX: -1.789017 m,
      approachRate: -0.473296 m/s,
      posRepo size: 4

2025-08-22T16:41:37.139Z,1755880897.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:37.145Z,1755880897.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 88.064262 m,
      bearing: 346.523867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029626 deg/s,
      cmd heading: 353.972177 deg,
      new cmd heading: 353.948034 deg.

2025-08-22T16:41:37.146Z,1755880897.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177558 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:37.508Z,1755880897.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:37.511Z,1755880897.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 87.867706 m,
      bearing: 346.509689 deg,
      approach rate: -0.521254 m/s,
      LOS rate: -0.037683 deg/s,
      cmd heading: 353.948025 deg,
      new cmd heading: 353.919606 deg.

2025-08-22T16:41:37.512Z,1755880897.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177063 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:37.937Z,1755880897.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:37.940Z,1755880897.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 87.661598 m,
      bearing: 346.493847 deg,
      approach rate: -0.480941 m/s,
      LOS rate: -0.037054 deg/s,
      cmd heading: 353.919612 deg,
      new cmd heading: 353.887853 deg.

2025-08-22T16:41:37.941Z,1755880897.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176508 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:38.414Z,1755880898.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:38.416Z,1755880898.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 87.432487 m,
      bearing: 346.476176 deg,
      approach rate: -0.480746 m/s,
      LOS rate: -0.037176 deg/s,
      cmd heading: 353.887865 deg,
      new cmd heading: 353.852431 deg.

2025-08-22T16:41:38.418Z,1755880898.418 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:41:38.418Z,1755880898.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175890 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:38.939Z,1755880898.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:38.941Z,1755880898.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:38.943Z,1755880898.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 87.179024 m,
      bearing: 346.456130 deg,
      approach rate: -0.480729 m/s,
      LOS rate: -0.038131 deg/s,
      cmd heading: 353.852430 deg,
      new cmd heading: 353.812221 deg.

2025-08-22T16:41:38.944Z,1755880898.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175188 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:38.998Z,1755880898.998 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:38.998Z,1755880898.998 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:38.999Z,1755880898.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:39.251Z,1755880899.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508145
2025-08-22T16:41:39.422Z,1755880899.422 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:41:39.454Z,1755880899.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:39.457Z,1755880899.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 86.938721 m,
      bearing: 346.437016 deg,
      approach rate: -0.467655 m/s,
      LOS rate: -0.037301 deg/s,
      cmd heading: 353.812214 deg,
      new cmd heading: 353.773880 deg.

2025-08-22T16:41:39.458Z,1755880899.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174519 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:39.503Z,1755880899.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760900
2025-08-22T16:41:39.755Z,1755880899.755 [DAT](INFO): DAT read: Rx Time:16:41:40.3197

2025-08-22T16:41:39.755Z,1755880899.755 [DAT](INFO): Rx dataTimestamp_ set to:1755880899.754738
2025-08-22T16:41:39.756Z,1755880899.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013208
2025-08-22T16:41:39.897Z,1755880899.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.44 m.
2025-08-22T16:41:39.904Z,1755880899.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.441948 m,
      nav range: 86.722778 m,
      bearing: 346.421166 deg,
      approach rate: -0.488067 m/s,
      LOS rate: -0.035913 deg/s,
      cmd heading: 353.773883 deg,
      new cmd heading: 353.742104 deg.

2025-08-22T16:41:39.905Z,1755880899.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173965 target range: 89.441948 and range: 90.00 m.
2025-08-22T16:41:40.007Z,1755880900.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264894
2025-08-22T16:41:40.264Z,1755880900.264 [DAT](INFO): DAT read: 16:41:40.3197 LVL= 28624, 32753, 23858, 32755, AGC= 65, IDX= 419,-0.17, 2.448, 0.923, 3.007, 2.486, PHS= 0.064,-1.518, 0.477, RAW= 161.3,  10.7, CAL= 161.4,  11.8, ROT= 348.6, -11.8

2025-08-22T16:41:40.265Z,1755880900.265 [DAT](INFO): got valid direction response:
 16:41:40.3197 LVL= 28624, 32753, 23858, 32755, AGC= 65, IDX= 419,-0.17, 2.448, 0.923, 3.007, 2.486, PHS= 0.064,-1.518, 0.477, RAW= 161.3,  10.7, CAL= 161.4,  11.8, ROT= 348.6, -11.8

2025-08-22T16:41:40.266Z,1755880900.266 [DAT](INFO): DAT read: Bearing 166.3, -13.6 (Local)

2025-08-22T16:41:40.267Z,1755880900.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.3, -13.6 (Local)

2025-08-22T16:41:40.268Z,1755880900.268 [DAT](INFO): DAT read: Range 11 to 50 : 88.3 m  (Round-trip  117.8 ms) speed  0.4 m/s

2025-08-22T16:41:40.269Z,1755880900.269 [DAT](INFO): DAT read: user:216>

2025-08-22T16:41:40.278Z,1755880900.278 [DAT](INFO): DAT read: Tx time:16:41:41.4477

2025-08-22T16:41:40.278Z,1755880900.278 [DAT](INFO): Ping request sent.
2025-08-22T16:41:40.278Z,1755880900.278 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:40.278Z,1755880900.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:40.279Z,1755880900.279 [DAT](INFO): direction in FSK: [0.959556,-0.193480,0.204496]
2025-08-22T16:41:40.280Z,1755880900.280 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:40.280Z,1755880900.280 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:40.283Z,1755880900.283 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:40.283Z,1755880900.283 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:40.364Z,1755880900.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.300003 m,
      deltaT: 3.527815 s,
      deltaX: -1.699997 m,
      approachRate: -0.481884 m/s,
      rangeRepo size: 4

2025-08-22T16:41:40.374Z,1755880900.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.752441 m,
      bearing: 342.477129 deg,
      lat: 36.779437 deg,
      lon: -121.859637 deg,
      deltaT: 3.527815 s,
      deltaX: -1.689507 m,
      approachRate: -0.478910 m/s,
      posRepo size: 4

2025-08-22T16:41:40.375Z,1755880900.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:40.390Z,1755880900.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 86.922348 m,
      bearing: 344.755977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035913 deg/s,
      cmd heading: 353.742109 deg,
      new cmd heading: 353.708599 deg.

2025-08-22T16:41:40.391Z,1755880900.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173379 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:40.818Z,1755880900.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:40.843Z,1755880900.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 86.681297 m,
      bearing: 344.736782 deg,
      approach rate: -0.530697 m/s,
      LOS rate: -0.042376 deg/s,
      cmd heading: 353.708586 deg,
      new cmd heading: 353.670090 deg.

2025-08-22T16:41:40.844Z,1755880900.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172708 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:41.191Z,1755880901.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:41.210Z,1755880901.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:41.212Z,1755880901.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 86.503090 m,
      bearing: 344.722478 deg,
      approach rate: -0.474227 m/s,
      LOS rate: -0.038143 deg/s,
      cmd heading: 353.670091 deg,
      new cmd heading: 353.641424 deg.

2025-08-22T16:41:41.213Z,1755880901.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172207 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:41.267Z,1755880901.267 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:41.268Z,1755880901.268 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:41.268Z,1755880901.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:41.519Z,1755880901.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240336
2025-08-22T16:41:41.588Z,1755880901.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:41.591Z,1755880901.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 86.314552 m,
      bearing: 344.707304 deg,
      approach rate: -0.477787 m/s,
      LOS rate: -0.038539 deg/s,
      cmd heading: 353.641432 deg,
      new cmd heading: 353.611016 deg.

2025-08-22T16:41:41.592Z,1755880901.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171677 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:41.771Z,1755880901.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492296
2025-08-22T16:41:42.009Z,1755880902.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:42.012Z,1755880902.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 86.112022 m,
      bearing: 344.691356 deg,
      approach rate: -0.481213 m/s,
      LOS rate: -0.037982 deg/s,
      cmd heading: 353.611024 deg,
      new cmd heading: 353.579053 deg.

2025-08-22T16:41:42.013Z,1755880902.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171119 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:42.031Z,1755880902.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752589
2025-08-22T16:41:42.286Z,1755880902.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008193
2025-08-22T16:41:42.396Z,1755880902.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:42.399Z,1755880902.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 85.926064 m,
      bearing: 344.676651 deg,
      approach rate: -0.480634 m/s,
      LOS rate: -0.038089 deg/s,
      cmd heading: 353.579058 deg,
      new cmd heading: 353.549585 deg.

2025-08-22T16:41:42.400Z,1755880902.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170604 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:42.534Z,1755880902.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256247
2025-08-22T16:41:42.787Z,1755880902.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508902
2025-08-22T16:41:42.859Z,1755880902.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:42.870Z,1755880902.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 85.712364 m,
      bearing: 344.659637 deg,
      approach rate: -0.461478 m/s,
      LOS rate: -0.036831 deg/s,
      cmd heading: 353.549579 deg,
      new cmd heading: 353.515468 deg.

2025-08-22T16:41:42.871Z,1755880902.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170009 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:43.038Z,1755880903.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760256
2025-08-22T16:41:43.221Z,1755880903.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:43.224Z,1755880903.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:43.242Z,1755880903.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 85.532211 m,
      bearing: 344.645230 deg,
      approach rate: -0.493893 m/s,
      LOS rate: -0.039580 deg/s,
      cmd heading: 353.515456 deg,
      new cmd heading: 353.486581 deg.

2025-08-22T16:41:43.243Z,1755880903.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169505 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:43.291Z,1755880903.291 [DAT](INFO): DAT read: Rx Time:16:41:43.9673

2025-08-22T16:41:43.291Z,1755880903.291 [DAT](INFO): Rx dataTimestamp_ set to:1755880903.291170
2025-08-22T16:41:43.292Z,1755880903.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013774
2025-08-22T16:41:43.543Z,1755880903.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264659
2025-08-22T16:41:43.613Z,1755880903.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.75 m.
2025-08-22T16:41:43.616Z,1755880903.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.752441 m,
      nav range: 85.335297 m,
      bearing: 344.629551 deg,
      approach rate: -0.506062 m/s,
      LOS rate: -0.040388 deg/s,
      cmd heading: 353.486578 deg,
      new cmd heading: 353.455146 deg.

2025-08-22T16:41:43.617Z,1755880903.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168956 target range: 87.752441 and range: 88.30 m.
2025-08-22T16:41:43.795Z,1755880903.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516450
2025-08-22T16:41:44.052Z,1755880904.052 [DAT](INFO): DAT read: 16:41:43.9673 LVL= 24624, 32497, 23666, 32755, AGC= 66, IDX= 411, 0.05, 1.879, 0.339, 2.445, 1.906, PHS= 0.075,-1.522, 0.495, RAW= 161.4,  10.3, CAL= 161.4,  11.3, ROT= 348.6, -11.3

2025-08-22T16:41:44.053Z,1755880904.053 [DAT](INFO): got valid direction response:
 16:41:43.9673 LVL= 24624, 32497, 23666, 32755, AGC= 66, IDX= 411, 0.05, 1.879, 0.339, 2.445, 1.906, PHS= 0.075,-1.522, 0.495, RAW= 161.4,  10.3, CAL= 161.4,  11.3, ROT= 348.6, -11.3

2025-08-22T16:41:44.054Z,1755880904.054 [DAT](INFO): DAT read: Bearing 165.7, -14.0 (Local)

2025-08-22T16:41:44.055Z,1755880904.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.7, -14.0 (Local)

2025-08-22T16:41:44.056Z,1755880904.056 [DAT](INFO): DAT read: Range 11 to 50 : 86.6 m  (Round-trip  115.5 ms) speed  0.4 m/s

2025-08-22T16:41:44.057Z,1755880904.057 [DAT](INFO): DAT read: user:217>

2025-08-22T16:41:44.057Z,1755880904.057 [DAT](INFO): DAT read: Tx time:16:41:45.0977

2025-08-22T16:41:44.058Z,1755880904.058 [DAT](INFO): Ping request sent.
2025-08-22T16:41:44.058Z,1755880904.058 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:44.058Z,1755880904.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:44.059Z,1755880904.059 [DAT](INFO): direction in FSK: [0.961268,-0.193825,0.195946]
2025-08-22T16:41:44.059Z,1755880904.059 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:44.059Z,1755880904.059 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:44.063Z,1755880904.063 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:44.064Z,1755880904.064 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:44.082Z,1755880904.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.599998 m,
      deltaT: 3.787816 s,
      deltaX: -1.700005 m,
      approachRate: -0.448809 m/s,
      rangeRepo size: 4

2025-08-22T16:41:44.084Z,1755880904.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.063072 m,
      bearing: 342.408988 deg,
      lat: 36.779434 deg,
      lon: -121.859651 deg,
      deltaT: 3.787816 s,
      deltaX: -1.689369 m,
      approachRate: -0.446001 m/s,
      posRepo size: 4

2025-08-22T16:41:44.085Z,1755880904.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:44.121Z,1755880904.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 85.147339 m,
      bearing: 343.741097 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040388 deg/s,
      cmd heading: 353.455159 deg,
      new cmd heading: 353.417338 deg.

2025-08-22T16:41:44.134Z,1755880904.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168296 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:44.497Z,1755880904.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:44.499Z,1755880904.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 84.941910 m,
      bearing: 343.727685 deg,
      approach rate: -0.494358 m/s,
      LOS rate: -0.032356 deg/s,
      cmd heading: 353.417347 deg,
      new cmd heading: 353.390456 deg.

2025-08-22T16:41:44.500Z,1755880904.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167827 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:44.942Z,1755880904.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:44.945Z,1755880904.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 84.732407 m,
      bearing: 343.717197 deg,
      approach rate: -0.470515 m/s,
      LOS rate: -0.023611 deg/s,
      cmd heading: 353.390463 deg,
      new cmd heading: 353.369437 deg.

2025-08-22T16:41:44.946Z,1755880904.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167460 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:45.296Z,1755880905.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:45.299Z,1755880905.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:45.304Z,1755880905.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 84.565239 m,
      bearing: 343.708884 deg,
      approach rate: -0.469046 m/s,
      LOS rate: -0.023370 deg/s,
      cmd heading: 353.369426 deg,
      new cmd heading: 353.352768 deg.

2025-08-22T16:41:45.308Z,1755880905.308 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:45.308Z,1755880905.308 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:45.308Z,1755880905.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:45.313Z,1755880905.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167169 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:45.559Z,1755880905.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501108
2025-08-22T16:41:45.701Z,1755880905.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:45.704Z,1755880905.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 84.375710 m,
      bearing: 343.699519 deg,
      approach rate: -0.470613 m/s,
      LOS rate: -0.023308 deg/s,
      cmd heading: 353.352761 deg,
      new cmd heading: 353.333987 deg.

2025-08-22T16:41:45.705Z,1755880905.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166842 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:45.812Z,1755880905.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754277
2025-08-22T16:41:46.062Z,1755880906.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004684
2025-08-22T16:41:46.140Z,1755880906.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:46.147Z,1755880906.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 84.183861 m,
      bearing: 343.687334 deg,
      approach rate: -0.437366 m/s,
      LOS rate: -0.027842 deg/s,
      cmd heading: 353.333991 deg,
      new cmd heading: 353.309566 deg.

2025-08-22T16:41:46.148Z,1755880906.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166415 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:46.316Z,1755880906.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257668
2025-08-22T16:41:46.531Z,1755880906.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:46.534Z,1755880906.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 83.997704 m,
      bearing: 343.675457 deg,
      approach rate: -0.475029 m/s,
      LOS rate: -0.030374 deg/s,
      cmd heading: 353.309567 deg,
      new cmd heading: 353.285760 deg.

2025-08-22T16:41:46.535Z,1755880906.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166000 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:46.567Z,1755880906.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508938
2025-08-22T16:41:46.821Z,1755880906.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762876
2025-08-22T16:41:46.968Z,1755880906.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:46.975Z,1755880906.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 83.789124 m,
      bearing: 343.661347 deg,
      approach rate: -0.477809 m/s,
      LOS rate: -0.032403 deg/s,
      cmd heading: 353.285770 deg,
      new cmd heading: 353.257480 deg.

2025-08-22T16:41:46.976Z,1755880906.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165506 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:47.071Z,1755880907.071 [DAT](INFO): DAT read: Rx Time:16:41:47.6150

2025-08-22T16:41:47.071Z,1755880907.071 [DAT](INFO): Rx dataTimestamp_ set to:1755880907.070703
2025-08-22T16:41:47.071Z,1755880907.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013722
2025-08-22T16:41:47.326Z,1755880907.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267852
2025-08-22T16:41:47.335Z,1755880907.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:47.337Z,1755880907.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.06 m.
2025-08-22T16:41:47.340Z,1755880907.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.063072 m,
      nav range: 83.612228 m,
      bearing: 343.649479 deg,
      approach rate: -0.479683 m/s,
      LOS rate: -0.032250 deg/s,
      cmd heading: 353.257493 deg,
      new cmd heading: 353.233707 deg.

2025-08-22T16:41:47.340Z,1755880907.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165091 target range: 86.063072 and range: 86.60 m.
2025-08-22T16:41:47.583Z,1755880907.583 [DAT](INFO): DAT read: 16:41:47.6150 LVL= 31040, 30961, 23490, 32755, AGC= 67, IDX= 419,-0.12,-1.244,-2.792,-0.634,-1.196, PHS= 0.055,-1.550, 0.519, RAW= 162.3,  10.4, CAL= 162.3,  11.4, ROT= 347.7, -11.4

2025-08-22T16:41:47.584Z,1755880907.584 [DAT](INFO): got valid direction response:
 16:41:47.6150 LVL= 31040, 30961, 23490, 32755, AGC= 67, IDX= 419,-0.12,-1.244,-2.792,-0.634,-1.196, PHS= 0.055,-1.550, 0.519, RAW= 162.3,  10.4, CAL= 162.3,  11.4, ROT= 347.7, -11.4

2025-08-22T16:41:47.586Z,1755880907.586 [DAT](INFO): DAT read: Bearing 165.6, -15.3 (Local)

2025-08-22T16:41:47.586Z,1755880907.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.6, -15.3 (Local)

2025-08-22T16:41:47.588Z,1755880907.588 [DAT](INFO): DAT read: Range 11 to 50 : 84.8 m  (Round-trip  113.1 ms) speed  0.4 m/s

2025-08-22T16:41:47.589Z,1755880907.589 [DAT](INFO): DAT read: user:218>

2025-08-22T16:41:47.591Z,1755880907.591 [DAT](INFO): DAT read: Tx time:16:41:48.7477

2025-08-22T16:41:47.591Z,1755880907.591 [DAT](INFO): Ping request sent.
2025-08-22T16:41:47.591Z,1755880907.591 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:47.592Z,1755880907.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:47.593Z,1755880907.593 [DAT](INFO): direction in FSK: [0.957770,-0.208827,0.197657]
2025-08-22T16:41:47.593Z,1755880907.593 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:47.605Z,1755880907.605 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:47.627Z,1755880907.627 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:47.628Z,1755880907.628 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:47.832Z,1755880907.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.800003 m,
      deltaT: 3.530127 s,
      deltaX: -1.799995 m,
      approachRate: -0.509895 m/s,
      rangeRepo size: 4

2025-08-22T16:41:47.838Z,1755880907.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.274269 m,
      bearing: 341.093429 deg,
      lat: 36.779430 deg,
      lon: -121.859673 deg,
      deltaT: 3.530127 s,
      deltaX: -1.788803 m,
      approachRate: -0.506725 m/s,
      posRepo size: 4

2025-08-22T16:41:47.839Z,1755880907.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:47.846Z,1755880907.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 83.604042 m,
      bearing: 342.276291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032250 deg/s,
      cmd heading: 353.233697 deg,
      new cmd heading: 353.201794 deg.

2025-08-22T16:41:47.847Z,1755880907.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164534 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:48.215Z,1755880908.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:48.234Z,1755880908.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 83.380943 m,
      bearing: 342.255294 deg,
      approach rate: -0.581873 m/s,
      LOS rate: -0.054908 deg/s,
      cmd heading: 353.201786 deg,
      new cmd heading: 353.159681 deg.

2025-08-22T16:41:48.235Z,1755880908.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163799 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:48.586Z,1755880908.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:48.589Z,1755880908.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 83.200684 m,
      bearing: 342.238282 deg,
      approach rate: -0.485375 m/s,
      LOS rate: -0.045906 deg/s,
      cmd heading: 353.159685 deg,
      new cmd heading: 353.125587 deg.

2025-08-22T16:41:48.590Z,1755880908.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163204 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:49.020Z,1755880909.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:49.022Z,1755880909.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.993820 m,
      bearing: 342.216614 deg,
      approach rate: -0.477380 m/s,
      LOS rate: -0.050129 deg/s,
      cmd heading: 353.125589 deg,
      new cmd heading: 353.082143 deg.

2025-08-22T16:41:49.023Z,1755880909.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162446 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:49.391Z,1755880909.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:49.393Z,1755880909.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:49.396Z,1755880909.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.816406 m,
      bearing: 342.197989 deg,
      approach rate: -0.475527 m/s,
      LOS rate: -0.050029 deg/s,
      cmd heading: 353.082149 deg,
      new cmd heading: 353.044818 deg.

2025-08-22T16:41:49.396Z,1755880909.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161795 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:49.595Z,1755880909.595 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:49.595Z,1755880909.595 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:49.595Z,1755880909.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:49.850Z,1755880909.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257863
2025-08-22T16:41:49.867Z,1755880909.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:49.869Z,1755880909.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.599869 m,
      bearing: 342.175300 deg,
      approach rate: -0.456821 m/s,
      LOS rate: -0.047990 deg/s,
      cmd heading: 353.044828 deg,
      new cmd heading: 352.999333 deg.

2025-08-22T16:41:49.874Z,1755880909.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161001 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:50.099Z,1755880910.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507690
2025-08-22T16:41:50.245Z,1755880910.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:50.248Z,1755880910.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.411377 m,
      bearing: 342.156680 deg,
      approach rate: -0.498551 m/s,
      LOS rate: -0.049362 deg/s,
      cmd heading: 352.999339 deg,
      new cmd heading: 352.962014 deg.

2025-08-22T16:41:50.248Z,1755880910.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160349 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:50.351Z,1755880910.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760266
2025-08-22T16:41:50.603Z,1755880910.603 [DAT](INFO): DAT read: Rx Time:16:41:51.2626

2025-08-22T16:41:50.603Z,1755880910.603 [DAT](INFO): Rx dataTimestamp_ set to:1755880910.602834
2025-08-22T16:41:50.604Z,1755880910.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012481
2025-08-22T16:41:50.674Z,1755880910.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:50.676Z,1755880910.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.208153 m,
      bearing: 342.136659 deg,
      approach rate: -0.473925 m/s,
      LOS rate: -0.046805 deg/s,
      cmd heading: 352.962019 deg,
      new cmd heading: 352.921878 deg.

2025-08-22T16:41:50.685Z,1755880910.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159649 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:50.858Z,1755880910.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265804
2025-08-22T16:41:51.057Z,1755880911.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.27 m.
2025-08-22T16:41:51.060Z,1755880911.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.274269 m,
      nav range: 82.023750 m,
      bearing: 342.111996 deg,
      approach rate: -0.480931 m/s,
      LOS rate: -0.064467 deg/s,
      cmd heading: 352.921885 deg,
      new cmd heading: 352.872448 deg.

2025-08-22T16:41:51.061Z,1755880911.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158786 target range: 84.274269 and range: 84.80 m.
2025-08-22T16:41:51.106Z,1755880911.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515266
2025-08-22T16:41:51.364Z,1755880911.364 [DAT](INFO): DAT read: 16:41:51.2626 LVL= 28464, 32753, 21778, 32755, AGC= 68, IDX= 411,-0.01, 1.715, 0.175, 2.332, 1.760, PHS= 0.057,-1.540, 0.529, RAW= 162.6,  10.2, CAL= 162.5,  11.1, ROT= 347.5, -11.1

2025-08-22T16:41:51.365Z,1755880911.365 [DAT](INFO): got valid direction response:
 16:41:51.2626 LVL= 28464, 32753, 21778, 32755, AGC= 68, IDX= 411,-0.01, 1.715, 0.175, 2.332, 1.760, PHS= 0.057,-1.540, 0.529, RAW= 162.6,  10.2, CAL= 162.5,  11.1, ROT= 347.5, -11.1

2025-08-22T16:41:51.366Z,1755880911.366 [DAT](INFO): DAT read: Bearing 165.2, -15.5 (Local)

2025-08-22T16:41:51.367Z,1755880911.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.2, -15.5 (Local)

2025-08-22T16:41:51.368Z,1755880911.368 [DAT](INFO): DAT read: Range 11 to 50 : 83.1 m  (Round-trip  110.8 ms) speed  0.4 m/s

2025-08-22T16:41:51.369Z,1755880911.369 [DAT](INFO): DAT read: user:219>

2025-08-22T16:41:51.391Z,1755880911.391 [DAT](INFO): DAT read: Tx time:16:41:52.3477

2025-08-22T16:41:51.391Z,1755880911.391 [DAT](INFO): Ping request sent.
2025-08-22T16:41:51.391Z,1755880911.391 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:51.392Z,1755880911.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:51.394Z,1755880911.394 [DAT](INFO): direction in FSK: [0.958032,-0.212391,0.192522]
2025-08-22T16:41:51.394Z,1755880911.394 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:51.394Z,1755880911.394 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:51.411Z,1755880911.411 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:51.411Z,1755880911.411 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:51.633Z,1755880911.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.099998 m,
      deltaT: 3.781933 s,
      deltaX: -1.700005 m,
      approachRate: -0.449507 m/s,
      rangeRepo size: 4

2025-08-22T16:41:51.655Z,1755880911.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.584969 m,
      bearing: 340.605722 deg,
      lat: 36.779427 deg,
      lon: -121.859674 deg,
      deltaT: 3.781933 s,
      deltaX: -1.689301 m,
      approachRate: -0.446676 m/s,
      posRepo size: 4

2025-08-22T16:41:51.656Z,1755880911.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:51.663Z,1755880911.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 81.452126 m,
      bearing: 341.949068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064467 deg/s,
      cmd heading: 352.872434 deg,
      new cmd heading: 352.798225 deg.

2025-08-22T16:41:51.664Z,1755880911.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157491 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:52.055Z,1755880912.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:52.057Z,1755880912.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:52.060Z,1755880912.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 81.244286 m,
      bearing: 341.919938 deg,
      approach rate: -0.489810 m/s,
      LOS rate: -0.068826 deg/s,
      cmd heading: 352.798231 deg,
      new cmd heading: 352.739821 deg.

2025-08-22T16:41:52.061Z,1755880912.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156471 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:52.114Z,1755880912.114 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:52.115Z,1755880912.115 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:52.115Z,1755880912.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:52.366Z,1755880912.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974960
2025-08-22T16:41:52.517Z,1755880912.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:52.519Z,1755880912.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 81.028488 m,
      bearing: 341.889549 deg,
      approach rate: -0.469410 m/s,
      LOS rate: -0.066278 deg/s,
      cmd heading: 352.739819 deg,
      new cmd heading: 352.678881 deg.

2025-08-22T16:41:52.520Z,1755880912.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155408 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:52.618Z,1755880912.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226947
2025-08-22T16:41:52.873Z,1755880912.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480697
2025-08-22T16:41:52.983Z,1755880912.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:53.002Z,1755880913.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 80.797859 m,
      bearing: 341.857767 deg,
      approach rate: -0.494574 m/s,
      LOS rate: -0.068352 deg/s,
      cmd heading: 352.678894 deg,
      new cmd heading: 352.615147 deg.

2025-08-22T16:41:53.003Z,1755880913.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154295 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:53.123Z,1755880913.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731104
2025-08-22T16:41:53.354Z,1755880913.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:53.357Z,1755880913.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 80.620598 m,
      bearing: 341.833212 deg,
      approach rate: -0.478272 m/s,
      LOS rate: -0.066396 deg/s,
      cmd heading: 352.615155 deg,
      new cmd heading: 352.565938 deg.

2025-08-22T16:41:53.358Z,1755880913.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153437 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:53.376Z,1755880913.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984644
2025-08-22T16:41:53.627Z,1755880913.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235058
2025-08-22T16:41:53.732Z,1755880913.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:53.735Z,1755880913.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 80.442009 m,
      bearing: 341.808429 deg,
      approach rate: -0.472926 m/s,
      LOS rate: -0.065776 deg/s,
      cmd heading: 352.565950 deg,
      new cmd heading: 352.516273 deg.

2025-08-22T16:41:53.736Z,1755880913.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152570 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:53.882Z,1755880913.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489635
2025-08-22T16:41:54.132Z,1755880914.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740787
2025-08-22T16:41:54.171Z,1755880914.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:54.174Z,1755880914.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:54.179Z,1755880914.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 80.225998 m,
      bearing: 341.779913 deg,
      approach rate: -0.488222 m/s,
      LOS rate: -0.064623 deg/s,
      cmd heading: 352.516281 deg,
      new cmd heading: 352.459097 deg.

2025-08-22T16:41:54.180Z,1755880914.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151572 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:54.383Z,1755880914.383 [DAT](INFO): DAT read: Rx Time:16:41:54.8603

2025-08-22T16:41:54.383Z,1755880914.383 [DAT](INFO): Rx dataTimestamp_ set to:1755880914.382871
2025-08-22T16:41:54.384Z,1755880914.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992188
2025-08-22T16:41:54.552Z,1755880914.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.58 m.
2025-08-22T16:41:54.555Z,1755880914.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.584969 m,
      nav range: 80.046753 m,
      bearing: 341.756191 deg,
      approach rate: -0.473719 m/s,
      LOS rate: -0.062835 deg/s,
      cmd heading: 352.459099 deg,
      new cmd heading: 352.411548 deg.

2025-08-22T16:41:54.556Z,1755880914.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150742 target range: 82.584969 and range: 83.10 m.
2025-08-22T16:41:54.635Z,1755880914.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243404
2025-08-22T16:41:54.905Z,1755880914.905 [DAT](INFO): DAT read: 16:41:54.8602 LVL= 28144, 32753, 24402, 32755, AGC= 66, IDX= 420,-0.50,-1.416,-2.885,-0.823,-1.357, PHS= 0.043,-1.483, 0.490, RAW= 162.5,  10.6, CAL= 162.5,  11.7, ROT= 347.5, -11.7

2025-08-22T16:41:54.939Z,1755880914.939 [DAT](INFO): got valid direction response:
 16:41:54.8602 LVL= 28144, 32753, 24402, 32755, AGC= 66, IDX= 420,-0.50,-1.416,-2.885,-0.823,-1.357, PHS= 0.043,-1.483, 0.490, RAW= 162.5,  10.6, CAL= 162.5,  11.7, ROT= 347.5, -11.7

2025-08-22T16:41:54.941Z,1755880914.941 [DAT](INFO): DAT read: Bearing 165.4, -15.5 (Local)

2025-08-22T16:41:54.941Z,1755880914.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.4, -15.5 (Local)

2025-08-22T16:41:54.963Z,1755880914.963 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.4 ms) speed  0.4 m/s

2025-08-22T16:41:54.964Z,1755880914.964 [DAT](INFO): DAT read: user:220>

2025-08-22T16:41:54.964Z,1755880914.964 [DAT](INFO): DAT read: Tx time:16:41:55.9476

2025-08-22T16:41:54.965Z,1755880914.965 [DAT](INFO): Ping request sent.
2025-08-22T16:41:54.965Z,1755880914.965 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:54.965Z,1755880914.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:54.974Z,1755880914.974 [DAT](INFO): direction in FSK: [0.956011,-0.211943,0.202787]
2025-08-22T16:41:54.974Z,1755880914.974 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:54.975Z,1755880914.975 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:54.990Z,1755880914.990 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:54.990Z,1755880914.990 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:55.132Z,1755880915.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.300003 m,
      deltaT: 3.529469 s,
      deltaX: -1.799995 m,
      approachRate: -0.509990 m/s,
      rangeRepo size: 4

2025-08-22T16:41:55.139Z,1755880915.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.796234 m,
      bearing: 340.369363 deg,
      lat: 36.779427 deg,
      lon: -121.859691 deg,
      deltaT: 3.529469 s,
      deltaX: -1.788734 m,
      approachRate: -0.506800 m/s,
      posRepo size: 4

2025-08-22T16:41:55.140Z,1755880915.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:55.146Z,1755880915.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 80.202209 m,
      bearing: 340.650666 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062835 deg/s,
      cmd heading: 352.411561 deg,
      new cmd heading: 352.338792 deg.

2025-08-22T16:41:55.147Z,1755880915.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149472 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:55.497Z,1755880915.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:55.500Z,1755880915.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 80.023514 m,
      bearing: 340.628533 deg,
      approach rate: -0.488306 m/s,
      LOS rate: -0.060615 deg/s,
      cmd heading: 352.338805 deg,
      new cmd heading: 352.294441 deg.

2025-08-22T16:41:55.501Z,1755880915.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148698 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:55.975Z,1755880915.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:55.982Z,1755880915.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 79.825829 m,
      bearing: 340.604032 deg,
      approach rate: -0.413349 m/s,
      LOS rate: -0.051357 deg/s,
      cmd heading: 352.294436 deg,
      new cmd heading: 352.245313 deg.

2025-08-22T16:41:55.986Z,1755880915.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147840 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:56.371Z,1755880916.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:56.378Z,1755880916.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:56.381Z,1755880916.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 79.613762 m,
      bearing: 340.580369 deg,
      approach rate: -0.532310 m/s,
      LOS rate: -0.059556 deg/s,
      cmd heading: 352.245314 deg,
      new cmd heading: 352.197860 deg.

2025-08-22T16:41:56.398Z,1755880916.398 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:41:56.398Z,1755880916.398 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:41:56.399Z,1755880916.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:41:56.406Z,1755880916.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147012 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:56.652Z,1755880916.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687400
2025-08-22T16:41:56.742Z,1755880916.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:56.745Z,1755880916.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 79.423309 m,
      bearing: 340.559114 deg,
      approach rate: -0.517222 m/s,
      LOS rate: -0.057862 deg/s,
      cmd heading: 352.197858 deg,
      new cmd heading: 352.155245 deg.

2025-08-22T16:41:56.746Z,1755880916.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146268 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:56.903Z,1755880916.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937815
2025-08-22T16:41:57.156Z,1755880917.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191366
2025-08-22T16:41:57.229Z,1755880917.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:57.232Z,1755880917.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 79.201920 m,
      bearing: 340.536027 deg,
      approach rate: -0.454304 m/s,
      LOS rate: -0.047508 deg/s,
      cmd heading: 352.155237 deg,
      new cmd heading: 352.108935 deg.

2025-08-22T16:41:57.233Z,1755880917.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145460 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:57.407Z,1755880917.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441830
2025-08-22T16:41:57.553Z,1755880917.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:57.556Z,1755880917.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 79.045212 m,
      bearing: 340.519719 deg,
      approach rate: -0.483884 m/s,
      LOS rate: -0.050454 deg/s,
      cmd heading: 352.108929 deg,
      new cmd heading: 352.076249 deg.

2025-08-22T16:41:57.557Z,1755880917.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144890 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:57.659Z,1755880917.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694305
2025-08-22T16:41:57.913Z,1755880917.913 [DAT](INFO): DAT read: Rx Time:16:41:58.4580

2025-08-22T16:41:57.915Z,1755880917.915 [DAT](INFO): Rx dataTimestamp_ set to:1755880917.913769
2025-08-22T16:41:57.917Z,1755880917.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951336
2025-08-22T16:41:58.059Z,1755880918.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:58.062Z,1755880918.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 78.805817 m,
      bearing: 340.495620 deg,
      approach rate: -0.472951 m/s,
      LOS rate: -0.047756 deg/s,
      cmd heading: 352.076253 deg,
      new cmd heading: 352.027907 deg.

2025-08-22T16:41:58.063Z,1755880918.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144046 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:58.163Z,1755880918.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.198610
2025-08-22T16:41:58.402Z,1755880918.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:41:58.404Z,1755880918.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m.
2025-08-22T16:41:58.420Z,1755880918.420 [DAT](INFO): DAT read: 16:41:58.4580 LVL= 28000, 31441, 24530, 32755, AGC= 67, IDX= 412, 0.43,-0.633,-2.207,-0.008,-0.626, PHS= 0.095,-1.536, 0.575, RAW= 162.5,   9.1, CAL= 162.3,   9.6, ROT= 347.7,  -9.6

2025-08-22T16:41:58.421Z,1755880918.421 [DAT](INFO): got valid direction response:
 16:41:58.4580 LVL= 28000, 31441, 24530, 32755, AGC= 67, IDX= 412, 0.43,-0.633,-2.207,-0.008,-0.626, PHS= 0.095,-1.536, 0.575, RAW= 162.5,   9.1, CAL= 162.3,   9.6, ROT= 347.7,  -9.6

2025-08-22T16:41:58.422Z,1755880918.422 [DAT](INFO): DAT read: Bearing 162.8, -15.2 (Local)

2025-08-22T16:41:58.423Z,1755880918.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.8, -15.2 (Local)

2025-08-22T16:41:58.424Z,1755880918.424 [DAT](INFO): DAT read: Range 11 to 50 : 79.6 m  (Round-trip  106.2 ms) speed  0.4 m/s

2025-08-22T16:41:58.425Z,1755880918.425 [DAT](INFO): DAT read: user:221>

2025-08-22T16:41:58.425Z,1755880918.425 [DAT](INFO): DAT read: Tx time:16:41:59.5476

2025-08-22T16:41:58.426Z,1755880918.426 [DAT](INFO): Ping request sent.
2025-08-22T16:41:58.426Z,1755880918.426 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:41:58.426Z,1755880918.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:41:58.427Z,1755880918.427 [DAT](INFO): direction in FSK: [0.963363,-0.210047,0.166769]
2025-08-22T16:41:58.427Z,1755880918.427 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:58.428Z,1755880918.428 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:58.435Z,1755880918.435 [DAT](INFO): publishing transmit ping time
2025-08-22T16:41:58.435Z,1755880918.435 [DAT](INFO): publishing direction and range info
2025-08-22T16:41:58.439Z,1755880918.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.796234 m,
      nav range: 78.642479 m,
      bearing: 340.479236 deg,
      approach rate: -0.473831 m/s,
      LOS rate: -0.047628 deg/s,
      cmd heading: 352.027895 deg,
      new cmd heading: 351.995059 deg.

2025-08-22T16:41:58.441Z,1755880918.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143473 target range: 80.796234 and range: 81.30 m.
2025-08-22T16:41:58.820Z,1755880918.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.599998 m,
      deltaT: 3.526504 s,
      deltaX: -1.700005 m,
      approachRate: -0.482065 m/s,
      rangeRepo size: 4

2025-08-22T16:41:58.826Z,1755880918.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.106720 m,
      bearing: 340.337329 deg,
      lat: 36.779427 deg,
      lon: -121.859694 deg,
      deltaT: 3.526504 s,
      deltaX: -1.689514 m,
      approachRate: -0.479090 m/s,
      posRepo size: 4

2025-08-22T16:41:58.827Z,1755880918.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:41:58.833Z,1755880918.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 78.549194 m,
      bearing: 340.290027 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047628 deg/s,
      cmd heading: 351.995056 deg,
      new cmd heading: 351.955495 deg.

2025-08-22T16:41:58.834Z,1755880918.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142782 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:41:59.242Z,1755880919.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:41:59.245Z,1755880919.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 78.344757 m,
      bearing: 340.270677 deg,
      approach rate: -0.483782 m/s,
      LOS rate: -0.045911 deg/s,
      cmd heading: 351.955495 deg,
      new cmd heading: 351.916693 deg.

2025-08-22T16:41:59.246Z,1755880919.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142105 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:41:59.600Z,1755880919.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:41:59.607Z,1755880919.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 78.174965 m,
      bearing: 340.254589 deg,
      approach rate: -0.473753 m/s,
      LOS rate: -0.044986 deg/s,
      cmd heading: 351.916700 deg,
      new cmd heading: 351.884454 deg.

2025-08-22T16:41:59.608Z,1755880919.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141542 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:00.083Z,1755880920.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:00.093Z,1755880920.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 77.950981 m,
      bearing: 340.232304 deg,
      approach rate: -0.464056 m/s,
      LOS rate: -0.046302 deg/s,
      cmd heading: 351.884461 deg,
      new cmd heading: 351.839765 deg.

2025-08-22T16:42:00.094Z,1755880920.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140762 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:00.416Z,1755880920.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:00.418Z,1755880920.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:00.420Z,1755880920.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 77.787857 m,
      bearing: 340.216131 deg,
      approach rate: -0.487233 m/s,
      LOS rate: -0.048409 deg/s,
      cmd heading: 351.839764 deg,
      new cmd heading: 351.807350 deg.

2025-08-22T16:42:00.422Z,1755880920.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140197 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:00.430Z,1755880920.430 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:00.430Z,1755880920.430 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:00.431Z,1755880920.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:00.682Z,1755880920.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256611
2025-08-22T16:42:00.836Z,1755880920.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:00.839Z,1755880920.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 77.592636 m,
      bearing: 340.196820 deg,
      approach rate: -0.466051 m/s,
      LOS rate: -0.046219 deg/s,
      cmd heading: 351.807362 deg,
      new cmd heading: 351.768642 deg.

2025-08-22T16:42:00.840Z,1755880920.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139521 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:00.939Z,1755880920.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512264
2025-08-22T16:42:01.187Z,1755880921.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761290
2025-08-22T16:42:01.267Z,1755880921.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:01.282Z,1755880921.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 77.396591 m,
      bearing: 340.176772 deg,
      approach rate: -0.454917 m/s,
      LOS rate: -0.046637 deg/s,
      cmd heading: 351.768649 deg,
      new cmd heading: 351.728452 deg.

2025-08-22T16:42:01.284Z,1755880921.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138820 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:01.439Z,1755880921.439 [DAT](INFO): DAT read: Rx Time:16:42:02.0555

2025-08-22T16:42:01.439Z,1755880921.439 [DAT](INFO): Rx dataTimestamp_ set to:1755880921.438689
2025-08-22T16:42:01.439Z,1755880921.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013643
2025-08-22T16:42:01.647Z,1755880921.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:01.650Z,1755880921.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 77.205490 m,
      bearing: 340.157301 deg,
      approach rate: -0.503478 m/s,
      LOS rate: -0.051425 deg/s,
      cmd heading: 351.728460 deg,
      new cmd heading: 351.689422 deg.

2025-08-22T16:42:01.651Z,1755880921.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138138 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:01.691Z,1755880921.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264742
2025-08-22T16:42:01.946Z,1755880921.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519370
2025-08-22T16:42:02.110Z,1755880922.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.11 m.
2025-08-22T16:42:02.112Z,1755880922.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.106720 m,
      nav range: 76.991211 m,
      bearing: 340.134082 deg,
      approach rate: -0.463379 m/s,
      LOS rate: -0.050351 deg/s,
      cmd heading: 351.689418 deg,
      new cmd heading: 351.642851 deg.

2025-08-22T16:42:02.113Z,1755880922.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137326 target range: 79.106720 and range: 79.60 m.
2025-08-22T16:42:02.203Z,1755880922.203 [DAT](INFO): DAT read: 16:42:02.0555 LVL= 28704, 32753, 28658, 32755, AGC= 66, IDX= 419, 0.26, 1.983, 0.450, 2.563, 1.997, PHS= 0.088,-1.502, 0.523, RAW= 161.8,   9.7, CAL= 161.7,  10.4, ROT= 348.3, -10.4

2025-08-22T16:42:02.204Z,1755880922.204 [DAT](INFO): got valid direction response:
 16:42:02.0555 LVL= 28704, 32753, 28658, 32755, AGC= 66, IDX= 419, 0.26, 1.983, 0.450, 2.563, 1.997, PHS= 0.088,-1.502, 0.523, RAW= 161.8,   9.7, CAL= 161.7,  10.4, ROT= 348.3, -10.4

2025-08-22T16:42:02.205Z,1755880922.205 [DAT](INFO): DAT read: Bearing 163.4, -14.2 (Local)

2025-08-22T16:42:02.206Z,1755880922.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.4, -14.2 (Local)

2025-08-22T16:42:02.207Z,1755880922.207 [DAT](INFO): DAT read: Range 11 to 50 : 77.8 m  (Round-trip  103.8 ms) speed  0.4 m/s

2025-08-22T16:42:02.208Z,1755880922.208 [DAT](INFO): DAT read: user:222>

2025-08-22T16:42:02.208Z,1755880922.208 [DAT](INFO): DAT read: Tx time:16:42:03.1476

2025-08-22T16:42:02.209Z,1755880922.209 [DAT](INFO): Ping request sent.
2025-08-22T16:42:02.209Z,1755880922.209 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:02.209Z,1755880922.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:02.211Z,1755880922.211 [DAT](INFO): direction in FSK: [0.963136,-0.199456,0.180519]
2025-08-22T16:42:02.211Z,1755880922.211 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:02.211Z,1755880922.211 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:02.214Z,1755880922.214 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:02.214Z,1755880922.214 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:02.480Z,1755880922.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.800003 m,
      deltaT: 3.780783 s,
      deltaX: -1.799995 m,
      approachRate: -0.476091 m/s,
      rangeRepo size: 4

2025-08-22T16:42:02.487Z,1755880922.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.318253 m,
      bearing: 340.453756 deg,
      lat: 36.779427 deg,
      lon: -121.859694 deg,
      deltaT: 3.780783 s,
      deltaX: -1.788467 m,
      approachRate: -0.473042 m/s,
      posRepo size: 4

2025-08-22T16:42:02.487Z,1755880922.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:02.494Z,1755880922.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 76.828735 m,
      bearing: 340.116636 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050351 deg/s,
      cmd heading: 351.642864 deg,
      new cmd heading: 351.605563 deg.

2025-08-22T16:42:02.495Z,1755880922.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136675 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:02.860Z,1755880922.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:02.862Z,1755880922.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:02.865Z,1755880922.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 76.642807 m,
      bearing: 340.096663 deg,
      approach rate: -0.486149 m/s,
      LOS rate: -0.052351 deg/s,
      cmd heading: 351.605571 deg,
      new cmd heading: 351.565527 deg.

2025-08-22T16:42:02.866Z,1755880922.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135976 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:02.951Z,1755880922.951 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:02.951Z,1755880922.951 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:02.952Z,1755880922.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:03.203Z,1755880923.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993962
2025-08-22T16:42:03.323Z,1755880923.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:03.330Z,1755880923.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 76.416847 m,
      bearing: 340.070298 deg,
      approach rate: -0.490164 m/s,
      LOS rate: -0.057361 deg/s,
      cmd heading: 351.565519 deg,
      new cmd heading: 351.512633 deg.

2025-08-22T16:42:03.331Z,1755880923.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135053 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:03.455Z,1755880923.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246539
2025-08-22T16:42:03.702Z,1755880923.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:03.705Z,1755880923.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 76.224144 m,
      bearing: 340.047688 deg,
      approach rate: -0.508221 m/s,
      LOS rate: -0.059780 deg/s,
      cmd heading: 351.512626 deg,
      new cmd heading: 351.467292 deg.

2025-08-22T16:42:03.707Z,1755880923.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497825
2025-08-22T16:42:03.708Z,1755880923.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134262 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:03.959Z,1755880923.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750485
2025-08-22T16:42:04.121Z,1755880924.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:04.124Z,1755880924.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 76.019463 m,
      bearing: 340.020884 deg,
      approach rate: -0.489568 m/s,
      LOS rate: -0.064285 deg/s,
      cmd heading: 351.467301 deg,
      new cmd heading: 351.413548 deg.

2025-08-22T16:42:04.125Z,1755880924.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133324 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:04.211Z,1755880924.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001996
2025-08-22T16:42:04.462Z,1755880924.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253671
2025-08-22T16:42:04.506Z,1755880924.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:04.512Z,1755880924.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 75.834793 m,
      bearing: 339.996704 deg,
      approach rate: -0.489775 m/s,
      LOS rate: -0.064285 deg/s,
      cmd heading: 351.413561 deg,
      new cmd heading: 351.365083 deg.

2025-08-22T16:42:04.512Z,1755880924.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132478 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:04.716Z,1755880924.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506893
2025-08-22T16:42:04.899Z,1755880924.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:04.902Z,1755880924.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:04.904Z,1755880924.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 75.637138 m,
      bearing: 339.970733 deg,
      approach rate: -0.489327 m/s,
      LOS rate: -0.064463 deg/s,
      cmd heading: 351.365094 deg,
      new cmd heading: 351.313016 deg.

2025-08-22T16:42:04.906Z,1755880924.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131569 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:04.968Z,1755880924.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758579
2025-08-22T16:42:05.218Z,1755880925.218 [DAT](INFO): DAT read: Rx Time:16:42:05.6533

2025-08-22T16:42:05.219Z,1755880925.219 [DAT](INFO): Rx dataTimestamp_ set to:1755880925.218682
2025-08-22T16:42:05.219Z,1755880925.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010705
2025-08-22T16:42:05.397Z,1755880925.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.32 m.
2025-08-22T16:42:05.404Z,1755880925.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.318253 m,
      nav range: 75.394577 m,
      bearing: 339.938696 deg,
      approach rate: -0.489884 m/s,
      LOS rate: -0.064911 deg/s,
      cmd heading: 351.313020 deg,
      new cmd heading: 351.248740 deg.

2025-08-22T16:42:05.404Z,1755880925.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130447 target range: 77.318253 and range: 77.80 m.
2025-08-22T16:42:05.471Z,1755880925.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261944
2025-08-22T16:42:05.728Z,1755880925.728 [DAT](INFO): DAT read: 16:42:05.6533 LVL= 24208, 32753, 22834, 32755, AGC= 64, IDX= 412,-0.21,-2.947, 1.817,-2.359,-2.917, PHS= 0.072,-1.505, 0.514, RAW= 162.0,  10.0, CAL= 162.0,  10.9, ROT= 348.0, -10.9

2025-08-22T16:42:05.729Z,1755880925.729 [DAT](INFO): got valid direction response:
 16:42:05.6533 LVL= 24208, 32753, 22834, 32755, AGC= 64, IDX= 412,-0.21,-2.947, 1.817,-2.359,-2.917, PHS= 0.072,-1.505, 0.514, RAW= 162.0,  10.0, CAL= 162.0,  10.9, ROT= 348.0, -10.9

2025-08-22T16:42:05.730Z,1755880925.730 [DAT](INFO): DAT read: Bearing 163.5, -14.4 (Local)

2025-08-22T16:42:05.731Z,1755880925.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.5, -14.4 (Local)

2025-08-22T16:42:05.732Z,1755880925.732 [DAT](INFO): DAT read: Range 11 to 50 : 76.1 m  (Round-trip  101.5 ms) speed  0.4 m/s

2025-08-22T16:42:05.733Z,1755880925.733 [DAT](INFO): DAT read: user:223>

2025-08-22T16:42:05.733Z,1755880925.733 [DAT](INFO): DAT read: Tx time:16:42:06.7476

2025-08-22T16:42:05.734Z,1755880925.734 [DAT](INFO): Ping request sent.
2025-08-22T16:42:05.734Z,1755880925.734 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:05.734Z,1755880925.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:05.735Z,1755880925.735 [DAT](INFO): direction in FSK: [0.960501,-0.204161,0.189095]
2025-08-22T16:42:05.735Z,1755880925.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:05.736Z,1755880925.736 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:05.744Z,1755880925.744 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:05.744Z,1755880925.744 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:05.928Z,1755880925.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.099998 m,
      deltaT: 3.527275 s,
      deltaX: -1.700005 m,
      approachRate: -0.481960 m/s,
      rangeRepo size: 4

2025-08-22T16:42:05.934Z,1755880925.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.629135 m,
      bearing: 339.930997 deg,
      lat: 36.779427 deg,
      lon: -121.859694 deg,
      deltaT: 3.527275 s,
      deltaX: -1.689117 m,
      approachRate: -0.478873 m/s,
      posRepo size: 4

2025-08-22T16:42:05.935Z,1755880925.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:05.937Z,1755880925.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 75.121269 m,
      bearing: 339.902347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064911 deg/s,
      cmd heading: 351.248735 deg,
      new cmd heading: 351.179881 deg.

2025-08-22T16:42:05.942Z,1755880925.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129245 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:06.335Z,1755880926.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:06.338Z,1755880926.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 74.914543 m,
      bearing: 339.872002 deg,
      approach rate: -0.506926 m/s,
      LOS rate: -0.074617 deg/s,
      cmd heading: 351.179886 deg,
      new cmd heading: 351.119028 deg.

2025-08-22T16:42:06.339Z,1755880926.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128183 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:06.755Z,1755880926.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:06.759Z,1755880926.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 74.708725 m,
      bearing: 339.841712 deg,
      approach rate: -0.489816 m/s,
      LOS rate: -0.072285 deg/s,
      cmd heading: 351.119016 deg,
      new cmd heading: 351.058268 deg.

2025-08-22T16:42:06.762Z,1755880926.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127123 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:07.213Z,1755880927.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:07.215Z,1755880927.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:07.226Z,1755880927.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 74.496361 m,
      bearing: 339.810342 deg,
      approach rate: -0.461790 m/s,
      LOS rate: -0.068409 deg/s,
      cmd heading: 351.058282 deg,
      new cmd heading: 350.995363 deg.

2025-08-22T16:42:07.227Z,1755880927.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126025 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:07.234Z,1755880927.234 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:07.235Z,1755880927.235 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:07.235Z,1755880927.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:07.486Z,1755880927.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752625
2025-08-22T16:42:07.575Z,1755880927.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:07.578Z,1755880927.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 74.307022 m,
      bearing: 339.782303 deg,
      approach rate: -0.525747 m/s,
      LOS rate: -0.078055 deg/s,
      cmd heading: 350.995362 deg,
      new cmd heading: 350.939142 deg.

2025-08-22T16:42:07.579Z,1755880927.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125043 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:07.738Z,1755880927.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004559
2025-08-22T16:42:07.982Z,1755880927.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:07.985Z,1755880927.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 74.117378 m,
      bearing: 339.754287 deg,
      approach rate: -0.465788 m/s,
      LOS rate: -0.068988 deg/s,
      cmd heading: 350.939136 deg,
      new cmd heading: 350.882960 deg.

2025-08-22T16:42:07.986Z,1755880927.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124063 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:07.991Z,1755880927.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256812
2025-08-22T16:42:08.246Z,1755880928.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512166
2025-08-22T16:42:08.396Z,1755880928.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:08.400Z,1755880928.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 73.905167 m,
      bearing: 339.724980 deg,
      approach rate: -0.512811 m/s,
      LOS rate: -0.071023 deg/s,
      cmd heading: 350.882964 deg,
      new cmd heading: 350.824183 deg.

2025-08-22T16:42:08.400Z,1755880928.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123037 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:08.495Z,1755880928.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760761
2025-08-22T16:42:08.747Z,1755880928.747 [DAT](INFO): DAT read: Rx Time:16:42:09.2510

2025-08-22T16:42:08.747Z,1755880928.747 [DAT](INFO): Rx dataTimestamp_ set to:1755880928.746841
2025-08-22T16:42:08.748Z,1755880928.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013812
2025-08-22T16:42:08.809Z,1755880928.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:08.812Z,1755880928.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 73.715134 m,
      bearing: 339.698699 deg,
      approach rate: -0.460340 m/s,
      LOS rate: -0.063828 deg/s,
      cmd heading: 350.824170 deg,
      new cmd heading: 350.771472 deg.

2025-08-22T16:42:08.813Z,1755880928.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122117 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:08.998Z,1755880928.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264579
2025-08-22T16:42:09.219Z,1755880929.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:09.222Z,1755880929.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.63 m.
2025-08-22T16:42:09.224Z,1755880929.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.629135 m,
      nav range: 73.511879 m,
      bearing: 339.672685 deg,
      approach rate: -0.492530 m/s,
      LOS rate: -0.063213 deg/s,
      cmd heading: 350.771468 deg,
      new cmd heading: 350.719296 deg.

2025-08-22T16:42:09.246Z,1755880929.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121206 target range: 75.629135 and range: 76.10 m.
2025-08-22T16:42:09.262Z,1755880929.262 [DAT](INFO): DAT read: 16:42:09.2510 LVL= 27840, 29649, 19954, 29987, AGC= 66, IDX= 421, 0.01, 2.484, 0.903, 3.079, 2.493, PHS= 0.093,-1.545, 0.542, RAW= 161.8,   9.6, CAL= 161.7,  10.3, ROT= 348.3, -10.3

2025-08-22T16:42:09.264Z,1755880929.264 [DAT](INFO): got valid direction response:
 16:42:09.2510 LVL= 27840, 29649, 19954, 29987, AGC= 66, IDX= 421, 0.01, 2.484, 0.903, 3.079, 2.493, PHS= 0.093,-1.545, 0.542, RAW= 161.8,   9.6, CAL= 161.7,  10.3, ROT= 348.3, -10.3

2025-08-22T16:42:09.265Z,1755880929.265 [DAT](INFO): DAT read: Bearing 162.5, -13.6 (Local)

2025-08-22T16:42:09.266Z,1755880929.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.5, -13.6 (Local)

2025-08-22T16:42:09.268Z,1755880929.268 [DAT](INFO): DAT read: Range 11 to 50 : 74.4 m  (Round-trip  99.3 ms) speed  0.4 m/s

2025-08-22T16:42:09.269Z,1755880929.269 [DAT](INFO): DAT read: user:224>

2025-08-22T16:42:09.283Z,1755880929.283 [DAT](INFO): DAT read: Tx time:16:42:10.3476

2025-08-22T16:42:09.283Z,1755880929.283 [DAT](INFO): Ping request sent.
2025-08-22T16:42:09.284Z,1755880929.284 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:09.284Z,1755880929.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:09.294Z,1755880929.294 [DAT](INFO): direction in FSK: [0.963443,-0.199520,0.178802]
2025-08-22T16:42:09.294Z,1755880929.294 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:09.294Z,1755880929.294 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:09.310Z,1755880929.310 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:09.310Z,1755880929.310 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:09.545Z,1755880929.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:42:09.642Z,1755880929.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.400002 m,
      deltaT: 3.528283 s,
      deltaX: -1.699997 m,
      approachRate: -0.481820 m/s,
      rangeRepo size: 4

2025-08-22T16:42:09.644Z,1755880929.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.939934 m,
      bearing: 339.811531 deg,
      lat: 36.779428 deg,
      lon: -121.859694 deg,
      deltaT: 3.528283 s,
      deltaX: -1.689201 m,
      approachRate: -0.478760 m/s,
      posRepo size: 4

2025-08-22T16:42:09.645Z,1755880929.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:09.651Z,1755880929.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 73.414024 m,
      bearing: 339.725789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063213 deg/s,
      cmd heading: 350.719286 deg,
      new cmd heading: 350.668808 deg.

2025-08-22T16:42:09.652Z,1755880929.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120325 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:10.040Z,1755880930.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:10.043Z,1755880930.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 73.216881 m,
      bearing: 339.700751 deg,
      approach rate: -0.470136 m/s,
      LOS rate: -0.059870 deg/s,
      cmd heading: 350.668797 deg,
      new cmd heading: 350.618586 deg.

2025-08-22T16:42:10.044Z,1755880930.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119449 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:10.478Z,1755880930.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:10.481Z,1755880930.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 73.006119 m,
      bearing: 339.675499 deg,
      approach rate: -0.481727 m/s,
      LOS rate: -0.057883 deg/s,
      cmd heading: 350.618581 deg,
      new cmd heading: 350.567932 deg.

2025-08-22T16:42:10.482Z,1755880930.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118565 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:10.550Z,1755880930.550 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:42:10.857Z,1755880930.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:10.860Z,1755880930.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 72.828560 m,
      bearing: 339.654340 deg,
      approach rate: -0.468252 m/s,
      LOS rate: -0.055936 deg/s,
      cmd heading: 350.567929 deg,
      new cmd heading: 350.525507 deg.

2025-08-22T16:42:10.861Z,1755880930.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.117824 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:11.301Z,1755880931.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:11.303Z,1755880931.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:11.318Z,1755880931.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 72.619888 m,
      bearing: 339.628676 deg,
      approach rate: -0.467152 m/s,
      LOS rate: -0.057620 deg/s,
      cmd heading: 350.525499 deg,
      new cmd heading: 350.474023 deg.

2025-08-22T16:42:11.319Z,1755880931.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116926 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:11.518Z,1755880931.518 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:11.519Z,1755880931.519 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:11.519Z,1755880931.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:11.671Z,1755880931.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:11.674Z,1755880931.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 72.444359 m,
      bearing: 339.607129 deg,
      approach rate: -0.477811 m/s,
      LOS rate: -0.058794 deg/s,
      cmd heading: 350.474027 deg,
      new cmd heading: 350.430829 deg.

2025-08-22T16:42:11.675Z,1755880931.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116172 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:11.772Z,1755880931.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487717
2025-08-22T16:42:12.022Z,1755880932.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738765
2025-08-22T16:42:12.059Z,1755880932.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:12.062Z,1755880932.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 72.252434 m,
      bearing: 339.583650 deg,
      approach rate: -0.494520 m/s,
      LOS rate: -0.060658 deg/s,
      cmd heading: 350.430833 deg,
      new cmd heading: 350.383750 deg.

2025-08-22T16:42:12.063Z,1755880932.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.115350 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:12.275Z,1755880932.275 [DAT](INFO): DAT read: Rx Time:16:42:12.8487

2025-08-22T16:42:12.276Z,1755880932.276 [DAT](INFO): Rx dataTimestamp_ set to:1755880932.275658
2025-08-22T16:42:12.278Z,1755880932.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993602
2025-08-22T16:42:12.497Z,1755880932.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.94 m.
2025-08-22T16:42:12.500Z,1755880932.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.939934 m,
      nav range: 72.037956 m,
      bearing: 339.558713 deg,
      approach rate: -0.489613 m/s,
      LOS rate: -0.057095 deg/s,
      cmd heading: 350.383759 deg,
      new cmd heading: 350.333738 deg.

2025-08-22T16:42:12.501Z,1755880932.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114477 target range: 73.939934 and range: 74.40 m.
2025-08-22T16:42:12.526Z,1755880932.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242832
2025-08-22T16:42:12.787Z,1755880932.787 [DAT](INFO): DAT read: 16:42:12.8487 LVL= 24000, 32753, 19186, 32755, AGC= 65, IDX= 413, 0.04, 0.052,-1.569, 0.611, 0.020, PHS= 0.134,-1.544, 0.547, RAW= 160.7,   9.0, CAL= 160.5,   9.5, ROT= 349.5,  -9.5

2025-08-22T16:42:12.788Z,1755880932.788 [DAT](INFO): got valid direction response:
 16:42:12.8487 LVL= 24000, 32753, 19186, 32755, AGC= 65, IDX= 413, 0.04, 0.052,-1.569, 0.611, 0.020, PHS= 0.134,-1.544, 0.547, RAW= 160.7,   9.0, CAL= 160.5,   9.5, ROT= 349.5,  -9.5

2025-08-22T16:42:12.789Z,1755880932.789 [DAT](INFO): DAT read: Bearing 161.1, -11.8 (Local)

2025-08-22T16:42:12.789Z,1755880932.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1, -11.8 (Local)

2025-08-22T16:42:12.792Z,1755880932.792 [DAT](INFO): DAT read: Range 11 to 50 : 72.6 m  (Round-trip  96.9 ms) speed  0.4 m/s

2025-08-22T16:42:12.792Z,1755880932.792 [DAT](INFO): DAT read: user:225>

2025-08-22T16:42:12.793Z,1755880932.793 [DAT](INFO): DAT read: Tx time:16:42:13.9476

2025-08-22T16:42:12.794Z,1755880932.794 [DAT](INFO): Ping request sent.
2025-08-22T16:42:12.794Z,1755880932.794 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:12.794Z,1755880932.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:12.795Z,1755880932.795 [DAT](INFO): direction in FSK: [0.969770,-0.179736,0.165048]
2025-08-22T16:42:12.795Z,1755880932.795 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:12.795Z,1755880932.795 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:12.799Z,1755880932.799 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:12.799Z,1755880932.799 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:12.935Z,1755880932.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.599998 m,
      deltaT: 3.527864 s,
      deltaX: -1.800003 m,
      approachRate: -0.510225 m/s,
      rangeRepo size: 4

2025-08-22T16:42:12.937Z,1755880932.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.150970 m,
      bearing: 340.633213 deg,
      lat: 36.779428 deg,
      lon: -121.859692 deg,
      deltaT: 3.527864 s,
      deltaX: -1.788963 m,
      approachRate: -0.507095 m/s,
      posRepo size: 4

2025-08-22T16:42:12.938Z,1755880932.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:12.940Z,1755880932.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 71.813690 m,
      bearing: 339.628421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057095 deg/s,
      cmd heading: 350.333735 deg,
      new cmd heading: 350.283780 deg.

2025-08-22T16:42:12.946Z,1755880932.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113605 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:13.316Z,1755880933.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:13.319Z,1755880933.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:13.322Z,1755880933.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 71.617027 m,
      bearing: 339.608036 deg,
      approach rate: -0.511782 m/s,
      LOS rate: -0.053194 deg/s,
      cmd heading: 350.283793 deg,
      new cmd heading: 350.242911 deg.

2025-08-22T16:42:13.323Z,1755880933.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112892 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:13.536Z,1755880933.536 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:13.536Z,1755880933.536 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:13.536Z,1755880933.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:13.678Z,1755880933.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:13.680Z,1755880933.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 71.444389 m,
      bearing: 339.590124 deg,
      approach rate: -0.481368 m/s,
      LOS rate: -0.050065 deg/s,
      cmd heading: 350.242921 deg,
      new cmd heading: 350.207010 deg.

2025-08-22T16:42:13.681Z,1755880933.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112266 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:13.787Z,1755880933.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993910
2025-08-22T16:42:14.038Z,1755880934.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245109
2025-08-22T16:42:14.082Z,1755880934.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:14.084Z,1755880934.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 71.250229 m,
      bearing: 339.570006 deg,
      approach rate: -0.480409 m/s,
      LOS rate: -0.049914 deg/s,
      cmd heading: 350.207021 deg,
      new cmd heading: 350.166676 deg.

2025-08-22T16:42:14.085Z,1755880934.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111561 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:14.291Z,1755880934.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497197
2025-08-22T16:42:14.520Z,1755880934.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:14.523Z,1755880934.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 71.038033 m,
      bearing: 339.546309 deg,
      approach rate: -0.484055 m/s,
      LOS rate: -0.054219 deg/s,
      cmd heading: 350.166669 deg,
      new cmd heading: 350.119133 deg.

2025-08-22T16:42:14.524Z,1755880934.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110732 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:14.543Z,1755880934.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749221
2025-08-22T16:42:14.795Z,1755880934.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001164
2025-08-22T16:42:14.892Z,1755880934.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:14.895Z,1755880934.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 70.857788 m,
      bearing: 339.526343 deg,
      approach rate: -0.484595 m/s,
      LOS rate: -0.053817 deg/s,
      cmd heading: 350.119131 deg,
      new cmd heading: 350.079096 deg.

2025-08-22T16:42:14.896Z,1755880934.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110033 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:15.046Z,1755880935.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253094
2025-08-22T16:42:15.299Z,1755880935.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505182
2025-08-22T16:42:15.324Z,1755880935.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:15.326Z,1755880935.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:15.328Z,1755880935.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 70.653938 m,
      bearing: 339.502060 deg,
      approach rate: -0.469962 m/s,
      LOS rate: -0.056144 deg/s,
      cmd heading: 350.079106 deg,
      new cmd heading: 350.030400 deg.

2025-08-22T16:42:15.330Z,1755880935.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109183 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:15.551Z,1755880935.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757186
2025-08-22T16:42:15.699Z,1755880935.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:15.702Z,1755880935.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 70.477997 m,
      bearing: 339.481080 deg,
      approach rate: -0.471306 m/s,
      LOS rate: -0.056341 deg/s,
      cmd heading: 350.030393 deg,
      new cmd heading: 349.988328 deg.

2025-08-22T16:42:15.703Z,1755880935.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108449 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:15.803Z,1755880935.803 [DAT](INFO): DAT read: Rx Time:16:42:16.4462

2025-08-22T16:42:15.804Z,1755880935.804 [DAT](INFO): Rx dataTimestamp_ set to:1755880935.803586
2025-08-22T16:42:15.805Z,1755880935.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011371
2025-08-22T16:42:16.054Z,1755880936.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261116
2025-08-22T16:42:16.103Z,1755880936.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:16.106Z,1755880936.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 70.288239 m,
      bearing: 339.458477 deg,
      approach rate: -0.469976 m/s,
      LOS rate: -0.056132 deg/s,
      cmd heading: 349.988319 deg,
      new cmd heading: 349.942991 deg.

2025-08-22T16:42:16.107Z,1755880936.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107657 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:16.312Z,1755880936.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515974
2025-08-22T16:42:16.532Z,1755880936.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.15 m.
2025-08-22T16:42:16.535Z,1755880936.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.150970 m,
      nav range: 70.090240 m,
      bearing: 339.436921 deg,
      approach rate: -0.461493 m/s,
      LOS rate: -0.050385 deg/s,
      cmd heading: 349.942994 deg,
      new cmd heading: 349.899759 deg.

2025-08-22T16:42:16.535Z,1755880936.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106903 target range: 72.150970 and range: 72.60 m.
2025-08-22T16:42:16.567Z,1755880936.567 [DAT](INFO): DAT read: 16:42:16.4462 LVL= 25152, 32753, 26082, 32755, AGC= 64, IDX= 420, 0.08, 2.932, 1.360,-2.874, 2.873, PHS= 0.161,-1.468, 0.492, RAW= 159.1,   9.0, CAL= 158.8,   9.5, ROT= 351.2,  -9.5

2025-08-22T16:42:16.569Z,1755880936.569 [DAT](INFO): got valid direction response:
 16:42:16.4462 LVL= 25152, 32753, 26082, 32755, AGC= 64, IDX= 420, 0.08, 2.932, 1.360,-2.874, 2.873, PHS= 0.161,-1.468, 0.492, RAW= 159.1,   9.0, CAL= 158.8,   9.5, ROT= 351.2,  -9.5

2025-08-22T16:42:16.570Z,1755880936.570 [DAT](INFO): DAT read: Bearing 160.5,  -9.4 (Local)

2025-08-22T16:42:16.571Z,1755880936.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5,  -9.4 (Local)

2025-08-22T16:42:16.573Z,1755880936.573 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m  (Round-trip  94.5 ms) speed  0.4 m/s

2025-08-22T16:42:16.575Z,1755880936.575 [DAT](INFO): DAT read: user:226>

2025-08-22T16:42:16.576Z,1755880936.576 [DAT](INFO): DAT read: Tx time:16:42:17.5476

2025-08-22T16:42:16.577Z,1755880936.577 [DAT](INFO): Ping request sent.
2025-08-22T16:42:16.577Z,1755880936.577 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:16.577Z,1755880936.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:16.579Z,1755880936.579 [DAT](INFO): direction in FSK: [0.974675,-0.150887,0.165048]
2025-08-22T16:42:16.579Z,1755880936.579 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:16.579Z,1755880936.579 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:16.598Z,1755880936.598 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:16.598Z,1755880936.598 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:16.931Z,1755880936.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.779829 s,
      deltaX: -1.799995 m,
      approachRate: -0.476211 m/s,
      rangeRepo size: 4

2025-08-22T16:42:16.933Z,1755880936.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.362190 m,
      bearing: 341.822253 deg,
      lat: 36.779428 deg,
      lon: -121.859689 deg,
      deltaT: 3.779829 s,
      deltaX: -1.788780 m,
      approachRate: -0.473244 m/s,
      posRepo size: 4

2025-08-22T16:42:16.938Z,1755880936.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:16.940Z,1755880936.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 69.823349 m,
      bearing: 339.611761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050385 deg/s,
      cmd heading: 349.899772 deg,
      new cmd heading: 349.859605 deg.

2025-08-22T16:42:16.946Z,1755880936.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106202 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:17.339Z,1755880937.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:17.341Z,1755880937.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:17.344Z,1755880937.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 69.621727 m,
      bearing: 339.590776 deg,
      approach rate: -0.490689 m/s,
      LOS rate: -0.051219 deg/s,
      cmd heading: 349.859611 deg,
      new cmd heading: 349.817519 deg.

2025-08-22T16:42:17.345Z,1755880937.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105467 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:17.567Z,1755880937.567 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:17.567Z,1755880937.567 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:17.567Z,1755880937.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:17.723Z,1755880937.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:17.726Z,1755880937.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 69.439148 m,
      bearing: 339.571821 deg,
      approach rate: -0.478046 m/s,
      LOS rate: -0.049760 deg/s,
      cmd heading: 349.817509 deg,
      new cmd heading: 349.779500 deg.

2025-08-22T16:42:17.727Z,1755880937.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104804 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:17.819Z,1755880937.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242516
2025-08-22T16:42:18.070Z,1755880938.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493722
2025-08-22T16:42:18.122Z,1755880938.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:18.124Z,1755880938.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 69.248940 m,
      bearing: 339.552161 deg,
      approach rate: -0.477500 m/s,
      LOS rate: -0.049490 deg/s,
      cmd heading: 349.779506 deg,
      new cmd heading: 349.740079 deg.

2025-08-22T16:42:18.125Z,1755880938.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104116 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:18.322Z,1755880938.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745764
2025-08-22T16:42:18.550Z,1755880938.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:18.558Z,1755880938.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 69.043716 m,
      bearing: 339.530644 deg,
      approach rate: -0.479231 m/s,
      LOS rate: -0.050396 deg/s,
      cmd heading: 349.740082 deg,
      new cmd heading: 349.696920 deg.

2025-08-22T16:42:18.559Z,1755880938.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103363 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:18.592Z,1755880938.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831
2025-08-22T16:42:18.843Z,1755880938.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265782
2025-08-22T16:42:18.950Z,1755880938.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:18.954Z,1755880938.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 68.852112 m,
      bearing: 339.510438 deg,
      approach rate: -0.479384 m/s,
      LOS rate: -0.050693 deg/s,
      cmd heading: 349.696916 deg,
      new cmd heading: 349.656392 deg.

2025-08-22T16:42:18.958Z,1755880938.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102655 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:19.095Z,1755880939.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518669
2025-08-22T16:42:19.347Z,1755880939.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769879
2025-08-22T16:42:19.365Z,1755880939.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:19.367Z,1755880939.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:19.370Z,1755880939.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 68.653778 m,
      bearing: 339.488650 deg,
      approach rate: -0.474748 m/s,
      LOS rate: -0.052305 deg/s,
      cmd heading: 349.656399 deg,
      new cmd heading: 349.612696 deg.

2025-08-22T16:42:19.371Z,1755880939.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101892 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:19.599Z,1755880939.599 [DAT](INFO): DAT read: Rx Time:16:42:20.0439

2025-08-22T16:42:19.600Z,1755880939.600 [DAT](INFO): Rx dataTimestamp_ set to:1755880939.599367
2025-08-22T16:42:19.600Z,1755880939.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023483
2025-08-22T16:42:19.775Z,1755880939.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.36 m.
2025-08-22T16:42:19.785Z,1755880939.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.362190 m,
      nav range: 68.465355 m,
      bearing: 339.467833 deg,
      approach rate: -0.462017 m/s,
      LOS rate: -0.051184 deg/s,
      cmd heading: 349.612686 deg,
      new cmd heading: 349.570938 deg.

2025-08-22T16:42:19.786Z,1755880939.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101164 target range: 70.362190 and range: 70.80 m.
2025-08-22T16:42:19.851Z,1755880939.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274328
2025-08-22T16:42:20.108Z,1755880940.108 [DAT](INFO): DAT read: 16:42:20.0439 LVL= 30176, 30865, 25842, 31635, AGC= 66, IDX= 412, 0.40,-0.279,-1.927, 0.199,-0.350, PHS= 0.174,-1.532, 0.505, RAW= 158.7,   9.0, CAL= 158.5,   9.6, ROT= 351.5,  -9.6

2025-08-22T16:42:20.109Z,1755880940.109 [DAT](INFO): got valid direction response:
 16:42:20.0439 LVL= 30176, 30865, 25842, 31635, AGC= 66, IDX= 412, 0.40,-0.279,-1.927, 0.199,-0.350, PHS= 0.174,-1.532, 0.505, RAW= 158.7,   9.0, CAL= 158.5,   9.6, ROT= 351.5,  -9.6

2025-08-22T16:42:20.114Z,1755880940.114 [DAT](INFO): DAT read: Bearing 160.1,  -8.4 (Local)

2025-08-22T16:42:20.114Z,1755880940.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.1,  -8.4 (Local)

2025-08-22T16:42:20.116Z,1755880940.116 [DAT](INFO): DAT read: Range 11 to 50 : 69.0 m  (Round-trip  92.1 ms) speed  0.4 m/s

2025-08-22T16:42:20.116Z,1755880940.116 [DAT](INFO): DAT read: user:227>

2025-08-22T16:42:20.117Z,1755880940.117 [DAT](INFO): DAT read: Tx time:16:42:21.1476

2025-08-22T16:42:20.118Z,1755880940.118 [DAT](INFO): Ping request sent.
2025-08-22T16:42:20.118Z,1755880940.118 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:20.118Z,1755880940.118 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:20.119Z,1755880940.119 [DAT](INFO): direction in FSK: [0.975166,-0.145739,0.166769]
2025-08-22T16:42:20.119Z,1755880940.119 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:20.120Z,1755880940.120 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:20.123Z,1755880940.123 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:20.123Z,1755880940.123 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:20.355Z,1755880940.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.000000 m,
      deltaT: 3.543915 s,
      deltaX: -1.800003 m,
      approachRate: -0.507914 m/s,
      rangeRepo size: 4

2025-08-22T16:42:20.357Z,1755880940.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.573380 m,
      bearing: 341.736593 deg,
      lat: 36.779430 deg,
      lon: -121.859678 deg,
      deltaT: 3.543915 s,
      deltaX: -1.788811 m,
      approachRate: -0.504756 m/s,
      posRepo size: 4

2025-08-22T16:42:20.362Z,1755880940.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:20.365Z,1755880940.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 68.103973 m,
      bearing: 340.298610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051184 deg/s,
      cmd heading: 349.570940 deg,
      new cmd heading: 349.513792 deg.

2025-08-22T16:42:20.374Z,1755880940.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100166 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:20.769Z,1755880940.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:20.776Z,1755880940.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 67.878555 m,
      bearing: 340.274768 deg,
      approach rate: -0.517587 m/s,
      LOS rate: -0.054927 deg/s,
      cmd heading: 349.513785 deg,
      new cmd heading: 349.465941 deg.

2025-08-22T16:42:20.777Z,1755880940.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099331 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:21.121Z,1755880941.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:21.124Z,1755880941.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 67.715981 m,
      bearing: 340.257559 deg,
      approach rate: -0.461640 m/s,
      LOS rate: -0.048982 deg/s,
      cmd heading: 349.465946 deg,
      new cmd heading: 349.431446 deg.

2025-08-22T16:42:21.125Z,1755880941.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098729 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:21.545Z,1755880941.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:21.547Z,1755880941.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:21.550Z,1755880941.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 67.515686 m,
      bearing: 340.232774 deg,
      approach rate: -0.469628 m/s,
      LOS rate: -0.058287 deg/s,
      cmd heading: 349.431440 deg,
      new cmd heading: 349.381722 deg.

2025-08-22T16:42:21.551Z,1755880941.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097861 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:21.615Z,1755880941.615 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:21.615Z,1755880941.615 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:21.616Z,1755880941.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:21.866Z,1755880941.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748631
2025-08-22T16:42:21.931Z,1755880941.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:21.949Z,1755880941.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 67.335709 m,
      bearing: 340.210389 deg,
      approach rate: -0.470756 m/s,
      LOS rate: -0.058706 deg/s,
      cmd heading: 349.381716 deg,
      new cmd heading: 349.336828 deg.

2025-08-22T16:42:21.954Z,1755880941.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097078 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:22.118Z,1755880942.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000621
2025-08-22T16:42:22.371Z,1755880942.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252808
2025-08-22T16:42:22.380Z,1755880942.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:22.382Z,1755880942.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 67.125244 m,
      bearing: 340.188498 deg,
      approach rate: -0.467882 m/s,
      LOS rate: -0.048819 deg/s,
      cmd heading: 349.336828 deg,
      new cmd heading: 349.292908 deg.

2025-08-22T16:42:22.383Z,1755880942.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096311 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:22.622Z,1755880942.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504560
2025-08-22T16:42:22.746Z,1755880942.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:22.755Z,1755880942.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 66.959229 m,
      bearing: 340.171291 deg,
      approach rate: -0.463775 m/s,
      LOS rate: -0.048188 deg/s,
      cmd heading: 349.292896 deg,
      new cmd heading: 349.258397 deg.

2025-08-22T16:42:22.758Z,1755880942.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095709 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:22.875Z,1755880942.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756661
2025-08-22T16:42:23.127Z,1755880943.127 [DAT](INFO): DAT read: Rx Time:16:42:23.6417

2025-08-22T16:42:23.127Z,1755880943.127 [DAT](INFO): Rx dataTimestamp_ set to:1755880943.126758
2025-08-22T16:42:23.128Z,1755880943.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009741
2025-08-22T16:42:23.188Z,1755880943.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:23.195Z,1755880943.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 66.760139 m,
      bearing: 340.150543 deg,
      approach rate: -0.478555 m/s,
      LOS rate: -0.050022 deg/s,
      cmd heading: 349.258390 deg,
      new cmd heading: 349.216770 deg.

2025-08-22T16:42:23.196Z,1755880943.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094983 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:23.379Z,1755880943.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261135
2025-08-22T16:42:23.613Z,1755880943.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:23.615Z,1755880943.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m.
2025-08-22T16:42:23.618Z,1755880943.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.573380 m,
      nav range: 66.534065 m,
      bearing: 340.125492 deg,
      approach rate: -0.489754 m/s,
      LOS rate: -0.054454 deg/s,
      cmd heading: 349.216781 deg,
      new cmd heading: 349.166508 deg.

2025-08-22T16:42:23.619Z,1755880943.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094105 target range: 68.573380 and range: 69.00 m.
2025-08-22T16:42:23.652Z,1755880943.652 [DAT](INFO): DAT read: 16:42:23.6417 LVL= 27168, 30801, 22354, 32755, AGC= 65, IDX= 422,-0.13,-2.440, 2.193,-1.999,-2.540, PHS= 0.203,-1.504, 0.497, RAW= 157.8,   8.6, CAL= 157.5,   9.1, ROT= 352.5,  -9.1

2025-08-22T16:42:23.653Z,1755880943.653 [DAT](INFO): got valid direction response:
 16:42:23.6417 LVL= 27168, 30801, 22354, 32755, AGC= 65, IDX= 422,-0.13,-2.440, 2.193,-1.999,-2.540, PHS= 0.203,-1.504, 0.497, RAW= 157.8,   8.6, CAL= 157.5,   9.1, ROT= 352.5,  -9.1

2025-08-22T16:42:23.654Z,1755880943.654 [DAT](INFO): DAT read: Bearing 159.2,  -7.0 (Local)

2025-08-22T16:42:23.655Z,1755880943.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2,  -7.0 (Local)

2025-08-22T16:42:23.656Z,1755880943.656 [DAT](INFO): DAT read: Range 11 to 50 : 67.5 m  (Round-trip  90.0 ms) speed  0.4 m/s

2025-08-22T16:42:23.657Z,1755880943.657 [DAT](INFO): DAT read: user:228>

2025-08-22T16:42:23.665Z,1755880943.665 [DAT](INFO): DAT read: Tx time:16:42:24.7476

2025-08-22T16:42:23.666Z,1755880943.666 [DAT](INFO): Ping request sent.
2025-08-22T16:42:23.666Z,1755880943.666 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:23.666Z,1755880943.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:23.667Z,1755880943.667 [DAT](INFO): direction in FSK: [0.978966,-0.128883,0.158158]
2025-08-22T16:42:23.667Z,1755880943.667 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:23.668Z,1755880943.668 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:23.682Z,1755880943.682 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:23.682Z,1755880943.682 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:24.016Z,1755880944.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.500000 m,
      deltaT: 3.528076 s,
      deltaX: -1.500000 m,
      approachRate: -0.425161 m/s,
      rangeRepo size: 4

2025-08-22T16:42:24.022Z,1755880944.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.082703 m,
      bearing: 342.188123 deg,
      lat: 36.779432 deg,
      lon: -121.859660 deg,
      deltaT: 3.528076 s,
      deltaX: -1.490677 m,
      approachRate: -0.422518 m/s,
      posRepo size: 4

2025-08-22T16:42:24.023Z,1755880944.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:24.030Z,1755880944.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 66.092911 m,
      bearing: 341.479708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054454 deg/s,
      cmd heading: 349.166510 deg,
      new cmd heading: 349.122925 deg.

2025-08-22T16:42:24.031Z,1755880944.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093345 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:24.431Z,1755880944.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:24.434Z,1755880944.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 65.882957 m,
      bearing: 341.462416 deg,
      approach rate: -0.505511 m/s,
      LOS rate: -0.041768 deg/s,
      cmd heading: 349.122934 deg,
      new cmd heading: 349.088239 deg.

2025-08-22T16:42:24.434Z,1755880944.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092739 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:24.796Z,1755880944.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:24.803Z,1755880944.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 65.710297 m,
      bearing: 341.448547 deg,
      approach rate: -0.472786 m/s,
      LOS rate: -0.038077 deg/s,
      cmd heading: 349.088236 deg,
      new cmd heading: 349.060425 deg.

2025-08-22T16:42:24.804Z,1755880944.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092254 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:25.206Z,1755880945.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:25.208Z,1755880945.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 65.506828 m,
      bearing: 341.432378 deg,
      approach rate: -0.496891 m/s,
      LOS rate: -0.039608 deg/s,
      cmd heading: 349.060424 deg,
      new cmd heading: 349.027986 deg.

2025-08-22T16:42:25.209Z,1755880945.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091688 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:25.637Z,1755880945.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:25.640Z,1755880945.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:25.646Z,1755880945.646 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:25.646Z,1755880945.646 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:25.647Z,1755880945.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:25.662Z,1755880945.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 65.289864 m,
      bearing: 341.417026 deg,
      approach rate: -0.499714 m/s,
      LOS rate: -0.035475 deg/s,
      cmd heading: 349.027994 deg,
      new cmd heading: 348.997189 deg.

2025-08-22T16:42:25.663Z,1755880945.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091150 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:25.900Z,1755880945.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233520
2025-08-22T16:42:26.002Z,1755880946.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:26.004Z,1755880946.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 65.110794 m,
      bearing: 341.404387 deg,
      approach rate: -0.494610 m/s,
      LOS rate: -0.035007 deg/s,
      cmd heading: 348.997176 deg,
      new cmd heading: 348.971828 deg.

2025-08-22T16:42:26.006Z,1755880946.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090707 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:26.150Z,1755880946.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484511
2025-08-22T16:42:26.403Z,1755880946.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736607
2025-08-22T16:42:26.446Z,1755880946.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:26.449Z,1755880946.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 64.890465 m,
      bearing: 341.388647 deg,
      approach rate: -0.495516 m/s,
      LOS rate: -0.035520 deg/s,
      cmd heading: 348.971823 deg,
      new cmd heading: 348.940235 deg.

2025-08-22T16:42:26.450Z,1755880946.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090156 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:26.655Z,1755880946.655 [DAT](INFO): DAT read: Rx Time:16:42:27.2394

2025-08-22T16:42:26.655Z,1755880946.655 [DAT](INFO): Rx dataTimestamp_ set to:1755880946.654745
2025-08-22T16:42:26.656Z,1755880946.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989591
2025-08-22T16:42:26.806Z,1755880946.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.08 m.
2025-08-22T16:42:26.808Z,1755880946.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.082703 m,
      nav range: 64.713104 m,
      bearing: 341.376050 deg,
      approach rate: -0.493687 m/s,
      LOS rate: -0.035158 deg/s,
      cmd heading: 348.940240 deg,
      new cmd heading: 348.914978 deg.

2025-08-22T16:42:26.810Z,1755880946.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089715 target range: 67.082703 and range: 67.50 m.
2025-08-22T16:42:26.907Z,1755880946.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240656
2025-08-22T16:42:27.167Z,1755880947.167 [DAT](INFO): DAT read: 16:42:27.2394 LVL= 31088, 32753, 25154, 32755, AGC= 65, IDX= 414,-0.15, 0.703,-0.962, 1.123, 0.606, PHS= 0.200,-1.522, 0.474, RAW= 157.3,   9.1, CAL= 157.0,   9.7, ROT= 353.0,  -9.7

2025-08-22T16:42:27.168Z,1755880947.168 [DAT](INFO): got valid direction response:
 16:42:27.2394 LVL= 31088, 32753, 25154, 32755, AGC= 65, IDX= 414,-0.15, 0.703,-0.962, 1.123, 0.606, PHS= 0.200,-1.522, 0.474, RAW= 157.3,   9.1, CAL= 157.0,   9.7, ROT= 353.0,  -9.7

2025-08-22T16:42:27.170Z,1755880947.170 [DAT](INFO): DAT read: Bearing 159.3,  -6.0 (Local)

2025-08-22T16:42:27.170Z,1755880947.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,  -6.0 (Local)

2025-08-22T16:42:27.172Z,1755880947.172 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m  (Round-trip  87.6 ms) speed  0.4 m/s

2025-08-22T16:42:27.190Z,1755880947.190 [DAT](INFO): DAT read: user:229>

2025-08-22T16:42:27.191Z,1755880947.191 [DAT](INFO): DAT read: Tx time:16:42:28.3476

2025-08-22T16:42:27.191Z,1755880947.191 [DAT](INFO): Ping request sent.
2025-08-22T16:42:27.192Z,1755880947.192 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:27.192Z,1755880947.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:27.193Z,1755880947.193 [DAT](INFO): direction in FSK: [0.978356,-0.120127,0.168489]
2025-08-22T16:42:27.193Z,1755880947.193 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:27.193Z,1755880947.193 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:27.196Z,1755880947.196 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:27.197Z,1755880947.197 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:27.323Z,1755880947.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.699997 m,
      deltaT: 3.528307 s,
      deltaX: -1.800003 m,
      approachRate: -0.510161 m/s,
      rangeRepo size: 4

2025-08-22T16:42:27.325Z,1755880947.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.293953 m,
      bearing: 342.146734 deg,
      lat: 36.779434 deg,
      lon: -121.859659 deg,
      deltaT: 3.528307 s,
      deltaX: -1.788750 m,
      approachRate: -0.506971 m/s,
      posRepo size: 4

2025-08-22T16:42:27.325Z,1755880947.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:27.332Z,1755880947.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 64.582191 m,
      bearing: 341.505206 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035158 deg/s,
      cmd heading: 348.914968 deg,
      new cmd heading: 348.878954 deg.

2025-08-22T16:42:27.333Z,1755880947.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089087 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:27.786Z,1755880947.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:27.788Z,1755880947.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:27.791Z,1755880947.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 64.330681 m,
      bearing: 341.489334 deg,
      approach rate: -0.534456 m/s,
      LOS rate: -0.033860 deg/s,
      cmd heading: 348.878959 deg,
      new cmd heading: 348.847091 deg.

2025-08-22T16:42:27.792Z,1755880947.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088531 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:27.914Z,1755880947.914 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:27.914Z,1755880947.914 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:27.915Z,1755880947.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:28.140Z,1755880948.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:28.143Z,1755880948.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 64.156944 m,
      bearing: 341.478518 deg,
      approach rate: -0.493644 m/s,
      LOS rate: -0.030815 deg/s,
      cmd heading: 348.847103 deg,
      new cmd heading: 348.825413 deg.

2025-08-22T16:42:28.144Z,1755880948.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088152 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:28.169Z,1755880948.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976950
2025-08-22T16:42:28.421Z,1755880948.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229387
2025-08-22T16:42:28.582Z,1755880948.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:28.584Z,1755880948.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 63.956802 m,
      bearing: 341.464503 deg,
      approach rate: -0.457693 m/s,
      LOS rate: -0.032152 deg/s,
      cmd heading: 348.825411 deg,
      new cmd heading: 348.797292 deg.

2025-08-22T16:42:28.590Z,1755880948.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087661 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:28.671Z,1755880948.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478920
2025-08-22T16:42:28.922Z,1755880948.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730875
2025-08-22T16:42:28.944Z,1755880948.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:28.947Z,1755880948.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 63.769093 m,
      bearing: 341.451451 deg,
      approach rate: -0.511866 m/s,
      LOS rate: -0.035695 deg/s,
      cmd heading: 348.797298 deg,
      new cmd heading: 348.771117 deg.

2025-08-22T16:42:28.948Z,1755880948.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087204 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:29.175Z,1755880949.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983325
2025-08-22T16:42:29.365Z,1755880949.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:29.379Z,1755880949.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 63.571117 m,
      bearing: 341.437623 deg,
      approach rate: -0.472525 m/s,
      LOS rate: -0.033107 deg/s,
      cmd heading: 348.771124 deg,
      new cmd heading: 348.743382 deg.

2025-08-22T16:42:29.380Z,1755880949.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086720 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:29.429Z,1755880949.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236930
2025-08-22T16:42:29.678Z,1755880949.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486885
2025-08-22T16:42:29.797Z,1755880949.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:29.799Z,1755880949.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:29.802Z,1755880949.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 63.361065 m,
      bearing: 341.421507 deg,
      approach rate: -0.481665 m/s,
      LOS rate: -0.037077 deg/s,
      cmd heading: 348.743394 deg,
      new cmd heading: 348.711055 deg.

2025-08-22T16:42:29.803Z,1755880949.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086156 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:29.931Z,1755880949.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739086
2025-08-22T16:42:30.183Z,1755880950.183 [DAT](INFO): DAT read: Rx Time:16:42:30.8370

2025-08-22T16:42:30.184Z,1755880950.184 [DAT](INFO): Rx dataTimestamp_ set to:1755880950.183718
2025-08-22T16:42:30.185Z,1755880950.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993301
2025-08-22T16:42:30.189Z,1755880950.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:30.192Z,1755880950.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 63.180668 m,
      bearing: 341.407599 deg,
      approach rate: -0.463308 m/s,
      LOS rate: -0.035821 deg/s,
      cmd heading: 348.711046 deg,
      new cmd heading: 348.683151 deg.

2025-08-22T16:42:30.194Z,1755880950.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085669 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:30.438Z,1755880950.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245329
2025-08-22T16:42:30.597Z,1755880950.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.29 m.
2025-08-22T16:42:30.600Z,1755880950.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.293953 m,
      nav range: 62.998310 m,
      bearing: 341.396182 deg,
      approach rate: -0.446320 m/s,
      LOS rate: -0.028024 deg/s,
      cmd heading: 348.683152 deg,
      new cmd heading: 348.660251 deg.

2025-08-22T16:42:30.601Z,1755880950.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085269 target range: 65.293953 and range: 65.70 m.
2025-08-22T16:42:30.688Z,1755880950.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496035
2025-08-22T16:42:30.944Z,1755880950.944 [DAT](INFO): DAT read: 16:42:30.8370 LVL= 22656, 27121, 21682, 32755, AGC= 63, IDX= 422, 0.18,-0.594,-2.271,-0.212,-0.738, PHS= 0.245,-1.488, 0.482, RAW= 156.3,   8.2, CAL= 155.9,   8.6, ROT= 354.1,  -8.6

2025-08-22T16:42:30.945Z,1755880950.945 [DAT](INFO): got valid direction response:
 16:42:30.8370 LVL= 22656, 27121, 21682, 32755, AGC= 63, IDX= 422, 0.18,-0.594,-2.271,-0.212,-0.738, PHS= 0.245,-1.488, 0.482, RAW= 156.3,   8.2, CAL= 155.9,   8.6, ROT= 354.1,  -8.6

2025-08-22T16:42:30.946Z,1755880950.946 [DAT](INFO): DAT read: Bearing 157.8,  -4.6 (Local)

2025-08-22T16:42:30.947Z,1755880950.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -4.6 (Local)

2025-08-22T16:42:30.948Z,1755880950.948 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.3 ms) speed  0.4 m/s

2025-08-22T16:42:30.949Z,1755880950.949 [DAT](INFO): DAT read: user:230>

2025-08-22T16:42:30.949Z,1755880950.949 [DAT](INFO): DAT read: Tx time:16:42:31.9475

2025-08-22T16:42:30.950Z,1755880950.950 [DAT](INFO): Ping request sent.
2025-08-22T16:42:30.950Z,1755880950.950 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:30.950Z,1755880950.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:30.951Z,1755880950.951 [DAT](INFO): direction in FSK: [0.983519,-0.101637,0.149535]
2025-08-22T16:42:30.951Z,1755880950.951 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:30.952Z,1755880950.952 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:30.972Z,1755880950.972 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:30.972Z,1755880950.972 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:31.095Z,1755880951.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 3.779668 s,
      deltaX: -1.799995 m,
      approachRate: -0.476231 m/s,
      rangeRepo size: 4

2025-08-22T16:42:31.097Z,1755880951.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.504948 m,
      bearing: 343.047652 deg,
      lat: 36.779435 deg,
      lon: -121.859652 deg,
      deltaT: 3.779668 s,
      deltaX: -1.789005 m,
      approachRate: -0.473323 m/s,
      posRepo size: 4

2025-08-22T16:42:31.101Z,1755880951.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:31.104Z,1755880951.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 62.684761 m,
      bearing: 341.920459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028024 deg/s,
      cmd heading: 348.660257 deg,
      new cmd heading: 348.632689 deg.

2025-08-22T16:42:31.105Z,1755880951.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084788 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:31.523Z,1755880951.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:31.526Z,1755880951.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 62.466312 m,
      bearing: 341.910075 deg,
      approach rate: -0.503621 m/s,
      LOS rate: -0.024022 deg/s,
      cmd heading: 348.632690 deg,
      new cmd heading: 348.611850 deg.

2025-08-22T16:42:31.527Z,1755880951.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084424 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:31.879Z,1755880951.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:31.882Z,1755880951.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:31.884Z,1755880951.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 62.307777 m,
      bearing: 341.902644 deg,
      approach rate: -0.441973 m/s,
      LOS rate: -0.020771 deg/s,
      cmd heading: 348.611844 deg,
      new cmd heading: 348.596944 deg.

2025-08-22T16:42:31.885Z,1755880951.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084165 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:31.951Z,1755880951.951 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:31.951Z,1755880951.951 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:31.951Z,1755880951.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:32.203Z,1755880952.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252684
2025-08-22T16:42:32.276Z,1755880952.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:32.279Z,1755880952.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 62.115425 m,
      bearing: 341.893839 deg,
      approach rate: -0.487364 m/s,
      LOS rate: -0.022378 deg/s,
      cmd heading: 348.596955 deg,
      new cmd heading: 348.579290 deg.

2025-08-22T16:42:32.280Z,1755880952.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083856 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:32.457Z,1755880952.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506831
2025-08-22T16:42:32.708Z,1755880952.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758295
2025-08-22T16:42:32.711Z,1755880952.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:32.716Z,1755880952.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 61.910320 m,
      bearing: 341.885131 deg,
      approach rate: -0.472419 m/s,
      LOS rate: -0.020124 deg/s,
      cmd heading: 348.579278 deg,
      new cmd heading: 348.561804 deg.

2025-08-22T16:42:32.719Z,1755880952.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083551 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:32.958Z,1755880952.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008646
2025-08-22T16:42:33.104Z,1755880953.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:33.107Z,1755880953.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 61.719494 m,
      bearing: 341.877323 deg,
      approach rate: -0.484449 m/s,
      LOS rate: -0.019882 deg/s,
      cmd heading: 348.561793 deg,
      new cmd heading: 348.546130 deg.

2025-08-22T16:42:33.108Z,1755880953.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083278 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:33.212Z,1755880953.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262224
2025-08-22T16:42:33.465Z,1755880953.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514745
2025-08-22T16:42:33.575Z,1755880953.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:33.582Z,1755880953.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 61.502369 m,
      bearing: 341.868780 deg,
      approach rate: -0.461543 m/s,
      LOS rate: -0.018225 deg/s,
      cmd heading: 348.546138 deg,
      new cmd heading: 348.528990 deg.

2025-08-22T16:42:33.583Z,1755880953.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082978 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:33.715Z,1755880953.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765663
2025-08-22T16:42:33.918Z,1755880953.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:33.920Z,1755880953.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:33.923Z,1755880953.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 61.326126 m,
      bearing: 341.861974 deg,
      approach rate: -0.509760 m/s,
      LOS rate: -0.019740 deg/s,
      cmd heading: 348.528981 deg,
      new cmd heading: 348.515331 deg.

2025-08-22T16:42:33.924Z,1755880953.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082740 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:33.973Z,1755880953.973 [DAT](INFO): DAT read: Rx Time:16:42:34.4346

2025-08-22T16:42:33.973Z,1755880953.973 [DAT](INFO): Rx dataTimestamp_ set to:1755880953.972875
2025-08-22T16:42:33.974Z,1755880953.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024109
2025-08-22T16:42:34.228Z,1755880954.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277689
2025-08-22T16:42:34.387Z,1755880954.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m.
2025-08-22T16:42:34.402Z,1755880954.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.504948 m,
      nav range: 61.108681 m,
      bearing: 341.853821 deg,
      approach rate: -0.466134 m/s,
      LOS rate: -0.017540 deg/s,
      cmd heading: 348.515320 deg,
      new cmd heading: 348.498956 deg.

2025-08-22T16:42:34.403Z,1755880954.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082454 target range: 63.504948 and range: 63.90 m.
2025-08-22T16:42:34.500Z,1755880954.500 [DAT](INFO): DAT read: 16:42:34.4346 LVL= 28240, 32753, 28242, 32755, AGC= 64, IDX= 414, 0.27,-2.526, 2.100,-2.165,-2.652, PHS= 0.228,-1.486, 0.443, RAW= 155.8,   9.0, CAL= 155.5,   9.5, ROT= 354.5,  -9.5

2025-08-22T16:42:34.504Z,1755880954.504 [DAT](INFO): got valid direction response:
 16:42:34.4346 LVL= 28240, 32753, 28242, 32755, AGC= 64, IDX= 414, 0.27,-2.526, 2.100,-2.165,-2.652, PHS= 0.228,-1.486, 0.443, RAW= 155.8,   9.0, CAL= 155.5,   9.5, ROT= 354.5,  -9.5

2025-08-22T16:42:34.509Z,1755880954.509 [DAT](INFO): DAT read: Bearing 158.4,  -4.0 (Local)

2025-08-22T16:42:34.510Z,1755880954.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.4,  -4.0 (Local)

2025-08-22T16:42:34.512Z,1755880954.512 [DAT](INFO): DAT read: Range 11 to 50 : 62.2 m  (Round-trip  83.0 ms) speed  0.4 m/s

2025-08-22T16:42:34.513Z,1755880954.513 [DAT](INFO): DAT read: user:231>

2025-08-22T16:42:34.535Z,1755880954.535 [DAT](INFO): DAT read: Tx time:16:42:35.5475

2025-08-22T16:42:34.536Z,1755880954.536 [DAT](INFO): Ping request sent.
2025-08-22T16:42:34.536Z,1755880954.536 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:34.537Z,1755880954.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:34.546Z,1755880954.546 [DAT](INFO): direction in FSK: [0.981745,-0.094532,0.165048]
2025-08-22T16:42:34.546Z,1755880954.546 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:34.546Z,1755880954.546 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:34.553Z,1755880954.553 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:34.553Z,1755880954.553 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:34.830Z,1755880954.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.200001 m,
      deltaT: 3.542990 s,
      deltaX: -1.700001 m,
      approachRate: -0.479821 m/s,
      rangeRepo size: 4

2025-08-22T16:42:34.832Z,1755880954.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.815086 m,
      bearing: 342.886039 deg,
      lat: 36.779436 deg,
      lon: -121.859650 deg,
      deltaT: 3.542990 s,
      deltaX: -1.689861 m,
      approachRate: -0.476959 m/s,
      posRepo size: 4

2025-08-22T16:42:34.832Z,1755880954.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:34.835Z,1755880954.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 61.034908 m,
      bearing: 342.059095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017540 deg/s,
      cmd heading: 348.498955 deg,
      new cmd heading: 348.483453 deg.

2025-08-22T16:42:34.836Z,1755880954.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082184 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:35.164Z,1755880955.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:35.168Z,1755880955.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 60.871391 m,
      bearing: 342.052894 deg,
      approach rate: -0.488281 m/s,
      LOS rate: -0.018569 deg/s,
      cmd heading: 348.483464 deg,
      new cmd heading: 348.471028 deg.

2025-08-22T16:42:35.171Z,1755880955.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081967 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:35.591Z,1755880955.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:35.614Z,1755880955.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 60.667648 m,
      bearing: 342.047301 deg,
      approach rate: -0.477133 m/s,
      LOS rate: -0.013141 deg/s,
      cmd heading: 348.471033 deg,
      new cmd heading: 348.459810 deg.

2025-08-22T16:42:35.638Z,1755880955.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081771 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:35.985Z,1755880955.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:35.991Z,1755880955.991 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:35.991Z,1755880955.991 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:35.991Z,1755880955.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:35.999Z,1755880955.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:36.002Z,1755880956.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 60.483639 m,
      bearing: 342.042217 deg,
      approach rate: -0.450851 m/s,
      LOS rate: -0.012493 deg/s,
      cmd heading: 348.459804 deg,
      new cmd heading: 348.449606 deg.

2025-08-22T16:42:36.003Z,1755880956.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081593 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:36.242Z,1755880956.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706573
2025-08-22T16:42:36.378Z,1755880956.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:36.381Z,1755880956.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 60.290825 m,
      bearing: 342.037250 deg,
      approach rate: -0.508902 m/s,
      LOS rate: -0.013151 deg/s,
      cmd heading: 348.449614 deg,
      new cmd heading: 348.439649 deg.

2025-08-22T16:42:36.382Z,1755880956.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081419 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:36.497Z,1755880956.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960794
2025-08-22T16:42:36.746Z,1755880956.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210543
2025-08-22T16:42:36.810Z,1755880956.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:36.813Z,1755880956.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 60.093845 m,
      bearing: 342.028249 deg,
      approach rate: -0.455379 m/s,
      LOS rate: -0.020879 deg/s,
      cmd heading: 348.439642 deg,
      new cmd heading: 348.421579 deg.

2025-08-22T16:42:36.818Z,1755880956.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081104 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:36.998Z,1755880956.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462552
2025-08-22T16:42:37.184Z,1755880957.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:37.188Z,1755880957.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 59.904217 m,
      bearing: 342.019654 deg,
      approach rate: -0.507877 m/s,
      LOS rate: -0.023092 deg/s,
      cmd heading: 348.421583 deg,
      new cmd heading: 348.404339 deg.

2025-08-22T16:42:37.190Z,1755880957.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080803 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:37.251Z,1755880957.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715057
2025-08-22T16:42:37.504Z,1755880957.504 [DAT](INFO): DAT read: Rx Time:16:42:38.0323

2025-08-22T16:42:37.506Z,1755880957.506 [DAT](INFO): Rx dataTimestamp_ set to:1755880957.504816
2025-08-22T16:42:37.507Z,1755880957.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971275
2025-08-22T16:42:37.652Z,1755880957.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:37.655Z,1755880957.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 59.665981 m,
      bearing: 342.006245 deg,
      approach rate: -0.509033 m/s,
      LOS rate: -0.028765 deg/s,
      cmd heading: 348.404343 deg,
      new cmd heading: 348.377418 deg.

2025-08-22T16:42:37.656Z,1755880957.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080333 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:37.755Z,1755880957.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218698
2025-08-22T16:42:37.996Z,1755880957.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:37.998Z,1755880957.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.82 m.
2025-08-22T16:42:38.001Z,1755880958.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.815086 m,
      nav range: 59.491074 m,
      bearing: 341.996332 deg,
      approach rate: -0.504470 m/s,
      LOS rate: -0.028675 deg/s,
      cmd heading: 348.377405 deg,
      new cmd heading: 348.357521 deg.

2025-08-22T16:42:38.002Z,1755880958.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079986 target range: 61.815086 and range: 62.20 m.
2025-08-22T16:42:38.012Z,1755880958.012 [DAT](INFO): DAT read: 16:42:38.0323 LVL= 25808, 32753, 21938, 32755, AGC= 63, IDX= 422, 0.38,-0.636,-2.309,-0.281,-0.806, PHS= 0.273,-1.458, 0.481, RAW= 155.6,   7.7, CAL= 155.1,   8.0, ROT= 354.9,  -8.0

2025-08-22T16:42:38.014Z,1755880958.014 [DAT](INFO): got valid direction response:
 16:42:38.0323 LVL= 25808, 32753, 21938, 32755, AGC= 63, IDX= 422, 0.38,-0.636,-2.309,-0.281,-0.806, PHS= 0.273,-1.458, 0.481, RAW= 155.6,   7.7, CAL= 155.1,   8.0, ROT= 354.9,  -8.0

2025-08-22T16:42:38.015Z,1755880958.015 [DAT](INFO): DAT read: Bearing 156.4,  -3.4 (Local)

2025-08-22T16:42:38.015Z,1755880958.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,  -3.4 (Local)

2025-08-22T16:42:38.016Z,1755880958.016 [DAT](INFO): DAT read: Range 11 to 50 : 60.4 m  (Round-trip  80.6 ms) speed  0.4 m/s

2025-08-22T16:42:38.017Z,1755880958.017 [DAT](INFO): DAT read: user:232>

2025-08-22T16:42:38.018Z,1755880958.018 [DAT](INFO): DAT read: Tx time:16:42:39.1475

2025-08-22T16:42:38.018Z,1755880958.018 [DAT](INFO): Ping request sent.
2025-08-22T16:42:38.018Z,1755880958.018 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:38.018Z,1755880958.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:38.019Z,1755880958.019 [DAT](INFO): direction in FSK: [0.986348,-0.088029,0.139173]
2025-08-22T16:42:38.019Z,1755880958.019 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:38.020Z,1755880958.020 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:38.023Z,1755880958.023 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:38.023Z,1755880958.023 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:38.420Z,1755880958.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.400002 m,
      deltaT: 3.525295 s,
      deltaX: -1.799999 m,
      approachRate: -0.510595 m/s,
      rangeRepo size: 4

2025-08-22T16:42:38.427Z,1755880958.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.026207 m,
      bearing: 342.920515 deg,
      lat: 36.779437 deg,
      lon: -121.859640 deg,
      deltaT: 3.525295 s,
      deltaX: -1.788879 m,
      approachRate: -0.507441 m/s,
      posRepo size: 4

2025-08-22T16:42:38.427Z,1755880958.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:38.434Z,1755880958.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 59.085812 m,
      bearing: 342.836189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028675 deg/s,
      cmd heading: 348.357515 deg,
      new cmd heading: 348.333355 deg.

2025-08-22T16:42:38.435Z,1755880958.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079564 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:38.835Z,1755880958.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:38.838Z,1755880958.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 58.876797 m,
      bearing: 342.827553 deg,
      approach rate: -0.503384 m/s,
      LOS rate: -0.020872 deg/s,
      cmd heading: 348.333364 deg,
      new cmd heading: 348.316031 deg.

2025-08-22T16:42:38.839Z,1755880958.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079262 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:39.230Z,1755880959.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:39.233Z,1755880959.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 58.689720 m,
      bearing: 342.819729 deg,
      approach rate: -0.473906 m/s,
      LOS rate: -0.019882 deg/s,
      cmd heading: 348.316043 deg,
      new cmd heading: 348.300345 deg.

2025-08-22T16:42:39.234Z,1755880959.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078988 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:39.649Z,1755880959.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:39.651Z,1755880959.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 58.483093 m,
      bearing: 342.810445 deg,
      approach rate: -0.493222 m/s,
      LOS rate: -0.022240 deg/s,
      cmd heading: 348.300333 deg,
      new cmd heading: 348.281699 deg.

2025-08-22T16:42:39.652Z,1755880959.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078662 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:40.020Z,1755880960.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:40.022Z,1755880960.022 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:40.022Z,1755880960.022 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:40.023Z,1755880960.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:40.026Z,1755880960.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:40.029Z,1755880960.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 58.301052 m,
      bearing: 342.802319 deg,
      approach rate: -0.482732 m/s,
      LOS rate: -0.021617 deg/s,
      cmd heading: 348.281700 deg,
      new cmd heading: 348.265396 deg.

2025-08-22T16:42:40.030Z,1755880960.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078378 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:40.275Z,1755880960.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256821
2025-08-22T16:42:40.426Z,1755880960.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:40.428Z,1755880960.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 58.108345 m,
      bearing: 342.793696 deg,
      approach rate: -0.491748 m/s,
      LOS rate: -0.022078 deg/s,
      cmd heading: 348.265390 deg,
      new cmd heading: 348.248086 deg.

2025-08-22T16:42:40.430Z,1755880960.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078076 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:40.527Z,1755880960.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509056
2025-08-22T16:42:40.670Z,1755880960.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:42:40.779Z,1755880960.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760552
2025-08-22T16:42:40.865Z,1755880960.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:40.878Z,1755880960.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 57.897060 m,
      bearing: 342.785914 deg,
      approach rate: -0.472352 m/s,
      LOS rate: -0.017461 deg/s,
      cmd heading: 348.248096 deg,
      new cmd heading: 348.232475 deg.

2025-08-22T16:42:40.879Z,1755880960.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077803 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:41.032Z,1755880961.032 [DAT](INFO): DAT read: Rx Time:16:42:41.6300

2025-08-22T16:42:41.033Z,1755880961.033 [DAT](INFO): Rx dataTimestamp_ set to:1755880961.032028
2025-08-22T16:42:41.034Z,1755880961.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015128
2025-08-22T16:42:41.258Z,1755880961.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:42:41.261Z,1755880961.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.026207 m,
      nav range: 57.711372 m,
      bearing: 342.779027 deg,
      approach rate: -0.472180 m/s,
      LOS rate: -0.017567 deg/s,
      cmd heading: 348.232468 deg,
      new cmd heading: 348.218651 deg.

2025-08-22T16:42:41.262Z,1755880961.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077562 target range: 60.026207 and range: 60.40 m.
2025-08-22T16:42:41.283Z,1755880961.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264577
2025-08-22T16:42:41.540Z,1755880961.540 [DAT](INFO): DAT read: 16:42:41.6300 LVL= 32736, 32753, 27826, 32755, AGC= 64, IDX= 415,-0.28, 2.665, 0.967, 3.006, 2.497, PHS= 0.270,-1.486, 0.465, RAW= 155.2,   8.1, CAL= 154.8,   8.5, ROT= 355.2,  -8.5

2025-08-22T16:42:41.544Z,1755880961.544 [DAT](INFO): got valid direction response:
 16:42:41.6300 LVL= 32736, 32753, 27826, 32755, AGC= 64, IDX= 415,-0.28, 2.665, 0.967, 3.006, 2.497, PHS= 0.270,-1.486, 0.465, RAW= 155.2,   8.1, CAL= 154.8,   8.5, ROT= 355.2,  -8.5

2025-08-22T16:42:41.546Z,1755880961.546 [DAT](INFO): DAT read: Bearing 156.8,  -2.7 (Local)

2025-08-22T16:42:41.546Z,1755880961.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.8,  -2.7 (Local)

2025-08-22T16:42:41.547Z,1755880961.547 [DAT](INFO): DAT read: Range 11 to 50 : 58.8 m  (Round-trip  78.4 ms) speed  0.4 m/s

2025-08-22T16:42:41.550Z,1755880961.550 [DAT](INFO): DAT read: user:233>

2025-08-22T16:42:41.552Z,1755880961.552 [DAT](INFO): DAT read: Tx time:16:42:42.7475

2025-08-22T16:42:41.553Z,1755880961.553 [DAT](INFO): Ping request sent.
2025-08-22T16:42:41.553Z,1755880961.553 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:41.554Z,1755880961.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:41.555Z,1755880961.555 [DAT](INFO): direction in FSK: [0.985547,-0.082759,0.147809]
2025-08-22T16:42:41.555Z,1755880961.555 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:41.555Z,1755880961.555 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:41.558Z,1755880961.558 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:41.558Z,1755880961.558 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:41.677Z,1755880961.677 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:42:41.792Z,1755880961.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 3.527697 s,
      deltaX: -1.600002 m,
      approachRate: -0.453554 m/s,
      rangeRepo size: 4

2025-08-22T16:42:41.802Z,1755880961.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.436085 m,
      bearing: 342.983116 deg,
      lat: 36.779438 deg,
      lon: -121.859640 deg,
      deltaT: 3.527697 s,
      deltaX: -1.590122 m,
      approachRate: -0.450754 m/s,
      posRepo size: 4

2025-08-22T16:42:41.803Z,1755880961.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:41.803Z,1755880961.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:41.810Z,1755880961.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 57.566132 m,
      bearing: 342.833898 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017567 deg/s,
      cmd heading: 348.218644 deg,
      new cmd heading: 348.199921 deg.

2025-08-22T16:42:41.811Z,1755880961.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077235 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:41.836Z,1755880961.836 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T16:42:42.224Z,1755880962.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:42.230Z,1755880962.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:42.231Z,1755880962.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:42.238Z,1755880962.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 57.349533 m,
      bearing: 342.830016 deg,
      approach rate: -0.493404 m/s,
      LOS rate: -0.008876 deg/s,
      cmd heading: 348.199929 deg,
      new cmd heading: 348.192136 deg.

2025-08-22T16:42:42.239Z,1755880962.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077099 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:42.290Z,1755880962.290 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:42.290Z,1755880962.290 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:42.291Z,1755880962.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:42.543Z,1755880962.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989689
2025-08-22T16:42:42.711Z,1755880962.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:42.712Z,1755880962.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:42.720Z,1755880962.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 57.120193 m,
      bearing: 342.823067 deg,
      approach rate: -0.477060 m/s,
      LOS rate: -0.014512 deg/s,
      cmd heading: 348.192143 deg,
      new cmd heading: 348.178190 deg.

2025-08-22T16:42:42.725Z,1755880962.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076856 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:42.795Z,1755880962.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242192
2025-08-22T16:42:43.046Z,1755880963.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493375
2025-08-22T16:42:43.075Z,1755880963.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:43.075Z,1755880963.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:43.078Z,1755880963.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 56.924435 m,
      bearing: 342.816504 deg,
      approach rate: -0.538160 m/s,
      LOS rate: -0.018105 deg/s,
      cmd heading: 348.178182 deg,
      new cmd heading: 348.165010 deg.

2025-08-22T16:42:43.079Z,1755880963.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076626 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:43.300Z,1755880963.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746799
2025-08-22T16:42:43.475Z,1755880963.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:43.475Z,1755880963.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:43.478Z,1755880963.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 56.728008 m,
      bearing: 342.809680 deg,
      approach rate: -0.490749 m/s,
      LOS rate: -0.017108 deg/s,
      cmd heading: 348.165013 deg,
      new cmd heading: 348.151318 deg.

2025-08-22T16:42:43.479Z,1755880963.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076387 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:43.551Z,1755880963.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997728
2025-08-22T16:42:43.803Z,1755880963.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249564
2025-08-22T16:42:43.911Z,1755880963.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:43.912Z,1755880963.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:43.915Z,1755880963.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 56.515358 m,
      bearing: 342.807978 deg,
      approach rate: -0.487225 m/s,
      LOS rate: -0.003913 deg/s,
      cmd heading: 348.151326 deg,
      new cmd heading: 348.147910 deg.

2025-08-22T16:42:43.916Z,1755880963.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076327 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:44.054Z,1755880964.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501390
2025-08-22T16:42:44.287Z,1755880964.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:44.289Z,1755880964.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:44.289Z,1755880964.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:44.292Z,1755880964.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 56.331097 m,
      bearing: 342.806483 deg,
      approach rate: -0.488332 m/s,
      LOS rate: -0.003975 deg/s,
      cmd heading: 348.147911 deg,
      new cmd heading: 348.144911 deg.

2025-08-22T16:42:44.293Z,1755880964.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076275 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:44.307Z,1755880964.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753552
2025-08-22T16:42:44.559Z,1755880964.559 [DAT](INFO): DAT read: Rx Time:16:42:45.2277

2025-08-22T16:42:44.559Z,1755880964.559 [DAT](INFO): Rx dataTimestamp_ set to:1755880964.558789
2025-08-22T16:42:44.560Z,1755880964.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006567
2025-08-22T16:42:44.752Z,1755880964.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:44.753Z,1755880964.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:44.756Z,1755880964.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 56.117393 m,
      bearing: 342.803200 deg,
      approach rate: -0.461048 m/s,
      LOS rate: -0.007111 deg/s,
      cmd heading: 348.144905 deg,
      new cmd heading: 348.138313 deg.

2025-08-22T16:42:44.757Z,1755880964.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076160 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:44.811Z,1755880964.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258377
2025-08-22T16:42:45.063Z,1755880965.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509556
2025-08-22T16:42:45.175Z,1755880965.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.44 m.
2025-08-22T16:42:45.176Z,1755880965.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-22T16:42:45.191Z,1755880965.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.436085 m,
      nav range: 55.918171 m,
      bearing: 342.800071 deg,
      approach rate: -0.470899 m/s,
      LOS rate: -0.007422 deg/s,
      cmd heading: 348.138321 deg,
      new cmd heading: 348.132041 deg.

2025-08-22T16:42:45.193Z,1755880965.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076050 target range: 58.436085 and range: 58.80 m.
2025-08-22T16:42:45.320Z,1755880965.320 [DAT](INFO): DAT read: 16:42:45.2277 LVL= 26656, 30673, 24850, 31731, AGC= 62, IDX= 423,-0.24,-0.543,-2.188,-0.123,-0.682, PHS= 0.241,-1.461, 0.515, RAW= 157.3,   7.7, CAL= 156.9,   7.9, ROT= 353.1,  -7.9

2025-08-22T16:42:45.321Z,1755880965.321 [DAT](INFO): got valid direction response:
 16:42:45.2277 LVL= 26656, 30673, 24850, 31731, AGC= 62, IDX= 423,-0.24,-0.543,-2.188,-0.123,-0.682, PHS= 0.241,-1.461, 0.515, RAW= 157.3,   7.7, CAL= 156.9,   7.9, ROT= 353.1,  -7.9

2025-08-22T16:42:45.338Z,1755880965.338 [DAT](INFO): DAT read: Bearing 156.1,  -4.7 (Local)

2025-08-22T16:42:45.338Z,1755880965.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.1,  -4.7 (Local)

2025-08-22T16:42:45.340Z,1755880965.340 [DAT](INFO): DAT read: Range 11 to 50 : 57.0 m  (Round-trip  76.0 ms) speed  0.4 m/s

2025-08-22T16:42:45.340Z,1755880965.340 [DAT](INFO): DAT read: user:234>

2025-08-22T16:42:45.341Z,1755880965.341 [DAT](INFO): DAT read: Tx time:16:42:46.3475

2025-08-22T16:42:45.350Z,1755880965.350 [DAT](INFO): Ping request sent.
2025-08-22T16:42:45.350Z,1755880965.350 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:45.350Z,1755880965.350 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:45.351Z,1755880965.351 [DAT](INFO): direction in FSK: [0.983336,-0.118996,0.137445]
2025-08-22T16:42:45.351Z,1755880965.351 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:45.352Z,1755880965.352 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:45.359Z,1755880965.359 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:45.359Z,1755880965.359 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:45.524Z,1755880965.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 3.779998 s,
      deltaX: -1.799999 m,
      approachRate: -0.476191 m/s,
      rangeRepo size: 4

2025-08-22T16:42:45.530Z,1755880965.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.647247 m,
      bearing: 341.127947 deg,
      lat: 36.779438 deg,
      lon: -121.859640 deg,
      deltaT: 3.779998 s,
      deltaX: -1.788837 m,
      approachRate: -0.473238 m/s,
      posRepo size: 4

2025-08-22T16:42:45.531Z,1755880965.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:45.531Z,1755880965.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:45.538Z,1755880965.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 55.744274 m,
      bearing: 342.797366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007422 deg/s,
      cmd heading: 348.132037 deg,
      new cmd heading: 348.126869 deg.

2025-08-22T16:42:45.539Z,1755880965.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075960 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:45.894Z,1755880965.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720300556,0., 0
2025-08-22T16:42:45.934Z,1755880965.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:45.935Z,1755880965.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:45.942Z,1755880965.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 55.550365 m,
      bearing: 342.794360 deg,
      approach rate: -0.472014 m/s,
      LOS rate: -0.007343 deg/s,
      cmd heading: 348.126874 deg,
      new cmd heading: 348.120840 deg.

2025-08-22T16:42:45.942Z,1755880965.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075855 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:46.303Z,1755880966.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:46.305Z,1755880966.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:46.306Z,1755880966.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:46.309Z,1755880966.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 55.359776 m,
      bearing: 342.791394 deg,
      approach rate: -0.513445 m/s,
      LOS rate: -0.008016 deg/s,
      cmd heading: 348.120836 deg,
      new cmd heading: 348.114884 deg.

2025-08-22T16:42:46.310Z,1755880966.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075751 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:46.322Z,1755880966.322 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:46.322Z,1755880966.322 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:46.323Z,1755880966.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:46.575Z,1755880966.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225271
2025-08-22T16:42:46.748Z,1755880966.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:46.748Z,1755880966.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:46.752Z,1755880966.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 55.152046 m,
      bearing: 342.786840 deg,
      approach rate: -0.469359 m/s,
      LOS rate: -0.010328 deg/s,
      cmd heading: 348.114880 deg,
      new cmd heading: 348.105737 deg.

2025-08-22T16:42:46.752Z,1755880966.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075591 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:46.827Z,1755880966.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477797
2025-08-22T16:42:47.078Z,1755880967.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728808
2025-08-22T16:42:47.111Z,1755880967.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:47.111Z,1755880967.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:47.114Z,1755880967.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 54.981655 m,
      bearing: 342.783140 deg,
      approach rate: -0.469544 m/s,
      LOS rate: -0.010228 deg/s,
      cmd heading: 348.105727 deg,
      new cmd heading: 348.098304 deg.

2025-08-22T16:42:47.115Z,1755880967.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075461 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:47.331Z,1755880967.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981425
2025-08-22T16:42:47.516Z,1755880967.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:47.516Z,1755880967.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m.
2025-08-22T16:42:47.516Z,1755880967.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.00 m.
2025-08-22T16:42:47.517Z,1755880967.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T16:42:47.519Z,1755880967.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 54.791737 m,
      bearing: 342.779146 deg,
      approach rate: -0.469154 m/s,
      LOS rate: -0.009901 deg/s,
      cmd heading: 348.098296 deg,
      new cmd heading: 348.090280 deg.

2025-08-22T16:42:47.520Z,1755880967.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075322 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:47.532Z,1755880967.532 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T16:42:47.532Z,1755880967.532 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T16:42:47.585Z,1755880967.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235534
2025-08-22T16:42:47.839Z,1755880967.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488875
2025-08-22T16:42:47.945Z,1755880967.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:47.948Z,1755880967.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 54.588490 m,
      bearing: 342.772691 deg,
      approach rate: -0.473656 m/s,
      LOS rate: -0.015099 deg/s,
      cmd heading: 348.090291 deg,
      new cmd heading: 348.077333 deg.

2025-08-22T16:42:47.949Z,1755880967.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075096 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:48.090Z,1755880968.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740859
2025-08-22T16:42:48.327Z,1755880968.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:48.330Z,1755880968.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:48.332Z,1755880968.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 54.406235 m,
      bearing: 342.767163 deg,
      approach rate: -0.473560 m/s,
      LOS rate: -0.014412 deg/s,
      cmd heading: 348.077341 deg,
      new cmd heading: 348.066248 deg.

2025-08-22T16:42:48.334Z,1755880968.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074902 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:48.342Z,1755880968.342 [DAT](INFO): DAT read: Rx Time:16:42:48.8253

2025-08-22T16:42:48.343Z,1755880968.343 [DAT](INFO): Rx dataTimestamp_ set to:1755880968.342681
2025-08-22T16:42:48.343Z,1755880968.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993882
2025-08-22T16:42:48.595Z,1755880968.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244906
2025-08-22T16:42:48.798Z,1755880968.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.65 m.
2025-08-22T16:42:48.801Z,1755880968.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.647247 m,
      nav range: 54.184853 m,
      bearing: 342.763419 deg,
      approach rate: -0.472143 m/s,
      LOS rate: -0.008017 deg/s,
      cmd heading: 348.066249 deg,
      new cmd heading: 348.058731 deg.

2025-08-22T16:42:48.806Z,1755880968.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074771 target range: 56.647247 and range: 57.00 m.
2025-08-22T16:42:48.852Z,1755880968.852 [DAT](INFO): DAT read: 16:42:48.8253 LVL= 25040, 28529, 24850, 32755, AGC= 63, IDX= 415,-0.05, 3.122, 1.448,-2.804, 2.979, PHS= 0.245,-1.486, 0.457, RAW= 155.7,   8.5, CAL= 155.3,   9.0, ROT= 354.7,  -9.0

2025-08-22T16:42:48.853Z,1755880968.853 [DAT](INFO): got valid direction response:
 16:42:48.8253 LVL= 25040, 28529, 24850, 32755, AGC= 63, IDX= 415,-0.05, 3.122, 1.448,-2.804, 2.979, PHS= 0.245,-1.486, 0.457, RAW= 155.7,   8.5, CAL= 155.3,   9.0, ROT= 354.7,  -9.0

2025-08-22T16:42:48.854Z,1755880968.854 [DAT](INFO): DAT read: Bearing 157.2,  -3.0 (Local)

2025-08-22T16:42:48.855Z,1755880968.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -3.0 (Local)

2025-08-22T16:42:48.856Z,1755880968.856 [DAT](INFO): DAT read: Range 11 to 50 : 55.2 m  (Round-trip  73.7 ms) speed  0.4 m/s

2025-08-22T16:42:48.857Z,1755880968.857 [DAT](INFO): DAT read: user:235>

2025-08-22T16:42:48.858Z,1755880968.858 [DAT](INFO): DAT read: Tx time:16:42:49.9475

2025-08-22T16:42:48.858Z,1755880968.858 [DAT](INFO): Ping request sent.
2025-08-22T16:42:48.858Z,1755880968.858 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:48.858Z,1755880968.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:48.859Z,1755880968.859 [DAT](INFO): direction in FSK: [0.983466,-0.091233,0.156434]
2025-08-22T16:42:48.859Z,1755880968.859 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:48.860Z,1755880968.860 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:48.878Z,1755880968.878 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:48.878Z,1755880968.878 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:49.177Z,1755880969.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 3.532100 s,
      deltaX: -1.799999 m,
      approachRate: -0.509612 m/s,
      rangeRepo size: 4

2025-08-22T16:42:49.185Z,1755880969.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.858383 m,
      bearing: 342.400729 deg,
      lat: 36.779437 deg,
      lon: -121.859640 deg,
      deltaT: 3.532100 s,
      deltaX: -1.788864 m,
      approachRate: -0.506459 m/s,
      posRepo size: 4

2025-08-22T16:42:49.191Z,1755880969.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:49.200Z,1755880969.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 53.905201 m,
      bearing: 342.696721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008017 deg/s,
      cmd heading: 348.058736 deg,
      new cmd heading: 348.052794 deg.

2025-08-22T16:42:49.206Z,1755880969.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074667 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:49.536Z,1755880969.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:49.539Z,1755880969.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 53.710396 m,
      bearing: 342.693076 deg,
      approach rate: -0.530519 m/s,
      LOS rate: -0.009964 deg/s,
      cmd heading: 348.052807 deg,
      new cmd heading: 348.045489 deg.

2025-08-22T16:42:49.540Z,1755880969.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074540 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:49.971Z,1755880969.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:49.974Z,1755880969.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 53.506542 m,
      bearing: 342.687025 deg,
      approach rate: -0.468856 m/s,
      LOS rate: -0.013970 deg/s,
      cmd heading: 348.045485 deg,
      new cmd heading: 348.033337 deg.

2025-08-22T16:42:49.975Z,1755880969.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074327 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:50.344Z,1755880970.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:50.347Z,1755880970.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:50.350Z,1755880970.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 53.330444 m,
      bearing: 342.681596 deg,
      approach rate: -0.468620 m/s,
      LOS rate: -0.014494 deg/s,
      cmd heading: 348.033327 deg,
      new cmd heading: 348.022434 deg.

2025-08-22T16:42:50.351Z,1755880970.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074137 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:50.359Z,1755880970.359 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:50.359Z,1755880970.359 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:50.359Z,1755880970.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:50.611Z,1755880970.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753325
2025-08-22T16:42:50.795Z,1755880970.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:50.798Z,1755880970.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 53.124100 m,
      bearing: 342.672507 deg,
      approach rate: -0.459992 m/s,
      LOS rate: -0.020341 deg/s,
      cmd heading: 348.022426 deg,
      new cmd heading: 348.004177 deg.

2025-08-22T16:42:50.799Z,1755880970.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073819 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:50.863Z,1755880970.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004592
2025-08-22T16:42:51.114Z,1755880971.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256415
2025-08-22T16:42:51.191Z,1755880971.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:51.200Z,1755880971.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 52.952911 m,
      bearing: 342.664648 deg,
      approach rate: -0.438591 m/s,
      LOS rate: -0.020200 deg/s,
      cmd heading: 348.004176 deg,
      new cmd heading: 347.988407 deg.

2025-08-22T16:42:51.206Z,1755880971.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073544 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:51.366Z,1755880971.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508362
2025-08-22T16:42:51.556Z,1755880971.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:51.559Z,1755880971.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 52.773827 m,
      bearing: 342.656047 deg,
      approach rate: -0.483823 m/s,
      LOS rate: -0.023314 deg/s,
      cmd heading: 347.988412 deg,
      new cmd heading: 347.971153 deg.

2025-08-22T16:42:51.560Z,1755880971.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073242 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:51.619Z,1755880971.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760631
2025-08-22T16:42:51.871Z,1755880971.871 [DAT](INFO): DAT read: Rx Time:16:42:52.4230

2025-08-22T16:42:51.871Z,1755880971.871 [DAT](INFO): Rx dataTimestamp_ set to:1755880971.870738
2025-08-22T16:42:51.872Z,1755880971.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013490
2025-08-22T16:42:51.990Z,1755880971.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:51.992Z,1755880971.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 52.572742 m,
      bearing: 342.648183 deg,
      approach rate: -0.463616 m/s,
      LOS rate: -0.018201 deg/s,
      cmd heading: 347.971145 deg,
      new cmd heading: 347.955356 deg.

2025-08-22T16:42:51.994Z,1755880971.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072967 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:52.123Z,1755880972.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264446
2025-08-22T16:42:52.366Z,1755880972.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:52.368Z,1755880972.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.86 m.
2025-08-22T16:42:52.372Z,1755880972.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.858383 m,
      nav range: 52.397366 m,
      bearing: 342.641079 deg,
      approach rate: -0.463372 m/s,
      LOS rate: -0.018832 deg/s,
      cmd heading: 347.955354 deg,
      new cmd heading: 347.941099 deg.

2025-08-22T16:42:52.373Z,1755880972.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072718 target range: 54.858383 and range: 55.20 m.
2025-08-22T16:42:52.396Z,1755880972.396 [DAT](INFO): DAT read: 16:42:52.4230 LVL= 29488, 32753, 28434, 32755, AGC= 62, IDX= 424,-0.19, 0.149,-1.512, 0.544, 0.023, PHS= 0.229,-1.490, 0.477, RAW= 156.7,   8.5, CAL= 156.3,   8.9, ROT= 353.7,  -8.9

2025-08-22T16:42:52.397Z,1755880972.397 [DAT](INFO): got valid direction response:
 16:42:52.4230 LVL= 29488, 32753, 28434, 32755, AGC= 62, IDX= 424,-0.19, 0.149,-1.512, 0.544, 0.023, PHS= 0.229,-1.490, 0.477, RAW= 156.7,   8.5, CAL= 156.3,   8.9, ROT= 353.7,  -8.9

2025-08-22T16:42:52.398Z,1755880972.398 [DAT](INFO): DAT read: Bearing 157.7,  -3.6 (Local)

2025-08-22T16:42:52.399Z,1755880972.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.7,  -3.6 (Local)

2025-08-22T16:42:52.400Z,1755880972.400 [DAT](INFO): DAT read: Range 11 to 50 : 53.5 m  (Round-trip  71.4 ms) speed  0.4 m/s

2025-08-22T16:42:52.401Z,1755880972.401 [DAT](INFO): DAT read: user:236>

2025-08-22T16:42:52.410Z,1755880972.410 [DAT](INFO): DAT read: Tx time:16:42:53.5474

2025-08-22T16:42:52.410Z,1755880972.410 [DAT](INFO): Ping request sent.
2025-08-22T16:42:52.410Z,1755880972.410 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:52.410Z,1755880972.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:52.411Z,1755880972.411 [DAT](INFO): direction in FSK: [0.981994,-0.108413,0.154710]
2025-08-22T16:42:52.412Z,1755880972.412 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:52.412Z,1755880972.412 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:52.427Z,1755880972.427 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:52.427Z,1755880972.427 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:52.832Z,1755880972.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.500000 m,
      deltaT: 3.527987 s,
      deltaX: -1.700001 m,
      approachRate: -0.481861 m/s,
      rangeRepo size: 4

2025-08-22T16:42:52.834Z,1755880972.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.168953 m,
      bearing: 341.893657 deg,
      lat: 36.779437 deg,
      lon: -121.859643 deg,
      deltaT: 3.527987 s,
      deltaX: -1.689430 m,
      approachRate: -0.478865 m/s,
      posRepo size: 4

2025-08-22T16:42:52.835Z,1755880972.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:52.854Z,1755880972.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 52.219826 m,
      bearing: 342.324389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018832 deg/s,
      cmd heading: 347.941092 deg,
      new cmd heading: 347.923653 deg.

2025-08-22T16:42:52.855Z,1755880972.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072413 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:53.214Z,1755880973.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:53.217Z,1755880973.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 52.043575 m,
      bearing: 342.313667 deg,
      approach rate: -0.460776 m/s,
      LOS rate: -0.028126 deg/s,
      cmd heading: 347.923662 deg,
      new cmd heading: 347.902145 deg.

2025-08-22T16:42:53.218Z,1755880973.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072038 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:53.610Z,1755880973.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:53.612Z,1755880973.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 51.863056 m,
      bearing: 342.302609 deg,
      approach rate: -0.455980 m/s,
      LOS rate: -0.028027 deg/s,
      cmd heading: 347.902133 deg,
      new cmd heading: 347.879942 deg.

2025-08-22T16:42:53.614Z,1755880973.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071651 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:54.035Z,1755880974.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:54.038Z,1755880974.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 51.674911 m,
      bearing: 342.288378 deg,
      approach rate: -0.442319 m/s,
      LOS rate: -0.033579 deg/s,
      cmd heading: 347.879949 deg,
      new cmd heading: 347.851383 deg.

2025-08-22T16:42:54.039Z,1755880974.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071152 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:54.416Z,1755880974.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:54.418Z,1755880974.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:54.420Z,1755880974.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 51.504932 m,
      bearing: 342.275431 deg,
      approach rate: -0.444116 m/s,
      LOS rate: -0.033939 deg/s,
      cmd heading: 347.851371 deg,
      new cmd heading: 347.825392 deg.

2025-08-22T16:42:54.422Z,1755880974.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070698 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:54.643Z,1755880974.643 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:54.643Z,1755880974.643 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:54.644Z,1755880974.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:54.856Z,1755880974.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:54.859Z,1755880974.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 51.303440 m,
      bearing: 342.262565 deg,
      approach rate: -0.459324 m/s,
      LOS rate: -0.029444 deg/s,
      cmd heading: 347.825389 deg,
      new cmd heading: 347.799557 deg.

2025-08-22T16:42:54.860Z,1755880974.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070247 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:54.895Z,1755880974.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484991
2025-08-22T16:42:55.146Z,1755880975.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736386
2025-08-22T16:42:55.241Z,1755880975.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:55.248Z,1755880975.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 51.130722 m,
      bearing: 342.251273 deg,
      approach rate: -0.449279 m/s,
      LOS rate: -0.029474 deg/s,
      cmd heading: 347.799544 deg,
      new cmd heading: 347.776882 deg.

2025-08-22T16:42:55.249Z,1755880975.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069852 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:55.401Z,1755880975.401 [DAT](INFO): DAT read: Rx Time:16:42:56.0208

2025-08-22T16:42:55.401Z,1755880975.401 [DAT](INFO): Rx dataTimestamp_ set to:1755880975.400857
2025-08-22T16:42:55.402Z,1755880975.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992328
2025-08-22T16:42:55.649Z,1755880975.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.17 m.
2025-08-22T16:42:55.651Z,1755880975.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240622
2025-08-22T16:42:55.654Z,1755880975.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.168953 m,
      nav range: 50.950321 m,
      bearing: 342.239302 deg,
      approach rate: -0.441625 m/s,
      LOS rate: -0.029409 deg/s,
      cmd heading: 347.776895 deg,
      new cmd heading: 347.752868 deg.

2025-08-22T16:42:55.655Z,1755880975.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069433 target range: 53.168953 and range: 53.50 m.
2025-08-22T16:42:55.930Z,1755880975.930 [DAT](INFO): DAT read: 16:42:56.0208 LVL= 27504, 32753, 26610, 32755, AGC= 62, IDX= 418,-0.06,-1.186,-2.815,-0.809,-1.322, PHS= 0.239,-1.448, 0.470, RAW= 156.3,   8.2, CAL= 155.9,   8.6, ROT= 354.1,  -8.6

2025-08-22T16:42:55.931Z,1755880975.931 [DAT](INFO): got valid direction response:
 16:42:56.0208 LVL= 27504, 32753, 26610, 32755, AGC= 62, IDX= 418,-0.06,-1.186,-2.815,-0.809,-1.322, PHS= 0.239,-1.448, 0.470, RAW= 156.3,   8.2, CAL= 155.9,   8.6, ROT= 354.1,  -8.6

2025-08-22T16:42:55.933Z,1755880975.933 [DAT](INFO): DAT read: Bearing 157.9,  -3.0 (Local)

2025-08-22T16:42:55.933Z,1755880975.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.9,  -3.0 (Local)

2025-08-22T16:42:55.935Z,1755880975.935 [DAT](INFO): DAT read: Range 11 to 50 : 51.9 m  (Round-trip  69.3 ms) speed  0.4 m/s

2025-08-22T16:42:55.936Z,1755880975.936 [DAT](INFO): DAT read: user:237>

2025-08-22T16:42:55.937Z,1755880975.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:55.939Z,1755880975.939 [DAT](INFO): direction in FSK: [0.983519,-0.101637,0.149535]
2025-08-22T16:42:55.940Z,1755880975.940 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:55.948Z,1755880975.948 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:42:55.948Z,1755880975.948 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:42:55.948Z,1755880975.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:42:56.118Z,1755880976.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.900002 m,
      deltaT: 3.531711 s,
      deltaX: -1.599998 m,
      approachRate: -0.453038 m/s,
      rangeRepo size: 4

2025-08-22T16:42:56.120Z,1755880976.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.578812 m,
      bearing: 342.818253 deg,
      lat: 36.779437 deg,
      lon: -121.859643 deg,
      deltaT: 3.531711 s,
      deltaX: -1.590141 m,
      approachRate: -0.450247 m/s,
      posRepo size: 4

2025-08-22T16:42:56.121Z,1755880976.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:56.128Z,1755880976.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 50.729370 m,
      bearing: 342.227116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029409 deg/s,
      cmd heading: 347.752880 deg,
      new cmd heading: 347.725565 deg.

2025-08-22T16:42:56.129Z,1755880976.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068956 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:56.155Z,1755880976.155 [DAT](INFO): DAT read: Tx time:16:42:57.1474

2025-08-22T16:42:56.156Z,1755880976.156 [DAT](INFO): Ping request sent.
2025-08-22T16:42:56.156Z,1755880976.156 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:56.156Z,1755880976.156 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:56.157Z,1755880976.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001066
2025-08-22T16:42:56.407Z,1755880976.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251615
2025-08-22T16:42:56.460Z,1755880976.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:56.483Z,1755880976.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:56.494Z,1755880976.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 50.558647 m,
      bearing: 342.217350 deg,
      approach rate: -0.462576 m/s,
      LOS rate: -0.026551 deg/s,
      cmd heading: 347.725559 deg,
      new cmd heading: 347.705960 deg.

2025-08-22T16:42:56.495Z,1755880976.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068614 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:56.660Z,1755880976.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503885
2025-08-22T16:42:56.893Z,1755880976.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:56.896Z,1755880976.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 50.364281 m,
      bearing: 342.206245 deg,
      approach rate: -0.473854 m/s,
      LOS rate: -0.027178 deg/s,
      cmd heading: 347.705970 deg,
      new cmd heading: 347.683675 deg.

2025-08-22T16:42:56.897Z,1755880976.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068225 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:56.927Z,1755880976.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770666
2025-08-22T16:42:57.179Z,1755880977.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023625
2025-08-22T16:42:57.271Z,1755880977.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:57.274Z,1755880977.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 50.193508 m,
      bearing: 342.196223 deg,
      approach rate: -0.451115 m/s,
      LOS rate: -0.026564 deg/s,
      cmd heading: 347.683676 deg,
      new cmd heading: 347.663564 deg.

2025-08-22T16:42:57.275Z,1755880977.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067874 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:57.430Z,1755880977.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274563
2025-08-22T16:42:57.684Z,1755880977.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527742
2025-08-22T16:42:57.700Z,1755880977.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:57.707Z,1755880977.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 50.005634 m,
      bearing: 342.185065 deg,
      approach rate: -0.438147 m/s,
      LOS rate: -0.026119 deg/s,
      cmd heading: 347.663568 deg,
      new cmd heading: 347.641169 deg.

2025-08-22T16:42:57.708Z,1755880977.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067483 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:57.935Z,1755880977.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778782
2025-08-22T16:42:58.113Z,1755880978.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:58.116Z,1755880978.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 49.824821 m,
      bearing: 342.174106 deg,
      approach rate: -0.437828 m/s,
      LOS rate: -0.026633 deg/s,
      cmd heading: 347.641165 deg,
      new cmd heading: 347.619167 deg.

2025-08-22T16:42:58.117Z,1755880978.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067099 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:58.188Z,1755880978.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031992
2025-08-22T16:42:58.438Z,1755880978.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282612
2025-08-22T16:42:58.489Z,1755880978.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:42:58.495Z,1755880978.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:58.502Z,1755880978.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 49.653362 m,
      bearing: 342.163304 deg,
      approach rate: -0.448989 m/s,
      LOS rate: -0.028384 deg/s,
      cmd heading: 347.619172 deg,
      new cmd heading: 347.597494 deg.

2025-08-22T16:42:58.503Z,1755880978.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066721 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:58.691Z,1755880978.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534896
2025-08-22T16:42:58.919Z,1755880978.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:58.922Z,1755880978.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 49.453766 m,
      bearing: 342.150895 deg,
      approach rate: -0.470854 m/s,
      LOS rate: -0.029391 deg/s,
      cmd heading: 347.597507 deg,
      new cmd heading: 347.572589 deg.

2025-08-22T16:42:58.923Z,1755880978.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066286 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:58.959Z,1755880978.959 [DAT](INFO): DAT read: Rx Time:16:42:59.6187

2025-08-22T16:42:58.960Z,1755880978.960 [DAT](INFO): Rx dataTimestamp_ set to:1755880978.959522
2025-08-22T16:42:58.961Z,1755880978.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.804800
2025-08-22T16:42:59.210Z,1755880979.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.054631
2025-08-22T16:42:59.287Z,1755880979.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:59.290Z,1755880979.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 49.288971 m,
      bearing: 342.140337 deg,
      approach rate: -0.447610 m/s,
      LOS rate: -0.028775 deg/s,
      cmd heading: 347.572590 deg,
      new cmd heading: 347.551402 deg.

2025-08-22T16:42:59.291Z,1755880979.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065916 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:59.464Z,1755880979.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.307840
2025-08-22T16:42:59.720Z,1755880979.720 [DAT](INFO): DAT read: 16:42:59.6187 LVL= 32752, 31201, 27826, 32755, AGC= 61, IDX= 412,-0.12, 2.952, 1.294,-2.946, 2.857, PHS= 0.197,-1.518, 0.436, RAW= 156.5,   9.6, CAL= 156.3,  10.4, ROT= 353.7, -10.4

2025-08-22T16:42:59.721Z,1755880979.721 [DAT](INFO): got valid direction response:
 16:42:59.6187 LVL= 32752, 31201, 27826, 32755, AGC= 61, IDX= 412,-0.12, 2.952, 1.294,-2.946, 2.857, PHS= 0.197,-1.518, 0.436, RAW= 156.5,   9.6, CAL= 156.3,  10.4, ROT= 353.7, -10.4

2025-08-22T16:42:59.722Z,1755880979.722 [DAT](INFO): DAT read: Bearing 160.5,  -3.1 (Local)

2025-08-22T16:42:59.723Z,1755880979.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5,  -3.1 (Local)

2025-08-22T16:42:59.724Z,1755880979.724 [DAT](INFO): DAT read: Range 11 to 50 : 50.3 m  (Round-trip  67.1 ms) speed  0.4 m/s

2025-08-22T16:42:59.725Z,1755880979.725 [DAT](INFO): DAT read: user:238>

2025-08-22T16:42:59.725Z,1755880979.725 [DAT](INFO): DAT read: Tx time:16:43:00.7474

2025-08-22T16:42:59.726Z,1755880979.726 [DAT](INFO): Ping request sent.
2025-08-22T16:42:59.726Z,1755880979.726 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:42:59.726Z,1755880979.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:42:59.727Z,1755880979.727 [DAT](INFO): direction in FSK: [0.977632,-0.107931,0.180519]
2025-08-22T16:42:59.727Z,1755880979.727 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:59.728Z,1755880979.728 [DAT](INFO): publishing direction and range info
2025-08-22T16:42:59.729Z,1755880979.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.58 m.
2025-08-22T16:42:59.732Z,1755880979.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.578812 m,
      nav range: 49.102787 m,
      bearing: 342.128066 deg,
      approach rate: -0.436846 m/s,
      LOS rate: -0.028901 deg/s,
      cmd heading: 347.551389 deg,
      new cmd heading: 347.526754 deg.

2025-08-22T16:42:59.733Z,1755880979.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065486 target range: 51.578812 and range: 51.90 m.
2025-08-22T16:42:59.735Z,1755880979.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:42:59.735Z,1755880979.735 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:00.120Z,1755880980.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.299999 m,
      deltaT: 3.808276 s,
      deltaX: -1.600002 m,
      approachRate: -0.420138 m/s,
      rangeRepo size: 4

2025-08-22T16:43:00.122Z,1755880980.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.988647 m,
      bearing: 342.899679 deg,
      lat: 36.779437 deg,
      lon: -121.859643 deg,
      deltaT: 3.808276 s,
      deltaX: -1.590164 m,
      approachRate: -0.417555 m/s,
      posRepo size: 4

2025-08-22T16:43:00.123Z,1755880980.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:00.125Z,1755880980.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.922276 m,
      bearing: 342.115449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028901 deg/s,
      cmd heading: 347.526746 deg,
      new cmd heading: 347.503288 deg.

2025-08-22T16:43:00.126Z,1755880980.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065076 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:00.521Z,1755880980.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:00.523Z,1755880980.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:00.526Z,1755880980.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.744461 m,
      bearing: 342.102930 deg,
      approach rate: -0.440170 m/s,
      LOS rate: -0.031103 deg/s,
      cmd heading: 347.503277 deg,
      new cmd heading: 347.478148 deg.

2025-08-22T16:43:00.527Z,1755880980.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064638 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:00.723Z,1755880980.723 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:00.723Z,1755880980.723 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:00.723Z,1755880980.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:00.959Z,1755880980.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:00.962Z,1755880980.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.560177 m,
      bearing: 342.086869 deg,
      approach rate: -0.422536 m/s,
      LOS rate: -0.036966 deg/s,
      cmd heading: 347.478142 deg,
      new cmd heading: 347.445897 deg.

2025-08-22T16:43:00.963Z,1755880980.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064075 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:00.975Z,1755880980.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248674
2025-08-22T16:43:01.226Z,1755880981.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500568
2025-08-22T16:43:01.316Z,1755880981.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:01.319Z,1755880981.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.409641 m,
      bearing: 342.073173 deg,
      approach rate: -0.422005 m/s,
      LOS rate: -0.038513 deg/s,
      cmd heading: 347.445904 deg,
      new cmd heading: 347.418428 deg.

2025-08-22T16:43:01.320Z,1755880981.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063595 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:01.479Z,1755880981.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752902
2025-08-22T16:43:01.731Z,1755880981.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004705
2025-08-22T16:43:01.736Z,1755880981.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:01.739Z,1755880981.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.240215 m,
      bearing: 342.057614 deg,
      approach rate: -0.403373 m/s,
      LOS rate: -0.037174 deg/s,
      cmd heading: 347.418419 deg,
      new cmd heading: 347.387191 deg.

2025-08-22T16:43:01.740Z,1755880981.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063050 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:01.983Z,1755880981.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257227
2025-08-22T16:43:02.175Z,1755880982.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:02.180Z,1755880982.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 48.046555 m,
      bearing: 342.035910 deg,
      approach rate: -0.441490 m/s,
      LOS rate: -0.049678 deg/s,
      cmd heading: 347.387191 deg,
      new cmd heading: 347.343608 deg.

2025-08-22T16:43:02.182Z,1755880982.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062290 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:02.235Z,1755880982.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508884
2025-08-22T16:43:02.487Z,1755880982.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760667
2025-08-22T16:43:02.535Z,1755880982.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:02.542Z,1755880982.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:02.545Z,1755880982.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 47.885609 m,
      bearing: 342.017543 deg,
      approach rate: -0.438471 m/s,
      LOS rate: -0.050205 deg/s,
      cmd heading: 347.343615 deg,
      new cmd heading: 347.306758 deg.

2025-08-22T16:43:02.546Z,1755880982.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061646 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:02.739Z,1755880982.739 [DAT](INFO): DAT read: Rx Time:16:43:03.2166

2025-08-22T16:43:02.739Z,1755880982.739 [DAT](INFO): Rx dataTimestamp_ set to:1755880982.738706
2025-08-22T16:43:02.739Z,1755880982.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013657
2025-08-22T16:43:02.982Z,1755880982.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-08-22T16:43:02.985Z,1755880982.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.988647 m,
      nav range: 47.690624 m,
      bearing: 341.991553 deg,
      approach rate: -0.443099 m/s,
      LOS rate: -0.059303 deg/s,
      cmd heading: 347.306759 deg,
      new cmd heading: 347.254567 deg.

2025-08-22T16:43:02.986Z,1755880982.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060736 target range: 49.988647 and range: 50.30 m.
2025-08-22T16:43:02.991Z,1755880982.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264740
2025-08-22T16:43:03.248Z,1755880983.248 [DAT](INFO): DAT read: 16:43:03.2166 LVL= 31824, 32401, 26514, 32755, AGC= 61, IDX= 422, 0.34, 2.950, 1.272,-2.949, 2.825, PHS= 0.227,-1.508, 0.466, RAW= 156.4,   8.8, CAL= 156.0,   9.3, ROT= 354.0,  -9.3

2025-08-22T16:43:03.249Z,1755880983.249 [DAT](INFO): got valid direction response:
 16:43:03.2166 LVL= 31824, 32401, 26514, 32755, AGC= 61, IDX= 422, 0.34, 2.950, 1.272,-2.949, 2.825, PHS= 0.227,-1.508, 0.466, RAW= 156.4,   8.8, CAL= 156.0,   9.3, ROT= 354.0,  -9.3

2025-08-22T16:43:03.250Z,1755880983.250 [DAT](INFO): DAT read: Bearing 159.8,  -2.5 (Local)

2025-08-22T16:43:03.250Z,1755880983.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8,  -2.5 (Local)

2025-08-22T16:43:03.252Z,1755880983.252 [DAT](INFO): DAT read: Range 11 to 50 : 48.7 m  (Round-trip  65.0 ms) speed  0.4 m/s

2025-08-22T16:43:03.253Z,1755880983.253 [DAT](INFO): DAT read: user:239>

2025-08-22T16:43:03.253Z,1755880983.253 [DAT](INFO): DAT read: Tx time:16:43:04.3474

2025-08-22T16:43:03.254Z,1755880983.254 [DAT](INFO): Ping request sent.
2025-08-22T16:43:03.254Z,1755880983.254 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:03.254Z,1755880983.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:03.255Z,1755880983.255 [DAT](INFO): direction in FSK: [0.981450,-0.103155,0.161604]
2025-08-22T16:43:03.255Z,1755880983.255 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:03.255Z,1755880983.255 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:03.276Z,1755880983.276 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:03.277Z,1755880983.277 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:03.371Z,1755880983.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.700001 m,
      deltaT: 3.527922 s,
      deltaX: -1.599998 m,
      approachRate: -0.453524 m/s,
      rangeRepo size: 4

2025-08-22T16:43:03.382Z,1755880983.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.398312 m,
      bearing: 343.604280 deg,
      lat: 36.779437 deg,
      lon: -121.859638 deg,
      deltaT: 3.527922 s,
      deltaX: -1.590336 m,
      approachRate: -0.450785 m/s,
      posRepo size: 4

2025-08-22T16:43:03.382Z,1755880983.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:03.385Z,1755880983.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 47.455299 m,
      bearing: 342.574670 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059303 deg/s,
      cmd heading: 347.254576 deg,
      new cmd heading: 347.208438 deg.

2025-08-22T16:43:03.390Z,1755880983.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059930 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:03.857Z,1755880983.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:03.876Z,1755880983.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 47.234829 m,
      bearing: 342.547238 deg,
      approach rate: -0.453487 m/s,
      LOS rate: -0.056690 deg/s,
      cmd heading: 347.208432 deg,
      new cmd heading: 347.153310 deg.

2025-08-22T16:43:03.879Z,1755880983.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058968 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:04.441Z,1755880984.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:04.444Z,1755880984.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.974876 m,
      bearing: 342.516478 deg,
      approach rate: -0.445347 m/s,
      LOS rate: -0.052989 deg/s,
      cmd heading: 347.153298 deg,
      new cmd heading: 347.091438 deg.

2025-08-22T16:43:04.444Z,1755880984.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057889 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:05.015Z,1755880985.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:05.017Z,1755880985.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:05.020Z,1755880985.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.715458 m,
      bearing: 342.486597 deg,
      approach rate: -0.450039 m/s,
      LOS rate: -0.052126 deg/s,
      cmd heading: 347.091444 deg,
      new cmd heading: 347.031350 deg.

2025-08-22T16:43:05.021Z,1755880985.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056839 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:05.259Z,1755880985.259 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:05.259Z,1755880985.259 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:05.259Z,1755880985.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:05.365Z,1755880985.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:05.368Z,1755880985.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.558670 m,
      bearing: 342.468331 deg,
      approach rate: -0.451027 m/s,
      LOS rate: -0.052722 deg/s,
      cmd heading: 347.031339 deg,
      new cmd heading: 346.994684 deg.

2025-08-22T16:43:05.369Z,1755880985.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056200 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:05.510Z,1755880985.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256767
2025-08-22T16:43:05.762Z,1755880985.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508727
2025-08-22T16:43:05.776Z,1755880985.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:05.779Z,1755880985.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.373466 m,
      bearing: 342.446560 deg,
      approach rate: -0.450686 m/s,
      LOS rate: -0.053190 deg/s,
      cmd heading: 346.994674 deg,
      new cmd heading: 346.950959 deg.

2025-08-22T16:43:05.780Z,1755880985.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055437 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:06.014Z,1755880986.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760760
2025-08-22T16:43:06.227Z,1755880986.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:06.231Z,1755880986.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.171978 m,
      bearing: 342.426809 deg,
      approach rate: -0.446277 m/s,
      LOS rate: -0.043938 deg/s,
      cmd heading: 346.950961 deg,
      new cmd heading: 346.911286 deg.

2025-08-22T16:43:06.232Z,1755880986.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054744 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:06.267Z,1755880986.267 [DAT](INFO): DAT read: Rx Time:16:43:06.8144

2025-08-22T16:43:06.267Z,1755880986.267 [DAT](INFO): Rx dataTimestamp_ set to:1755880986.266902
2025-08-22T16:43:06.268Z,1755880986.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014004
2025-08-22T16:43:06.520Z,1755880986.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266710
2025-08-22T16:43:06.610Z,1755880986.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-08-22T16:43:06.612Z,1755880986.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.398312 m,
      nav range: 46.006176 m,
      bearing: 342.410340 deg,
      approach rate: -0.439996 m/s,
      LOS rate: -0.043862 deg/s,
      cmd heading: 346.911291 deg,
      new cmd heading: 346.878234 deg.

2025-08-22T16:43:06.622Z,1755880986.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054167 target range: 48.398312 and range: 48.70 m.
2025-08-22T16:43:06.785Z,1755880986.785 [DAT](INFO): DAT read: 16:43:06.8144 LVL= 30192, 32753, 25378, 32755, AGC= 62, IDX= 416, 0.45, 1.400,-0.257, 1.775, 1.263, PHS= 0.239,-1.475, 0.468, RAW= 156.2,   8.4, CAL= 155.8,   8.8, ROT= 354.2,  -8.8

2025-08-22T16:43:06.786Z,1755880986.786 [DAT](INFO): got valid direction response:
 16:43:06.8144 LVL= 30192, 32753, 25378, 32755, AGC= 62, IDX= 416, 0.45, 1.400,-0.257, 1.775, 1.263, PHS= 0.239,-1.475, 0.468, RAW= 156.2,   8.4, CAL= 155.8,   8.8, ROT= 354.2,  -8.8

2025-08-22T16:43:06.787Z,1755880986.787 [DAT](INFO): DAT read: Bearing 159.3,  -2.2 (Local)

2025-08-22T16:43:06.787Z,1755880986.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,  -2.2 (Local)

2025-08-22T16:43:06.788Z,1755880986.788 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m  (Round-trip  62.8 ms) speed  0.4 m/s

2025-08-22T16:43:06.789Z,1755880986.789 [DAT](INFO): DAT read: user:240>

2025-08-22T16:43:06.794Z,1755880986.794 [DAT](INFO): DAT read: Tx time:16:43:07.9474

2025-08-22T16:43:06.795Z,1755880986.795 [DAT](INFO): Ping request sent.
2025-08-22T16:43:06.795Z,1755880986.795 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:06.795Z,1755880986.795 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:06.796Z,1755880986.796 [DAT](INFO): direction in FSK: [0.983169,-0.099867,0.152986]
2025-08-22T16:43:06.796Z,1755880986.796 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:06.796Z,1755880986.796 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:06.800Z,1755880986.800 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:06.800Z,1755880986.800 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:07.087Z,1755880987.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.099998 m,
      deltaT: 3.533114 s,
      deltaX: -1.600002 m,
      approachRate: -0.452859 m/s,
      rangeRepo size: 4

2025-08-22T16:43:07.106Z,1755880987.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.807785 m,
      bearing: 343.960680 deg,
      lat: 36.779438 deg,
      lon: -121.859636 deg,
      deltaT: 3.533114 s,
      deltaX: -1.590527 m,
      approachRate: -0.450177 m/s,
      posRepo size: 4

2025-08-22T16:43:07.106Z,1755880987.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:07.109Z,1755880987.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 45.810360 m,
      bearing: 342.624209 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043862 deg/s,
      cmd heading: 346.878233 deg,
      new cmd heading: 346.835869 deg.

2025-08-22T16:43:07.114Z,1755880987.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053428 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:07.480Z,1755880987.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:07.483Z,1755880987.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:07.486Z,1755880987.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 45.635853 m,
      bearing: 342.607060 deg,
      approach rate: -0.441023 m/s,
      LOS rate: -0.043508 deg/s,
      cmd heading: 346.835859 deg,
      new cmd heading: 346.801428 deg.

2025-08-22T16:43:07.487Z,1755880987.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052827 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:07.532Z,1755880987.532 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:07.532Z,1755880987.532 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:07.532Z,1755880987.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:07.783Z,1755880987.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987904
2025-08-22T16:43:07.874Z,1755880987.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:07.877Z,1755880987.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 45.464741 m,
      bearing: 342.590311 deg,
      approach rate: -0.437424 m/s,
      LOS rate: -0.042977 deg/s,
      cmd heading: 346.801434 deg,
      new cmd heading: 346.767811 deg.

2025-08-22T16:43:07.878Z,1755880987.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052240 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:08.035Z,1755880988.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239942
2025-08-22T16:43:08.287Z,1755880988.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492183
2025-08-22T16:43:08.307Z,1755880988.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:08.310Z,1755880988.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 45.272038 m,
      bearing: 342.570272 deg,
      approach rate: -0.444837 m/s,
      LOS rate: -0.046455 deg/s,
      cmd heading: 346.767803 deg,
      new cmd heading: 346.727554 deg.

2025-08-22T16:43:08.311Z,1755880988.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051538 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:08.539Z,1755880988.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743928
2025-08-22T16:43:08.696Z,1755880988.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:08.699Z,1755880988.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 45.098701 m,
      bearing: 342.552282 deg,
      approach rate: -0.444963 m/s,
      LOS rate: -0.046359 deg/s,
      cmd heading: 346.727559 deg,
      new cmd heading: 346.691441 deg.

2025-08-22T16:43:08.700Z,1755880988.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050907 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:08.792Z,1755880988.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996762
2025-08-22T16:43:09.042Z,1755880989.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247820
2025-08-22T16:43:09.113Z,1755880989.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:09.116Z,1755880989.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 44.913044 m,
      bearing: 342.530053 deg,
      approach rate: -0.446170 m/s,
      LOS rate: -0.053640 deg/s,
      cmd heading: 346.691441 deg,
      new cmd heading: 346.646800 deg.

2025-08-22T16:43:09.117Z,1755880989.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050128 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:09.295Z,1755880989.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499848
2025-08-22T16:43:09.496Z,1755880989.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:09.499Z,1755880989.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:09.518Z,1755880989.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 44.741127 m,
      bearing: 342.509341 deg,
      approach rate: -0.445166 m/s,
      LOS rate: -0.053839 deg/s,
      cmd heading: 346.646799 deg,
      new cmd heading: 346.605216 deg.

2025-08-22T16:43:09.519Z,1755880989.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049402 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:09.549Z,1755880989.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754574
2025-08-22T16:43:09.799Z,1755880989.799 [DAT](INFO): DAT read: Rx Time:16:43:10.4124

2025-08-22T16:43:09.799Z,1755880989.799 [DAT](INFO): Rx dataTimestamp_ set to:1755880989.799002
2025-08-22T16:43:09.800Z,1755880989.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005168
2025-08-22T16:43:09.924Z,1755880989.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.81 m.
2025-08-22T16:43:09.927Z,1755880989.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.807785 m,
      nav range: 44.557365 m,
      bearing: 342.487024 deg,
      approach rate: -0.432392 m/s,
      LOS rate: -0.052729 deg/s,
      cmd heading: 346.605217 deg,
      new cmd heading: 346.560399 deg.

2025-08-22T16:43:09.928Z,1755880989.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048620 target range: 46.807785 and range: 47.10 m.
2025-08-22T16:43:10.051Z,1755880990.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256629
2025-08-22T16:43:10.320Z,1755880990.320 [DAT](INFO): DAT read: 16:43:10.4124 LVL= 32752, 32753, 26322, 32755, AGC= 61, IDX= 427,-0.23,-2.698, 1.940,-2.316,-2.802, PHS= 0.207,-1.496, 0.442, RAW= 156.4,   9.3, CAL= 156.1,   9.9, ROT= 353.9,  -9.9

2025-08-22T16:43:10.321Z,1755880990.321 [DAT](INFO): got valid direction response:
 16:43:10.4124 LVL= 32752, 32753, 26322, 32755, AGC= 61, IDX= 427,-0.23,-2.698, 1.940,-2.316,-2.802, PHS= 0.207,-1.496, 0.442, RAW= 156.4,   9.3, CAL= 156.1,   9.9, ROT= 353.9,  -9.9

2025-08-22T16:43:10.323Z,1755880990.323 [DAT](INFO): DAT read: Bearing 159.9,  -2.6 (Local)

2025-08-22T16:43:10.323Z,1755880990.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.9,  -2.6 (Local)

2025-08-22T16:43:10.325Z,1755880990.325 [DAT](INFO): DAT read: Range 11 to 50 : 45.6 m  (Round-trip  60.8 ms) speed  0.4 m/s

2025-08-22T16:43:10.325Z,1755880990.325 [DAT](INFO): DAT read: user:241>

2025-08-22T16:43:10.326Z,1755880990.326 [DAT](INFO): DAT read: Tx time:16:43:11.4974

2025-08-22T16:43:10.326Z,1755880990.326 [DAT](INFO): Ping request sent.
2025-08-22T16:43:10.327Z,1755880990.327 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:10.327Z,1755880990.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:10.328Z,1755880990.328 [DAT](INFO): direction in FSK: [0.979532,-0.104682,0.171929]
2025-08-22T16:43:10.328Z,1755880990.328 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:10.328Z,1755880990.328 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:10.332Z,1755880990.332 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:10.332Z,1755880990.332 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:10.444Z,1755880990.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.599998 m,
      deltaT: 3.528320 s,
      deltaX: -1.500000 m,
      approachRate: -0.425131 m/s,
      rangeRepo size: 4

2025-08-22T16:43:10.462Z,1755880990.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.317242 m,
      bearing: 343.343348 deg,
      lat: 36.779439 deg,
      lon: -121.859628 deg,
      deltaT: 3.528320 s,
      deltaX: -1.490543 m,
      approachRate: -0.422451 m/s,
      posRepo size: 4

2025-08-22T16:43:10.463Z,1755880990.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:10.470Z,1755880990.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 44.227345 m,
      bearing: 343.319064 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052729 deg/s,
      cmd heading: 346.560411 deg,
      new cmd heading: 346.505577 deg.

2025-08-22T16:43:10.471Z,1755880990.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047663 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:10.804Z,1755880990.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:10.809Z,1755880990.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 44.054188 m,
      bearing: 343.303181 deg,
      approach rate: -0.480004 m/s,
      LOS rate: -0.044203 deg/s,
      cmd heading: 346.505578 deg,
      new cmd heading: 346.473686 deg.

2025-08-22T16:43:10.810Z,1755880990.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047107 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:11.227Z,1755880991.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:11.234Z,1755880991.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 43.865433 m,
      bearing: 343.288167 deg,
      approach rate: -0.446462 m/s,
      LOS rate: -0.035665 deg/s,
      cmd heading: 346.473695 deg,
      new cmd heading: 346.443537 deg.

2025-08-22T16:43:11.235Z,1755880991.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046580 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:11.615Z,1755880991.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:11.617Z,1755880991.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:11.624Z,1755880991.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 43.700653 m,
      bearing: 343.275335 deg,
      approach rate: -0.422525 m/s,
      LOS rate: -0.033027 deg/s,
      cmd heading: 346.443533 deg,
      new cmd heading: 346.417772 deg.

2025-08-22T16:43:11.625Z,1755880991.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046131 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:11.802Z,1755880991.802 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:43:11.815Z,1755880991.815 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:11.815Z,1755880991.815 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:11.815Z,1755880991.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:12.005Z,1755880992.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:12.008Z,1755880992.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 43.520790 m,
      bearing: 343.261656 deg,
      approach rate: -0.463861 m/s,
      LOS rate: -0.035423 deg/s,
      cmd heading: 346.417769 deg,
      new cmd heading: 346.390298 deg.

2025-08-22T16:43:12.009Z,1755880992.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045651 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:12.070Z,1755880992.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743195
2025-08-22T16:43:12.319Z,1755880992.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992812
2025-08-22T16:43:12.450Z,1755880992.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:12.452Z,1755880992.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 43.313648 m,
      bearing: 343.247675 deg,
      approach rate: -0.466118 m/s,
      LOS rate: -0.031611 deg/s,
      cmd heading: 346.390312 deg,
      new cmd heading: 346.362216 deg.

2025-08-22T16:43:12.453Z,1755880992.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045161 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:12.570Z,1755880992.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243882
2025-08-22T16:43:12.806Z,1755880992.806 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:43:12.813Z,1755880992.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:12.816Z,1755880992.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 43.146469 m,
      bearing: 343.236824 deg,
      approach rate: -0.459763 m/s,
      LOS rate: -0.029958 deg/s,
      cmd heading: 346.362226 deg,
      new cmd heading: 346.340439 deg.

2025-08-22T16:43:12.817Z,1755880992.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044781 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:12.823Z,1755880992.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495997
2025-08-22T16:43:13.078Z,1755880993.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750376
2025-08-22T16:43:13.246Z,1755880993.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:13.248Z,1755880993.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 42.944668 m,
      bearing: 343.229625 deg,
      approach rate: -0.466535 m/s,
      LOS rate: -0.016721 deg/s,
      cmd heading: 346.340451 deg,
      new cmd heading: 346.325986 deg.

2025-08-22T16:43:13.250Z,1755880993.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044529 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:13.327Z,1755880993.327 [DAT](INFO): DAT read: Rx Time:16:43:13.9601

2025-08-22T16:43:13.328Z,1755880993.328 [DAT](INFO): Rx dataTimestamp_ set to:1755880993.327851
2025-08-22T16:43:13.329Z,1755880993.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002432
2025-08-22T16:43:13.579Z,1755880993.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252145
2025-08-22T16:43:13.652Z,1755880993.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:13.659Z,1755880993.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:13.666Z,1755880993.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 42.759094 m,
      bearing: 343.223346 deg,
      approach rate: -0.448479 m/s,
      LOS rate: -0.015240 deg/s,
      cmd heading: 346.325999 deg,
      new cmd heading: 346.313386 deg.

2025-08-22T16:43:13.667Z,1755880993.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044309 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:13.834Z,1755880993.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506514
2025-08-22T16:43:14.022Z,1755880994.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.32 m.
2025-08-22T16:43:14.025Z,1755880994.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.317242 m,
      nav range: 42.578194 m,
      bearing: 343.217551 deg,
      approach rate: -0.499256 m/s,
      LOS rate: -0.016062 deg/s,
      cmd heading: 346.313376 deg,
      new cmd heading: 346.301737 deg.

2025-08-22T16:43:14.026Z,1755880994.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044106 target range: 45.317242 and range: 45.60 m.
2025-08-22T16:43:14.121Z,1755880994.121 [DAT](INFO): DAT read: 16:43:13.9601 LVL= 32752, 32449, 26578, 32755, AGC= 61, IDX= 421, 0.24,-1.077,-2.741,-0.692,-1.204, PHS= 0.229,-1.492, 0.468, RAW= 156.4,   8.6, CAL= 156.1,   9.1, ROT= 353.9,  -9.1

2025-08-22T16:43:14.128Z,1755880994.128 [DAT](INFO): got valid direction response:
 16:43:13.9601 LVL= 32752, 32449, 26578, 32755, AGC= 61, IDX= 421, 0.24,-1.077,-2.741,-0.692,-1.204, PHS= 0.229,-1.492, 0.468, RAW= 156.4,   8.6, CAL= 156.1,   9.1, ROT= 353.9,  -9.1

2025-08-22T16:43:14.134Z,1755880994.134 [DAT](INFO): DAT read: Bearing 158.2,  -2.9 (Local)

2025-08-22T16:43:14.135Z,1755880994.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.2,  -2.9 (Local)

2025-08-22T16:43:14.137Z,1755880994.137 [DAT](INFO): DAT read: Range 11 to 50 : 43.9 m  (Round-trip  58.6 ms) speed  0.4 m/s

2025-08-22T16:43:14.146Z,1755880994.146 [DAT](INFO): DAT read: user:242>

2025-08-22T16:43:14.147Z,1755880994.147 [DAT](INFO): DAT read: Tx time:16:43:15.0473

2025-08-22T16:43:14.148Z,1755880994.148 [DAT](INFO): Ping request sent.
2025-08-22T16:43:14.148Z,1755880994.148 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:14.148Z,1755880994.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:14.155Z,1755880994.155 [DAT](INFO): direction in FSK: [0.981823,-0.104927,0.158158]
2025-08-22T16:43:14.156Z,1755880994.156 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:14.156Z,1755880994.156 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:14.183Z,1755880994.183 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:14.183Z,1755880994.183 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:14.456Z,1755880994.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.900002 m,
      deltaT: 3.780007 s,
      deltaX: -1.699997 m,
      approachRate: -0.449734 m/s,
      rangeRepo size: 4

2025-08-22T16:43:14.474Z,1755880994.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.627289 m,
      bearing: 342.417050 deg,
      lat: 36.779439 deg,
      lon: -121.859628 deg,
      deltaT: 3.780007 s,
      deltaX: -1.689953 m,
      approachRate: -0.447077 m/s,
      posRepo size: 4

2025-08-22T16:43:14.475Z,1755880994.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:14.482Z,1755880994.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 42.403233 m,
      bearing: 343.222003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016062 deg/s,
      cmd heading: 346.301738 deg,
      new cmd heading: 346.287808 deg.

2025-08-22T16:43:14.483Z,1755880994.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043862 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:14.830Z,1755880994.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:14.832Z,1755880994.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 42.227024 m,
      bearing: 343.216450 deg,
      approach rate: -0.470836 m/s,
      LOS rate: -0.014900 deg/s,
      cmd heading: 346.287804 deg,
      new cmd heading: 346.276652 deg.

2025-08-22T16:43:14.834Z,1755880994.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043668 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:15.283Z,1755880995.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:15.290Z,1755880995.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 42.023125 m,
      bearing: 343.211954 deg,
      approach rate: -0.449744 m/s,
      LOS rate: -0.009965 deg/s,
      cmd heading: 346.276657 deg,
      new cmd heading: 346.267622 deg.

2025-08-22T16:43:15.291Z,1755880995.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043510 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:15.758Z,1755880995.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:15.760Z,1755880995.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:15.763Z,1755880995.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 41.794163 m,
      bearing: 343.206887 deg,
      approach rate: -0.479515 m/s,
      LOS rate: -0.010669 deg/s,
      cmd heading: 346.267614 deg,
      new cmd heading: 346.257425 deg.

2025-08-22T16:43:15.764Z,1755880995.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043332 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:15.852Z,1755880995.852 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:15.852Z,1755880995.852 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:15.852Z,1755880995.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:16.105Z,1755880996.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956648
2025-08-22T16:43:16.230Z,1755880996.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:16.233Z,1755880996.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 41.581692 m,
      bearing: 343.202698 deg,
      approach rate: -0.452836 m/s,
      LOS rate: -0.008975 deg/s,
      cmd heading: 346.257424 deg,
      new cmd heading: 346.249001 deg.

2025-08-22T16:43:16.234Z,1755880996.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043185 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:16.355Z,1755880996.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206966
2025-08-22T16:43:16.608Z,1755880996.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460085
2025-08-22T16:43:16.714Z,1755880996.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:16.717Z,1755880996.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 41.362564 m,
      bearing: 343.198154 deg,
      approach rate: -0.452565 m/s,
      LOS rate: -0.009433 deg/s,
      cmd heading: 346.249009 deg,
      new cmd heading: 346.239874 deg.

2025-08-22T16:43:16.730Z,1755880996.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043026 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:16.859Z,1755880996.859 [DAT](INFO): DAT read: Rx Time:16:43:17.5080

2025-08-22T16:43:16.859Z,1755880996.859 [DAT](INFO): Rx dataTimestamp_ set to:1755880996.858717
2025-08-22T16:43:16.860Z,1755880996.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711830
2025-08-22T16:43:17.113Z,1755880997.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965008
2025-08-22T16:43:17.226Z,1755880997.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:17.229Z,1755880997.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 41.146137 m,
      bearing: 343.185326 deg,
      approach rate: -0.426156 m/s,
      LOS rate: -0.025392 deg/s,
      cmd heading: 346.239884 deg,
      new cmd heading: 346.214092 deg.

2025-08-22T16:43:17.234Z,1755880997.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042576 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:17.369Z,1755880997.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220192
2025-08-22T16:43:17.514Z,1755880997.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.63 m.
2025-08-22T16:43:17.517Z,1755880997.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.627289 m,
      nav range: 41.010548 m,
      bearing: 343.177198 deg,
      approach rate: -0.464383 m/s,
      LOS rate: -0.027931 deg/s,
      cmd heading: 346.214093 deg,
      new cmd heading: 346.197782 deg.

2025-08-22T16:43:17.534Z,1755880997.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042291 target range: 43.627289 and range: 43.90 m.
2025-08-22T16:43:17.624Z,1755880997.624 [DAT](INFO): DAT read: 16:43:17.5080 LVL= 32752, 32753, 26674, 32755, AGC= 61, IDX= 415, 0.11,-2.872, 1.747,-2.482,-2.999, PHS= 0.228,-1.492, 0.472, RAW= 156.5,   8.6, CAL= 156.2,   9.1, ROT= 353.8,  -9.1

2025-08-22T16:43:17.627Z,1755880997.627 [DAT](INFO): got valid direction response:
 16:43:17.5080 LVL= 32752, 32753, 26674, 32755, AGC= 61, IDX= 415, 0.11,-2.872, 1.747,-2.482,-2.999, PHS= 0.228,-1.492, 0.472, RAW= 156.5,   8.6, CAL= 156.2,   9.1, ROT= 353.8,  -9.1

2025-08-22T16:43:17.628Z,1755880997.628 [DAT](INFO): DAT read: Bearing 158.1,  -3.2 (Local)

2025-08-22T16:43:17.629Z,1755880997.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1,  -3.2 (Local)

2025-08-22T16:43:17.636Z,1755880997.636 [DAT](INFO): DAT read: Range 11 to 50 : 42.3 m  (Round-trip  56.5 ms) speed  0.4 m/s

2025-08-22T16:43:17.637Z,1755880997.637 [DAT](INFO): DAT read: user:243>

2025-08-22T16:43:17.643Z,1755880997.643 [DAT](INFO): DAT read: Tx time:16:43:18.5973

2025-08-22T16:43:17.643Z,1755880997.643 [DAT](INFO): Ping request sent.
2025-08-22T16:43:17.643Z,1755880997.643 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:17.644Z,1755880997.644 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:17.650Z,1755880997.650 [DAT](INFO): direction in FSK: [0.981638,-0.106640,0.158158]
2025-08-22T16:43:17.650Z,1755880997.650 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:17.650Z,1755880997.650 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:17.662Z,1755880997.662 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:17.662Z,1755880997.662 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:17.928Z,1755880997.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.299999 m,
      deltaT: 3.530651 s,
      deltaX: -1.600002 m,
      approachRate: -0.453175 m/s,
      rangeRepo size: 4

2025-08-22T16:43:17.931Z,1755880997.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.037128 m,
      bearing: 342.148168 deg,
      lat: 36.779441 deg,
      lon: -121.859628 deg,
      deltaT: 3.530651 s,
      deltaX: -1.590160 m,
      approachRate: -0.450387 m/s,
      posRepo size: 4

2025-08-22T16:43:17.931Z,1755880997.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:17.934Z,1755880997.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 41.029411 m,
      bearing: 343.250418 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027931 deg/s,
      cmd heading: 346.197782 deg,
      new cmd heading: 346.174644 deg.

2025-08-22T16:43:17.935Z,1755880997.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041887 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:18.362Z,1755880998.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:18.364Z,1755880998.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:18.367Z,1755880998.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 40.841808 m,
      bearing: 343.242493 deg,
      approach rate: -0.430238 m/s,
      LOS rate: -0.018259 deg/s,
      cmd heading: 346.174642 deg,
      new cmd heading: 346.158718 deg.

2025-08-22T16:43:18.368Z,1755880998.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041609 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:18.374Z,1755880998.374 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:18.375Z,1755880998.375 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:18.375Z,1755880998.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:18.628Z,1755880998.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984042
2025-08-22T16:43:18.735Z,1755880998.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:18.738Z,1755880998.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 40.663635 m,
      bearing: 343.235060 deg,
      approach rate: -0.480544 m/s,
      LOS rate: -0.020136 deg/s,
      cmd heading: 346.158714 deg,
      new cmd heading: 346.143782 deg.

2025-08-22T16:43:18.739Z,1755880998.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041348 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:18.879Z,1755880998.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235452
2025-08-22T16:43:19.134Z,1755880999.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489864
2025-08-22T16:43:19.227Z,1755880999.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:19.230Z,1755880999.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 40.452805 m,
      bearing: 343.221039 deg,
      approach rate: -0.427827 m/s,
      LOS rate: -0.028601 deg/s,
      cmd heading: 346.143769 deg,
      new cmd heading: 346.115580 deg.

2025-08-22T16:43:19.231Z,1755880999.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040856 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:19.383Z,1755880999.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739166
2025-08-22T16:43:19.567Z,1755880999.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:19.570Z,1755880999.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 40.307301 m,
      bearing: 343.211427 deg,
      approach rate: -0.428122 m/s,
      LOS rate: -0.028382 deg/s,
      cmd heading: 346.115574 deg,
      new cmd heading: 346.096282 deg.

2025-08-22T16:43:19.571Z,1755880999.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040520 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:19.637Z,1755880999.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993116
2025-08-22T16:43:19.887Z,1755880999.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243101
2025-08-22T16:43:19.979Z,1755880999.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:19.982Z,1755880999.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 40.135220 m,
      bearing: 343.200047 deg,
      approach rate: -0.417485 m/s,
      LOS rate: -0.027728 deg/s,
      cmd heading: 346.096286 deg,
      new cmd heading: 346.073428 deg.

2025-08-22T16:43:19.983Z,1755880999.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040121 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:20.142Z,1755881000.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498163
2025-08-22T16:43:20.394Z,1755881000.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749934
2025-08-22T16:43:20.420Z,1755881000.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:20.426Z,1755881000.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:20.429Z,1755881000.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 39.937222 m,
      bearing: 343.187656 deg,
      approach rate: -0.447681 m/s,
      LOS rate: -0.028156 deg/s,
      cmd heading: 346.073418 deg,
      new cmd heading: 346.048513 deg.

2025-08-22T16:43:20.438Z,1755881000.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039686 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:20.644Z,1755881000.644 [DAT](INFO): DAT read: Rx Time:16:43:21.0558

2025-08-22T16:43:20.645Z,1755881000.645 [DAT](INFO): Rx dataTimestamp_ set to:1755881000.644597
2025-08-22T16:43:20.646Z,1755881000.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001996
2025-08-22T16:43:20.784Z,1755881000.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:43:20.787Z,1755881000.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.037128 m,
      nav range: 39.771645 m,
      bearing: 343.177292 deg,
      approach rate: -0.456653 m/s,
      LOS rate: -0.028701 deg/s,
      cmd heading: 346.048502 deg,
      new cmd heading: 346.027688 deg.

2025-08-22T16:43:20.788Z,1755881000.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039322 target range: 42.037128 and range: 42.30 m.
2025-08-22T16:43:20.895Z,1755881000.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251205
2025-08-22T16:43:21.187Z,1755881001.187 [DAT](INFO): DAT read: 16:43:21.0558 LVL= 30960, 30833, 21986, 32755, AGC= 60, IDX= 426,-0.40,-0.361,-2.016, 0.051,-0.468, PHS= 0.209,-1.503, 0.476, RAW= 157.1,   8.8, CAL= 156.8,   9.4, ROT= 353.2,  -9.4

2025-08-22T16:43:21.214Z,1755881001.214 [DAT](INFO): got valid direction response:
 16:43:21.0558 LVL= 30960, 30833, 21986, 32755, AGC= 60, IDX= 426,-0.40,-0.361,-2.016, 0.051,-0.468, PHS= 0.209,-1.503, 0.476, RAW= 157.1,   8.8, CAL= 156.8,   9.4, ROT= 353.2,  -9.4

2025-08-22T16:43:21.215Z,1755881001.215 [DAT](INFO): DAT read: Bearing 158.2,  -4.3 (Local)

2025-08-22T16:43:21.215Z,1755881001.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.2,  -4.3 (Local)

2025-08-22T16:43:21.217Z,1755881001.217 [DAT](INFO): DAT read: Range 11 to 50 : 40.7 m  (Round-trip  54.3 ms) speed  0.4 m/s

2025-08-22T16:43:21.222Z,1755881001.222 [DAT](INFO): DAT read: user:244>

2025-08-22T16:43:21.222Z,1755881001.222 [DAT](INFO): DAT read: Tx time:16:43:22.1473

2025-08-22T16:43:21.223Z,1755881001.223 [DAT](INFO): Ping request sent.
2025-08-22T16:43:21.223Z,1755881001.223 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:21.223Z,1755881001.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:21.224Z,1755881001.224 [DAT](INFO): direction in FSK: [0.979632,-0.116814,0.163326]
2025-08-22T16:43:21.224Z,1755881001.224 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:21.224Z,1755881001.224 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:21.232Z,1755881001.232 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:21.232Z,1755881001.232 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:21.363Z,1755881001.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.700001 m,
      deltaT: 3.534700 s,
      deltaX: -1.599998 m,
      approachRate: -0.452655 m/s,
      rangeRepo size: 4

2025-08-22T16:43:21.378Z,1755881001.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.447224 m,
      bearing: 341.410091 deg,
      lat: 36.779441 deg,
      lon: -121.859636 deg,
      deltaT: 3.534700 s,
      deltaX: -1.589905 m,
      approachRate: -0.449799 m/s,
      posRepo size: 4

2025-08-22T16:43:21.379Z,1755881001.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:21.386Z,1755881001.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 39.739616 m,
      bearing: 342.213987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028701 deg/s,
      cmd heading: 346.027683 deg,
      new cmd heading: 345.994482 deg.

2025-08-22T16:43:21.387Z,1755881001.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038743 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:21.672Z,1755881001.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:21.675Z,1755881001.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 39.593990 m,
      bearing: 342.204513 deg,
      approach rate: -0.470945 m/s,
      LOS rate: -0.030753 deg/s,
      cmd heading: 345.994489 deg,
      new cmd heading: 345.975470 deg.

2025-08-22T16:43:21.676Z,1755881001.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038411 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:22.059Z,1755881002.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:22.062Z,1755881002.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 39.426842 m,
      bearing: 342.193782 deg,
      approach rate: -0.431438 m/s,
      LOS rate: -0.027816 deg/s,
      cmd heading: 345.975473 deg,
      new cmd heading: 345.953920 deg.

2025-08-22T16:43:22.063Z,1755881002.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038035 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:22.493Z,1755881002.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:22.495Z,1755881002.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:22.498Z,1755881002.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 39.229568 m,
      bearing: 342.179847 deg,
      approach rate: -0.452732 m/s,
      LOS rate: -0.032140 deg/s,
      cmd heading: 345.953917 deg,
      new cmd heading: 345.925908 deg.

2025-08-22T16:43:22.499Z,1755881002.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037546 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:22.658Z,1755881002.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:22.658Z,1755881002.658 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:22.659Z,1755881002.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:43:22.886Z,1755881002.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:22.889Z,1755881002.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 39.052238 m,
      bearing: 342.167201 deg,
      approach rate: -0.454088 m/s,
      LOS rate: -0.032529 deg/s,
      cmd heading: 345.925913 deg,
      new cmd heading: 345.900507 deg.

2025-08-22T16:43:22.890Z,1755881002.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037103 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:22.917Z,1755881002.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694413
2025-08-22T16:43:23.174Z,1755881003.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950091
2025-08-22T16:43:23.306Z,1755881003.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:23.309Z,1755881003.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 38.858650 m,
      bearing: 342.151713 deg,
      approach rate: -0.460909 m/s,
      LOS rate: -0.037061 deg/s,
      cmd heading: 345.900505 deg,
      new cmd heading: 345.869373 deg.

2025-08-22T16:43:23.330Z,1755881003.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036560 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:23.426Z,1755881003.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203098
2025-08-22T16:43:23.674Z,1755881003.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451675
2025-08-22T16:43:23.692Z,1755881003.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:23.695Z,1755881003.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 38.680702 m,
      bearing: 342.137338 deg,
      approach rate: -0.460942 m/s,
      LOS rate: -0.037405 deg/s,
      cmd heading: 345.869387 deg,
      new cmd heading: 345.840506 deg.

2025-08-22T16:43:23.696Z,1755881003.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036056 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:23.926Z,1755881003.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703745
2025-08-22T16:43:24.075Z,1755881004.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:24.078Z,1755881004.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 38.503769 m,
      bearing: 342.123935 deg,
      approach rate: -0.461227 m/s,
      LOS rate: -0.035099 deg/s,
      cmd heading: 345.840509 deg,
      new cmd heading: 345.813580 deg.

2025-08-22T16:43:24.079Z,1755881004.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035585 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:24.182Z,1755881004.182 [DAT](INFO): DAT read: Rx Time:16:43:24.6038

2025-08-22T16:43:24.183Z,1755881004.183 [DAT](INFO): Rx dataTimestamp_ set to:1755881004.182606
2025-08-22T16:43:24.184Z,1755881004.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961050
2025-08-22T16:43:24.431Z,1755881004.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207815
2025-08-22T16:43:24.570Z,1755881004.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:24.572Z,1755881004.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m.
2025-08-22T16:43:24.583Z,1755881004.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.447224 m,
      nav range: 38.293934 m,
      bearing: 342.106241 deg,
      approach rate: -0.422590 m/s,
      LOS rate: -0.035831 deg/s,
      cmd heading: 345.813571 deg,
      new cmd heading: 345.777987 deg.

2025-08-22T16:43:24.584Z,1755881004.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034965 target range: 40.447224 and range: 40.70 m.
2025-08-22T16:43:24.690Z,1755881004.690 [DAT](INFO): DAT read: 16:43:24.6038 LVL= 29536, 31521, 24562, 32755, AGC= 61, IDX= 420,-0.02,-0.816,-2.448,-0.400,-0.916, PHS= 0.202,-1.486, 0.472, RAW= 157.3,   8.9, CAL= 157.0,   9.4, ROT= 353.0,  -9.4

2025-08-22T16:43:24.692Z,1755881004.692 [DAT](INFO): got valid direction response:
 16:43:24.6038 LVL= 29536, 31521, 24562, 32755, AGC= 61, IDX= 420,-0.02,-0.816,-2.448,-0.400,-0.916, PHS= 0.202,-1.486, 0.472, RAW= 157.3,   8.9, CAL= 157.0,   9.4, ROT= 353.0,  -9.4

2025-08-22T16:43:24.692Z,1755881004.692 [DAT](INFO): DAT read: Bearing 157.7,  -5.3 (Local)

2025-08-22T16:43:24.693Z,1755881004.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.7,  -5.3 (Local)

2025-08-22T16:43:24.695Z,1755881004.695 [DAT](INFO): DAT read: Range 11 to 50 : 39.2 m  (Round-trip  52.3 ms) speed  0.4 m/s

2025-08-22T16:43:24.695Z,1755881004.695 [DAT](INFO): DAT read: user:245>

2025-08-22T16:43:24.696Z,1755881004.696 [DAT](INFO): DAT read: Tx time:16:43:25.6973

2025-08-22T16:43:24.696Z,1755881004.696 [DAT](INFO): Ping request sent.
2025-08-22T16:43:24.696Z,1755881004.696 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:24.697Z,1755881004.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:24.738Z,1755881004.738 [DAT](INFO): direction in FSK: [0.979218,-0.120233,0.163326]
2025-08-22T16:43:24.738Z,1755881004.738 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:24.739Z,1755881004.739 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:24.746Z,1755881004.746 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:24.746Z,1755881004.746 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:24.891Z,1755881004.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 3.533487 s,
      deltaX: -1.500000 m,
      approachRate: -0.424510 m/s,
      rangeRepo size: 4

2025-08-22T16:43:24.893Z,1755881004.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.956825 m,
      bearing: 340.734952 deg,
      lat: 36.779440 deg,
      lon: -121.859638 deg,
      deltaT: 3.533487 s,
      deltaX: -1.490398 m,
      approachRate: -0.421793 m/s,
      posRepo size: 4

2025-08-22T16:43:24.893Z,1755881004.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:24.896Z,1755881004.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 38.109348 m,
      bearing: 341.848655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035831 deg/s,
      cmd heading: 345.777999 deg,
      new cmd heading: 345.755231 deg.

2025-08-22T16:43:24.897Z,1755881004.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034567 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:25.336Z,1755881005.336 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T16:43:25.336Z,1755881005.336 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:43:25.337Z,1755881005.337 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T16:43:25.343Z,1755881005.343 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.200001 m (mode  2.000000 count ).
2025-08-22T16:43:25.343Z,1755881005.343 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T16:43:25.343Z,1755881005.343 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T16:43:25.350Z,1755881005.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:25.352Z,1755881005.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.911686 m,
      bearing: 341.833439 deg,
      approach rate: -0.433739 m/s,
      LOS rate: -0.033565 deg/s,
      cmd heading: 345.755241 deg,
      new cmd heading: 345.724649 deg.

2025-08-22T16:43:25.353Z,1755881005.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034033 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:25.708Z,1755881005.708 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T16:43:25.708Z,1755881005.708 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T16:43:25.711Z,1755881005.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:25.714Z,1755881005.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.743874 m,
      bearing: 341.820595 deg,
      approach rate: -0.459045 m/s,
      LOS rate: -0.035291 deg/s,
      cmd heading: 345.724641 deg,
      new cmd heading: 345.698839 deg.

2025-08-22T16:43:25.715Z,1755881005.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033583 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:26.093Z,1755881006.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T16:43:26.093Z,1755881006.093 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T16:43:26.096Z,1755881006.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:26.098Z,1755881006.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.573410 m,
      bearing: 341.807422 deg,
      approach rate: -0.443135 m/s,
      LOS rate: -0.034398 deg/s,
      cmd heading: 345.698851 deg,
      new cmd heading: 345.672387 deg.

2025-08-22T16:43:26.099Z,1755881006.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033121 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:26.545Z,1755881006.545 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T16:43:26.546Z,1755881006.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:43:26.546Z,1755881006.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T16:43:26.546Z,1755881006.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:43:26.548Z,1755881006.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:26.555Z,1755881006.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.376896 m,
      bearing: 341.787676 deg,
      approach rate: -0.434217 m/s,
      LOS rate: -0.043861 deg/s,
      cmd heading: 345.672377 deg,
      new cmd heading: 345.632676 deg.

2025-08-22T16:43:26.556Z,1755881006.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032428 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:26.911Z,1755881006.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:26.913Z,1755881006.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:26.916Z,1755881006.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.210194 m,
      bearing: 341.770656 deg,
      approach rate: -0.456865 m/s,
      LOS rate: -0.046853 deg/s,
      cmd heading: 345.632680 deg,
      new cmd heading: 345.598488 deg.

2025-08-22T16:43:26.917Z,1755881006.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031832 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:26.955Z,1755881006.955 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:43:26.955Z,1755881006.955 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:43:26.955Z,1755881006.955 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:43:27.209Z,1755881007.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511634
2025-08-22T16:43:27.356Z,1755881007.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:27.359Z,1755881007.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 37.012909 m,
      bearing: 341.749517 deg,
      approach rate: -0.445323 m/s,
      LOS rate: -0.047971 deg/s,
      cmd heading: 345.598502 deg,
      new cmd heading: 345.555998 deg.

2025-08-22T16:43:27.360Z,1755881007.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031090 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:27.459Z,1755881007.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762640
2025-08-22T16:43:27.711Z,1755881007.711 [DAT](INFO): DAT read: Rx Time:16:43:28.1516

2025-08-22T16:43:27.711Z,1755881007.711 [DAT](INFO): Rx dataTimestamp_ set to:1755881007.710764
2025-08-22T16:43:27.712Z,1755881007.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015037
2025-08-22T16:43:27.733Z,1755881007.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:27.737Z,1755881007.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 36.857403 m,
      bearing: 341.732718 deg,
      approach rate: -0.412727 m/s,
      LOS rate: -0.044774 deg/s,
      cmd heading: 345.555990 deg,
      new cmd heading: 345.522251 deg.

2025-08-22T16:43:27.742Z,1755881007.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030501 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:27.963Z,1755881007.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266637
2025-08-22T16:43:28.152Z,1755881008.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.96 m.
2025-08-22T16:43:28.155Z,1755881008.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.956825 m,
      nav range: 36.676498 m,
      bearing: 341.712977 deg,
      approach rate: -0.431977 m/s,
      LOS rate: -0.047372 deg/s,
      cmd heading: 345.522249 deg,
      new cmd heading: 345.482573 deg.

2025-08-22T16:43:28.157Z,1755881008.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029809 target range: 38.956825 and range: 39.20 m.
2025-08-22T16:43:28.223Z,1755881008.223 [DAT](INFO): DAT read: 16:43:28.1516 LVL= 28080, 29345, 21170, 32755, AGC= 59, IDX= 414, 0.25,-2.133, 2.491,-1.652,-2.213, PHS= 0.182,-1.534, 0.517, RAW= 158.8,   8.8, CAL= 158.5,   9.3, ROT= 351.5,  -9.3

2025-08-22T16:43:28.226Z,1755881008.226 [DAT](INFO): got valid direction response:
 16:43:28.1516 LVL= 28080, 29345, 21170, 32755, AGC= 59, IDX= 414, 0.25,-2.133, 2.491,-1.652,-2.213, PHS= 0.182,-1.534, 0.517, RAW= 158.8,   8.8, CAL= 158.5,   9.3, ROT= 351.5,  -9.3

2025-08-22T16:43:28.230Z,1755881008.230 [DAT](INFO): DAT read: Bearing 157.2,  -7.5 (Local)

2025-08-22T16:43:28.231Z,1755881008.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  -7.5 (Local)

2025-08-22T16:43:28.232Z,1755881008.232 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.1 ms) speed  0.4 m/s

2025-08-22T16:43:28.233Z,1755881008.233 [DAT](INFO): DAT read: user:246>

2025-08-22T16:43:28.234Z,1755881008.234 [DAT](INFO): DAT read: Tx time:16:43:29.2473

2025-08-22T16:43:28.234Z,1755881008.234 [DAT](INFO): Ping request sent.
2025-08-22T16:43:28.234Z,1755881008.234 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:28.235Z,1755881008.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:43:28.235Z,1755881008.235 [DAT](INFO): direction in FSK: [0.976016,-0.145867,0.161604]
2025-08-22T16:43:28.236Z,1755881008.236 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:28.236Z,1755881008.236 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:28.296Z,1755881008.296 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:28.296Z,1755881008.296 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:28.329Z,1755881008.329 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.094512
2025-08-22T16:43:28.467Z,1755881008.467 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.232270
2025-08-22T16:43:28.600Z,1755881008.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.532545 s,
      deltaX: -1.700001 m,
      approachRate: -0.481240 m/s,
      rangeRepo size: 4

2025-08-22T16:43:28.608Z,1755881008.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.267796 m,
      bearing: 339.132617 deg,
      lat: 36.779440 deg,
      lon: -121.859642 deg,
      deltaT: 3.532545 s,
      deltaX: -1.689030 m,
      approachRate: -0.478134 m/s,
      posRepo size: 4

2025-08-22T16:43:28.609Z,1755881008.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:28.623Z,1755881008.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 36.602768 m,
      bearing: 341.110087 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047372 deg/s,
      cmd heading: 345.482580 deg,
      new cmd heading: 345.441086 deg.

2025-08-22T16:43:28.624Z,1755881008.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029084 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:28.719Z,1755881008.719 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.485157
2025-08-22T16:43:28.971Z,1755881008.971 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.736359
2025-08-22T16:43:28.971Z,1755881008.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:28.973Z,1755881008.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:28.976Z,1755881008.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 36.427074 m,
      bearing: 341.089163 deg,
      approach rate: -0.457943 m/s,
      LOS rate: -0.054802 deg/s,
      cmd heading: 345.441079 deg,
      new cmd heading: 345.399029 deg.

2025-08-22T16:43:28.977Z,1755881008.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028350 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:29.223Z,1755881009.223 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.988584
2025-08-22T16:43:29.395Z,1755881009.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:29.398Z,1755881009.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 36.239555 m,
      bearing: 341.069473 deg,
      approach rate: -0.444507 m/s,
      LOS rate: -0.046916 deg/s,
      cmd heading: 345.399033 deg,
      new cmd heading: 345.359448 deg.

2025-08-22T16:43:29.399Z,1755881009.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027659 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:29.476Z,1755881009.476 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.241654
2025-08-22T16:43:29.727Z,1755881009.727 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.492244
2025-08-22T16:43:29.806Z,1755881009.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:29.808Z,1755881009.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 36.068714 m,
      bearing: 341.051628 deg,
      approach rate: -0.420453 m/s,
      LOS rate: -0.044126 deg/s,
      cmd heading: 345.359445 deg,
      new cmd heading: 345.323586 deg.

2025-08-22T16:43:29.813Z,1755881009.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027033 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:29.978Z,1755881009.978 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.744177
2025-08-22T16:43:30.197Z,1755881010.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:30.218Z,1755881010.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 35.882675 m,
      bearing: 341.032367 deg,
      approach rate: -0.470095 m/s,
      LOS rate: -0.048922 deg/s,
      cmd heading: 345.323573 deg,
      new cmd heading: 345.284851 deg.

2025-08-22T16:43:30.222Z,1755881010.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026358 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:30.233Z,1755881010.233 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.998892
2025-08-22T16:43:30.483Z,1755881010.483 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.248674
2025-08-22T16:43:30.654Z,1755881010.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:30.672Z,1755881010.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 35.683411 m,
      bearing: 341.019050 deg,
      approach rate: -0.440602 m/s,
      LOS rate: -0.029610 deg/s,
      cmd heading: 345.284859 deg,
      new cmd heading: 345.258076 deg.

2025-08-22T16:43:30.686Z,1755881010.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025890 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:30.735Z,1755881010.735 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.501022
2025-08-22T16:43:30.986Z,1755881010.986 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.752159
2025-08-22T16:43:31.067Z,1755881011.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:31.069Z,1755881011.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:31.080Z,1755881011.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 35.499565 m,
      bearing: 341.007139 deg,
      approach rate: -0.438303 m/s,
      LOS rate: -0.028544 deg/s,
      cmd heading: 345.258085 deg,
      new cmd heading: 345.234139 deg.

2025-08-22T16:43:31.094Z,1755881011.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025473 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:31.239Z,1755881011.239 [DAT](INFO): DAT read: Rx Time:16:43:31.6997

2025-08-22T16:43:31.240Z,1755881011.240 [DAT](INFO): Rx dataTimestamp_ set to:1755881011.239532
2025-08-22T16:43:31.241Z,1755881011.241 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.006252
2025-08-22T16:43:31.491Z,1755881011.491 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.256291
2025-08-22T16:43:31.503Z,1755881011.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.27 m.
2025-08-22T16:43:31.506Z,1755881011.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.267796 m,
      nav range: 35.297146 m,
      bearing: 341.000187 deg,
      approach rate: -0.467694 m/s,
      LOS rate: -0.016154 deg/s,
      cmd heading: 345.234152 deg,
      new cmd heading: 345.220169 deg.

2025-08-22T16:43:31.506Z,1755881011.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025229 target range: 37.267796 and range: 37.50 m.
2025-08-22T16:43:31.749Z,1755881011.749 [DAT](INFO): DAT read: 16:43:31.6997 LVL= 29168, 30369, 21810, 32755, AGC= 59, IDX= 426,-0.04, 2.789, 1.164,-2.985, 2.720, PHS= 0.172,-1.511, 0.535, RAW= 159.6,   8.6, CAL= 159.3,   8.9, ROT= 350.7,  -8.9

2025-08-22T16:43:31.751Z,1755881011.751 [DAT](INFO): got valid direction response:
 16:43:31.6997 LVL= 29168, 30369, 21810, 32755, AGC= 59, IDX= 426,-0.04, 2.789, 1.164,-2.985, 2.720, PHS= 0.172,-1.511, 0.535, RAW= 159.6,   8.6, CAL= 159.3,   8.9, ROT= 350.7,  -8.9

2025-08-22T16:43:31.752Z,1755881011.752 [DAT](INFO): DAT read: Bearing 156.2,  -9.0 (Local)

2025-08-22T16:43:31.753Z,1755881011.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2,  -9.0 (Local)

2025-08-22T16:43:31.754Z,1755881011.754 [DAT](INFO): DAT read: Range 11 to 50 : 36.1 m  (Round-trip  48.2 ms) speed  0.4 m/s

2025-08-22T16:43:31.755Z,1755881011.755 [DAT](INFO): DAT read: user:247>

2025-08-22T16:43:31.756Z,1755881011.756 [DAT](INFO): DAT read: Tx time:16:43:32.7973

2025-08-22T16:43:31.756Z,1755881011.756 [DAT](INFO): Ping request sent.
2025-08-22T16:43:31.756Z,1755881011.756 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:31.757Z,1755881011.757 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T16:43:31.760Z,1755881011.760 [DAT](INFO): direction in FSK: [0.974974,-0.159658,0.154710]
2025-08-22T16:43:31.761Z,1755881011.761 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:31.763Z,1755881011.763 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:31.768Z,1755881011.768 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:31.769Z,1755881011.769 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:31.775Z,1755881011.775 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.018062
2025-08-22T16:43:31.923Z,1755881011.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.099998 m,
      deltaT: 3.527463 s,
      deltaX: -1.400002 m,
      approachRate: -0.396886 m/s,
      rangeRepo size: 4

2025-08-22T16:43:31.925Z,1755881011.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.876038 m,
      bearing: 337.765456 deg,
      lat: 36.779440 deg,
      lon: -121.859647 deg,
      deltaT: 3.527463 s,
      deltaX: -1.391758 m,
      approachRate: -0.394549 m/s,
      posRepo size: 4

2025-08-22T16:43:31.930Z,1755881011.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:31.933Z,1755881011.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 35.181129 m,
      bearing: 340.351672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016154 deg/s,
      cmd heading: 345.220164 deg,
      new cmd heading: 345.206731 deg.

2025-08-22T16:43:31.938Z,1755881011.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024994 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:31.995Z,1755881011.995 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239091
2025-08-22T16:43:32.247Z,1755881012.247 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.490277
2025-08-22T16:43:32.275Z,1755881012.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:32.278Z,1755881012.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 35.013824 m,
      bearing: 340.343509 deg,
      approach rate: -0.467817 m/s,
      LOS rate: -0.022934 deg/s,
      cmd heading: 345.206722 deg,
      new cmd heading: 345.190318 deg.

2025-08-22T16:43:32.279Z,1755881012.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024708 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:32.498Z,1755881012.498 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.742212
2025-08-22T16:43:32.704Z,1755881012.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:32.707Z,1755881012.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 34.820618 m,
      bearing: 340.337717 deg,
      approach rate: -0.450060 m/s,
      LOS rate: -0.013568 deg/s,
      cmd heading: 345.190329 deg,
      new cmd heading: 345.178680 deg.

2025-08-22T16:43:32.708Z,1755881012.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024505 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:32.751Z,1755881012.751 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995085
2025-08-22T16:43:33.002Z,1755881013.002 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.246179
2025-08-22T16:43:33.089Z,1755881013.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:33.094Z,1755881013.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:33.100Z,1755881013.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 34.647175 m,
      bearing: 340.332502 deg,
      approach rate: -0.445811 m/s,
      LOS rate: -0.013470 deg/s,
      cmd heading: 345.178691 deg,
      new cmd heading: 345.168210 deg.

2025-08-22T16:43:33.101Z,1755881013.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024322 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:33.255Z,1755881013.255 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.498490
2025-08-22T16:43:33.507Z,1755881013.507 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.750380
2025-08-22T16:43:33.510Z,1755881013.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:33.513Z,1755881013.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 34.452625 m,
      bearing: 340.324956 deg,
      approach rate: -0.467358 m/s,
      LOS rate: -0.018231 deg/s,
      cmd heading: 345.168200 deg,
      new cmd heading: 345.153021 deg.

2025-08-22T16:43:33.530Z,1755881013.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024056 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:33.760Z,1755881013.760 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.003844
2025-08-22T16:43:33.893Z,1755881013.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:33.896Z,1755881013.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 34.274105 m,
      bearing: 340.318275 deg,
      approach rate: -0.466118 m/s,
      LOS rate: -0.017534 deg/s,
      cmd heading: 345.153009 deg,
      new cmd heading: 345.139578 deg.

2025-08-22T16:43:33.896Z,1755881013.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023822 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:34.010Z,1755881014.010 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.254216
2025-08-22T16:43:34.267Z,1755881014.267 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.510328
2025-08-22T16:43:34.309Z,1755881014.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:34.312Z,1755881014.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 34.080372 m,
      bearing: 340.311222 deg,
      approach rate: -0.465662 m/s,
      LOS rate: -0.017050 deg/s,
      cmd heading: 345.139567 deg,
      new cmd heading: 345.125381 deg.

2025-08-22T16:43:34.313Z,1755881014.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023574 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:34.518Z,1755881014.518 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.762155
2025-08-22T16:43:34.747Z,1755881014.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:34.750Z,1755881014.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 33.879993 m,
      bearing: 340.300921 deg,
      approach rate: -0.457388 m/s,
      LOS rate: -0.023652 deg/s,
      cmd heading: 345.125388 deg,
      new cmd heading: 345.104665 deg.

2025-08-22T16:43:34.751Z,1755881014.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023212 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:34.770Z,1755881014.770 [DAT](INFO): DAT read: Rx Time:16:43:35.2475

2025-08-22T16:43:34.771Z,1755881014.771 [DAT](INFO): Rx dataTimestamp_ set to:1755881014.770680
2025-08-22T16:43:34.771Z,1755881014.771 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.015238
2025-08-22T16:43:35.023Z,1755881015.023 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.266645
2025-08-22T16:43:35.176Z,1755881015.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:35.184Z,1755881015.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.88 m.
2025-08-22T16:43:35.192Z,1755881015.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.876038 m,
      nav range: 33.690018 m,
      bearing: 340.291058 deg,
      approach rate: -0.435271 m/s,
      LOS rate: -0.022726 deg/s,
      cmd heading: 345.104652 deg,
      new cmd heading: 345.084814 deg.

2025-08-22T16:43:35.193Z,1755881015.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022866 target range: 35.876038 and range: 36.10 m.
2025-08-22T16:43:35.281Z,1755881015.281 [DAT](INFO): DAT read: 16:43:35.2475 LVL= 27472, 29489, 20626, 32755, AGC= 60, IDX= 420,-0.17, 1.302,-0.306, 1.825, 1.221, PHS= 0.183,-1.482, 0.560, RAW= 160.0,   7.9, CAL= 159.6,   8.1, ROT= 350.4,  -8.1

2025-08-22T16:43:35.286Z,1755881015.286 [DAT](INFO): got valid direction response:
 16:43:35.2475 LVL= 27472, 29489, 20626, 32755, AGC= 60, IDX= 420,-0.17, 1.302,-0.306, 1.825, 1.221, PHS= 0.183,-1.482, 0.560, RAW= 160.0,   7.9, CAL= 159.6,   8.1, ROT= 350.4,  -8.1

2025-08-22T16:43:35.288Z,1755881015.288 [DAT](INFO): DAT read: Bearing 155.0,  -9.7 (Local)

2025-08-22T16:43:35.288Z,1755881015.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.0,  -9.7 (Local)

2025-08-22T16:43:35.290Z,1755881015.290 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m  (Round-trip  46.0 ms) speed  0.4 m/s

2025-08-22T16:43:35.291Z,1755881015.291 [DAT](INFO): DAT read: user:248>

2025-08-22T16:43:35.291Z,1755881015.291 [DAT](INFO): DAT read: Tx time:16:43:36.3473

2025-08-22T16:43:35.292Z,1755881015.292 [DAT](INFO): Ping request sent.
2025-08-22T16:43:35.292Z,1755881015.292 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:35.292Z,1755881015.292 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:43:35.293Z,1755881015.293 [DAT](INFO): direction in FSK: [0.976159,-0.165105,0.140901]
2025-08-22T16:43:35.293Z,1755881015.293 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:35.294Z,1755881015.294 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:35.298Z,1755881015.298 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:35.298Z,1755881015.298 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:35.304Z,1755881015.304 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.011529
2025-08-22T16:43:35.527Z,1755881015.527 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.235229
2025-08-22T16:43:35.627Z,1755881015.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.500000 m,
      deltaT: 3.532235 s,
      deltaX: -1.599998 m,
      approachRate: -0.452971 m/s,
      rangeRepo size: 4

2025-08-22T16:43:35.637Z,1755881015.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.285858 m,
      bearing: 337.069169 deg,
      lat: 36.779438 deg,
      lon: -121.859656 deg,
      deltaT: 3.532235 s,
      deltaX: -1.590179 m,
      approachRate: -0.450191 m/s,
      posRepo size: 4

2025-08-22T16:43:35.638Z,1755881015.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:35.641Z,1755881015.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 33.622276 m,
      bearing: 338.793161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022726 deg/s,
      cmd heading: 345.084817 deg,
      new cmd heading: 345.064661 deg.

2025-08-22T16:43:35.646Z,1755881015.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022514 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:35.779Z,1755881015.779 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.487036
2025-08-22T16:43:36.001Z,1755881016.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:36.026Z,1755881016.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 33.437355 m,
      bearing: 338.775299 deg,
      approach rate: -0.494521 m/s,
      LOS rate: -0.048030 deg/s,
      cmd heading: 345.064654 deg,
      new cmd heading: 345.028733 deg.

2025-08-22T16:43:36.027Z,1755881016.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021887 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:36.031Z,1755881016.031 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.738947
2025-08-22T16:43:36.283Z,1755881016.283 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.991565
2025-08-22T16:43:36.482Z,1755881016.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:36.484Z,1755881016.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 33.221493 m,
      bearing: 338.742528 deg,
      approach rate: -0.448838 m/s,
      LOS rate: -0.068582 deg/s,
      cmd heading: 345.028727 deg,
      new cmd heading: 344.962760 deg.

2025-08-22T16:43:36.506Z,1755881016.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020736 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:36.537Z,1755881016.537 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.245425
2025-08-22T16:43:36.791Z,1755881016.791 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.498829
2025-08-22T16:43:36.860Z,1755881016.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:36.867Z,1755881016.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 33.055183 m,
      bearing: 338.717040 deg,
      approach rate: -0.439974 m/s,
      LOS rate: -0.067768 deg/s,
      cmd heading: 344.962748 deg,
      new cmd heading: 344.911515 deg.

2025-08-22T16:43:36.868Z,1755881016.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019842 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:37.043Z,1755881017.043 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751252
2025-08-22T16:43:37.236Z,1755881017.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:37.239Z,1755881017.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:37.257Z,1755881017.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 32.881969 m,
      bearing: 338.690150 deg,
      approach rate: -0.456975 m/s,
      LOS rate: -0.071315 deg/s,
      cmd heading: 344.911521 deg,
      new cmd heading: 344.857458 deg.

2025-08-22T16:43:37.258Z,1755881017.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018898 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:37.295Z,1755881017.295 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.003136
2025-08-22T16:43:37.549Z,1755881017.549 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.257303
2025-08-22T16:43:37.665Z,1755881017.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:37.668Z,1755881017.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 32.696041 m,
      bearing: 338.652582 deg,
      approach rate: -0.436335 m/s,
      LOS rate: -0.088666 deg/s,
      cmd heading: 344.857453 deg,
      new cmd heading: 344.781889 deg.

2025-08-22T16:43:37.669Z,1755881017.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017579 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:37.799Z,1755881017.799 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506850
2025-08-22T16:43:38.046Z,1755881018.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:38.049Z,1755881018.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 32.530094 m,
      bearing: 338.618864 deg,
      approach rate: -0.435599 m/s,
      LOS rate: -0.088959 deg/s,
      cmd heading: 344.781884 deg,
      new cmd heading: 344.714104 deg.

2025-08-22T16:43:38.051Z,1755881018.051 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.759018
2025-08-22T16:43:38.070Z,1755881018.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016396 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:38.303Z,1755881018.303 [DAT](INFO): DAT read: Rx Time:16:43:38.7953

2025-08-22T16:43:38.303Z,1755881018.303 [DAT](INFO): Rx dataTimestamp_ set to:1755881018.302976
2025-08-22T16:43:38.304Z,1755881018.304 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012134
2025-08-22T16:43:38.506Z,1755881018.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.29 m.
2025-08-22T16:43:38.509Z,1755881018.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.285858 m,
      nav range: 32.324173 m,
      bearing: 338.584396 deg,
      approach rate: -0.447182 m/s,
      LOS rate: -0.075327 deg/s,
      cmd heading: 344.714101 deg,
      new cmd heading: 344.644727 deg.

2025-08-22T16:43:38.530Z,1755881018.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015185 target range: 34.285858 and range: 34.50 m.
2025-08-22T16:43:38.555Z,1755881018.555 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.263007
2025-08-22T16:43:38.812Z,1755881018.812 [DAT](INFO): DAT read: 16:43:38.7953 LVL= 28720, 31537, 23842, 32755, AGC= 60, IDX= 414, 0.16, 0.516,-1.090, 1.065, 0.458, PHS= 0.160,-1.503, 0.563, RAW= 160.6,   8.3, CAL= 160.2,   8.5, ROT= 349.8,  -8.5

2025-08-22T16:43:38.813Z,1755881018.813 [DAT](INFO): got valid direction response:
 16:43:38.7953 LVL= 28720, 31537, 23842, 32755, AGC= 60, IDX= 414, 0.16, 0.516,-1.090, 1.065, 0.458, PHS= 0.160,-1.503, 0.563, RAW= 160.6,   8.3, CAL= 160.2,   8.5, ROT= 349.8,  -8.5

2025-08-22T16:43:38.814Z,1755881018.814 [DAT](INFO): DAT read: Bearing 155.3, -10.6 (Local)

2025-08-22T16:43:38.814Z,1755881018.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.3, -10.6 (Local)

2025-08-22T16:43:38.816Z,1755881018.816 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m  (Round-trip  43.9 ms) speed  0.3 m/s

2025-08-22T16:43:38.817Z,1755881018.817 [DAT](INFO): DAT read: user:249>

2025-08-22T16:43:38.817Z,1755881018.817 [DAT](INFO): DAT read: Tx time:16:43:39.8972

2025-08-22T16:43:38.818Z,1755881018.818 [DAT](INFO): Ping request sent.
2025-08-22T16:43:38.818Z,1755881018.818 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:38.818Z,1755881018.818 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:43:38.819Z,1755881018.819 [DAT](INFO): direction in FSK: [0.973385,-0.175140,0.147809]
2025-08-22T16:43:38.819Z,1755881018.819 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:38.819Z,1755881018.819 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:38.827Z,1755881018.827 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:38.827Z,1755881018.827 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:38.830Z,1755881018.830 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.012555
2025-08-22T16:43:38.910Z,1755881018.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 3.531488 s,
      deltaX: -1.599998 m,
      approachRate: -0.453066 m/s,
      rangeRepo size: 4

2025-08-22T16:43:38.912Z,1755881018.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.696018 m,
      bearing: 336.366324 deg,
      lat: 36.779438 deg,
      lon: -121.859665 deg,
      deltaT: 3.531488 s,
      deltaX: -1.589840 m,
      approachRate: -0.450190 m/s,
      posRepo size: 4

2025-08-22T16:43:38.913Z,1755881018.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:38.920Z,1755881018.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 32.421326 m,
      bearing: 337.324434 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075327 deg/s,
      cmd heading: 344.644734 deg,
      new cmd heading: 344.585290 deg.

2025-08-22T16:43:38.921Z,1755881018.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014148 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:39.059Z,1755881019.059 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240817
2025-08-22T16:43:39.256Z,1755881019.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:39.274Z,1755881019.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:39.277Z,1755881019.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 32.256100 m,
      bearing: 337.290290 deg,
      approach rate: -0.442230 m/s,
      LOS rate: -0.091855 deg/s,
      cmd heading: 344.585284 deg,
      new cmd heading: 344.516646 deg.

2025-08-22T16:43:39.278Z,1755881019.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012950 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:39.311Z,1755881019.311 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.493134
2025-08-22T16:43:39.563Z,1755881019.563 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744830
2025-08-22T16:43:39.691Z,1755881019.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:39.694Z,1755881019.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 32.061390 m,
      bearing: 337.252591 deg,
      approach rate: -0.466948 m/s,
      LOS rate: -0.090958 deg/s,
      cmd heading: 344.516654 deg,
      new cmd heading: 344.440798 deg.

2025-08-22T16:43:39.695Z,1755881019.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011626 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:39.815Z,1755881019.815 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.997343
2025-08-22T16:43:40.067Z,1755881020.067 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248884
2025-08-22T16:43:40.068Z,1755881020.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:40.071Z,1755881020.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 31.892881 m,
      bearing: 337.219671 deg,
      approach rate: -0.447198 m/s,
      LOS rate: -0.087829 deg/s,
      cmd heading: 344.440812 deg,
      new cmd heading: 344.374622 deg.

2025-08-22T16:43:40.072Z,1755881020.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010471 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:40.319Z,1755881020.319 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.501280
2025-08-22T16:43:40.538Z,1755881020.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:40.541Z,1755881020.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 31.682791 m,
      bearing: 337.180791 deg,
      approach rate: -0.447387 m/s,
      LOS rate: -0.083342 deg/s,
      cmd heading: 344.374614 deg,
      new cmd heading: 344.296339 deg.

2025-08-22T16:43:40.542Z,1755881020.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009105 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:40.571Z,1755881020.571 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752897
2025-08-22T16:43:40.823Z,1755881020.823 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.005368
2025-08-22T16:43:40.888Z,1755881020.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:40.891Z,1755881020.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 31.526144 m,
      bearing: 337.151321 deg,
      approach rate: -0.447008 m/s,
      LOS rate: -0.084513 deg/s,
      cmd heading: 344.296340 deg,
      new cmd heading: 344.237107 deg.

2025-08-22T16:43:40.892Z,1755881020.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008071 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:41.076Z,1755881021.076 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.257988
2025-08-22T16:43:41.284Z,1755881021.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:41.302Z,1755881021.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:41.305Z,1755881021.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 31.348717 m,
      bearing: 337.117663 deg,
      approach rate: -0.428622 m/s,
      LOS rate: -0.081770 deg/s,
      cmd heading: 344.237108 deg,
      new cmd heading: 344.169411 deg.

2025-08-22T16:43:41.315Z,1755881021.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006889 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:41.327Z,1755881021.327 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508882
2025-08-22T16:43:41.581Z,1755881021.581 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.762701
2025-08-22T16:43:41.731Z,1755881021.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:41.738Z,1755881021.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 31.159203 m,
      bearing: 337.085605 deg,
      approach rate: -0.441986 m/s,
      LOS rate: -0.075222 deg/s,
      cmd heading: 344.169407 deg,
      new cmd heading: 344.104900 deg.

2025-08-22T16:43:41.739Z,1755881021.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005764 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:41.832Z,1755881021.832 [DAT](INFO): DAT read: Rx Time:16:43:42.3432

2025-08-22T16:43:41.832Z,1755881021.832 [DAT](INFO): Rx dataTimestamp_ set to:1755881021.832014
2025-08-22T16:43:41.833Z,1755881021.833 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.015125
2025-08-22T16:43:42.084Z,1755881022.084 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.266068
2025-08-22T16:43:42.123Z,1755881022.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:43:42.126Z,1755881022.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.696018 m,
      nav range: 30.978378 m,
      bearing: 337.054830 deg,
      approach rate: -0.460856 m/s,
      LOS rate: -0.078893 deg/s,
      cmd heading: 344.104903 deg,
      new cmd heading: 344.042994 deg.

2025-08-22T16:43:42.127Z,1755881022.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004683 target range: 32.696018 and range: 32.90 m.
2025-08-22T16:43:42.345Z,1755881022.345 [DAT](INFO): DAT read: 16:43:42.3432 LVL= 27520, 29345, 20802, 32755, AGC= 59, IDX= 425,-0.35,-2.059, 2.648,-1.471,-2.092, PHS= 0.135,-1.498, 0.578, RAW= 161.7,   8.3, CAL= 161.3,   8.6, ROT= 348.7,  -8.6

2025-08-22T16:43:42.346Z,1755881022.346 [DAT](INFO): got valid direction response:
 16:43:42.3432 LVL= 27520, 29345, 20802, 32755, AGC= 59, IDX= 425,-0.35,-2.059, 2.648,-1.471,-2.092, PHS= 0.135,-1.498, 0.578, RAW= 161.7,   8.3, CAL= 161.3,   8.6, ROT= 348.7,  -8.6

2025-08-22T16:43:42.348Z,1755881022.348 [DAT](INFO): DAT read: Bearing 155.3, -11.7 (Local)

2025-08-22T16:43:42.348Z,1755881022.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.3, -11.7 (Local)

2025-08-22T16:43:42.350Z,1755881022.350 [DAT](INFO): DAT read: Range 11 to 50 : 31.3 m  (Round-trip  41.8 ms) speed  0.4 m/s

2025-08-22T16:43:42.351Z,1755881022.351 [DAT](INFO): DAT read: user:250>

2025-08-22T16:43:42.352Z,1755881022.352 [DAT](INFO): DAT read: Tx time:16:43:43.4472

2025-08-22T16:43:42.352Z,1755881022.352 [DAT](INFO): Ping request sent.
2025-08-22T16:43:42.352Z,1755881022.352 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:42.352Z,1755881022.352 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T16:43:42.354Z,1755881022.354 [DAT](INFO): direction in FSK: [0.969589,-0.193743,0.149535]
2025-08-22T16:43:42.354Z,1755881022.354 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:42.354Z,1755881022.354 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:42.357Z,1755881022.357 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:42.358Z,1755881022.358 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:42.361Z,1755881022.361 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.008498
2025-08-22T16:43:42.587Z,1755881022.587 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.234801
2025-08-22T16:43:42.638Z,1755881022.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.299999 m,
      deltaT: 3.530171 s,
      deltaX: -1.600002 m,
      approachRate: -0.453236 m/s,
      rangeRepo size: 4

2025-08-22T16:43:42.646Z,1755881022.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.105692 m,
      bearing: 335.131043 deg,
      lat: 36.779437 deg,
      lon: -121.859669 deg,
      deltaT: 3.530171 s,
      deltaX: -1.590326 m,
      approachRate: -0.450496 m/s,
      posRepo size: 4

2025-08-22T16:43:42.647Z,1755881022.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:42.649Z,1755881022.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 30.831495 m,
      bearing: 336.365958 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078893 deg/s,
      cmd heading: 344.042994 deg,
      new cmd heading: 343.962561 deg.

2025-08-22T16:43:42.655Z,1755881022.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003279 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:42.838Z,1755881022.838 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.486232
2025-08-22T16:43:42.926Z,1755881022.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:43:42.987Z,1755881022.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:42.990Z,1755881022.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 30.667490 m,
      bearing: 336.333464 deg,
      approach rate: -0.462859 m/s,
      LOS rate: -0.092195 deg/s,
      cmd heading: 343.962562 deg,
      new cmd heading: 343.897227 deg.

2025-08-22T16:43:42.991Z,1755881022.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002139 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:43.093Z,1755881023.093 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.740190
2025-08-22T16:43:43.343Z,1755881023.343 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.990333
2025-08-22T16:43:43.403Z,1755881023.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:43.406Z,1755881023.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:43.409Z,1755881023.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 30.482553 m,
      bearing: 336.296598 deg,
      approach rate: -0.442217 m/s,
      LOS rate: -0.088688 deg/s,
      cmd heading: 343.897238 deg,
      new cmd heading: 343.823059 deg.

2025-08-22T16:43:43.410Z,1755881023.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000844 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:43.596Z,1755881023.596 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.243228
2025-08-22T16:43:43.809Z,1755881023.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:43.828Z,1755881023.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 30.306591 m,
      bearing: 336.260864 deg,
      approach rate: -0.435942 m/s,
      LOS rate: -0.089045 deg/s,
      cmd heading: 343.823062 deg,
      new cmd heading: 343.751178 deg.

2025-08-22T16:43:43.829Z,1755881023.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999590 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:43.854Z,1755881023.854 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.501797
2025-08-22T16:43:43.937Z,1755881023.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:43:44.100Z,1755881024.100 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.747545
2025-08-22T16:43:44.272Z,1755881024.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:44.275Z,1755881024.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 30.110348 m,
      bearing: 336.220723 deg,
      approach rate: -0.424221 m/s,
      LOS rate: -0.087337 deg/s,
      cmd heading: 343.751181 deg,
      new cmd heading: 343.670378 deg.

2025-08-22T16:43:44.276Z,1755881024.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998179 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:44.351Z,1755881024.351 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.998351
2025-08-22T16:43:44.603Z,1755881024.603 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.250436
2025-08-22T16:43:44.665Z,1755881024.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:44.672Z,1755881024.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 29.941519 m,
      bearing: 336.188881 deg,
      approach rate: -0.429314 m/s,
      LOS rate: -0.081427 deg/s,
      cmd heading: 343.670366 deg,
      new cmd heading: 343.606323 deg.

2025-08-22T16:43:44.673Z,1755881024.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997062 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:44.855Z,1755881024.855 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.502495
2025-08-22T16:43:45.028Z,1755881025.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:45.031Z,1755881025.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 29.783438 m,
      bearing: 336.159100 deg,
      approach rate: -0.435257 m/s,
      LOS rate: -0.082436 deg/s,
      cmd heading: 343.606327 deg,
      new cmd heading: 343.546447 deg.

2025-08-22T16:43:45.032Z,1755881025.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996017 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:45.108Z,1755881025.108 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.755329
2025-08-22T16:43:45.359Z,1755881025.359 [DAT](INFO): DAT read: Rx Time:16:43:45.8911

2025-08-22T16:43:45.359Z,1755881025.359 [DAT](INFO): Rx dataTimestamp_ set to:1755881025.358967
2025-08-22T16:43:45.360Z,1755881025.360 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.007614
2025-08-22T16:43:45.467Z,1755881025.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:45.469Z,1755881025.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.11 m.
2025-08-22T16:43:45.476Z,1755881025.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.105692 m,
      nav range: 29.599995 m,
      bearing: 336.124499 deg,
      approach rate: -0.416288 m/s,
      LOS rate: -0.079007 deg/s,
      cmd heading: 343.546439 deg,
      new cmd heading: 343.476809 deg.

2025-08-22T16:43:45.482Z,1755881025.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994801 target range: 31.105692 and range: 31.30 m.
2025-08-22T16:43:45.612Z,1755881025.612 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.259478
2025-08-22T16:43:45.868Z,1755881025.868 [DAT](INFO): DAT read: 16:43:45.8911 LVL= 28384, 27377, 21682, 32755, AGC= 58, IDX= 419,-0.33, 3.006, 1.422,-2.691, 2.988, PHS= 0.121,-1.521, 0.561, RAW= 161.6,   8.9, CAL= 161.3,   9.3, ROT= 348.7,  -9.3

2025-08-22T16:43:45.869Z,1755881025.869 [DAT](INFO): got valid direction response:
 16:43:45.8911 LVL= 28384, 27377, 21682, 32755, AGC= 58, IDX= 419,-0.33, 3.006, 1.422,-2.691, 2.988, PHS= 0.121,-1.521, 0.561, RAW= 161.6,   8.9, CAL= 161.3,   9.3, ROT= 348.7,  -9.3

2025-08-22T16:43:45.870Z,1755881025.870 [DAT](INFO): DAT read: Bearing 155.6, -11.6 (Local)

2025-08-22T16:43:45.871Z,1755881025.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.6, -11.6 (Local)

2025-08-22T16:43:45.872Z,1755881025.872 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m  (Round-trip  39.7 ms) speed  0.4 m/s

2025-08-22T16:43:45.873Z,1755881025.873 [DAT](INFO): DAT read: user:251>

2025-08-22T16:43:45.874Z,1755881025.874 [DAT](INFO): DAT read: Tx time:16:43:46.9972

2025-08-22T16:43:45.874Z,1755881025.874 [DAT](INFO): Ping request sent.
2025-08-22T16:43:45.874Z,1755881025.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:45.875Z,1755881025.875 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:43:45.876Z,1755881025.876 [DAT](INFO): direction in FSK: [0.967725,-0.193370,0.161604]
2025-08-22T16:43:45.876Z,1755881025.876 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:45.876Z,1755881025.876 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:45.879Z,1755881025.879 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:45.879Z,1755881025.879 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:45.883Z,1755881025.883 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008612
2025-08-22T16:43:46.034Z,1755881026.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.525841 s,
      deltaX: -1.599998 m,
      approachRate: -0.453792 m/s,
      rangeRepo size: 4

2025-08-22T16:43:46.036Z,1755881026.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.515816 m,
      bearing: 334.809597 deg,
      lat: 36.779436 deg,
      lon: -121.859670 deg,
      deltaT: 3.525841 s,
      deltaX: -1.589876 m,
      approachRate: -0.450921 m/s,
      posRepo size: 4

2025-08-22T16:43:46.037Z,1755881026.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:46.044Z,1755881026.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 29.312593 m,
      bearing: 335.691643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079007 deg/s,
      cmd heading: 343.476799 deg,
      new cmd heading: 343.388284 deg.

2025-08-22T16:43:46.045Z,1755881026.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993256 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:46.115Z,1755881026.115 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240662
2025-08-22T16:43:46.367Z,1755881026.367 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492276
2025-08-22T16:43:46.392Z,1755881026.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:46.395Z,1755881026.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 29.137335 m,
      bearing: 335.648704 deg,
      approach rate: -0.482663 m/s,
      LOS rate: -0.118965 deg/s,
      cmd heading: 343.388280 deg,
      new cmd heading: 343.301885 deg.

2025-08-22T16:43:46.396Z,1755881026.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991748 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:46.618Z,1755881026.618 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744087
2025-08-22T16:43:46.823Z,1755881026.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:46.827Z,1755881026.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.950964 m,
      bearing: 335.605308 deg,
      approach rate: -0.432152 m/s,
      LOS rate: -0.101275 deg/s,
      cmd heading: 343.301891 deg,
      new cmd heading: 343.214539 deg.

2025-08-22T16:43:46.827Z,1755881026.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990224 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:46.871Z,1755881026.871 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.997012
2025-08-22T16:43:47.123Z,1755881027.123 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248217
2025-08-22T16:43:47.235Z,1755881027.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:47.238Z,1755881027.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.778309 m,
      bearing: 335.564599 deg,
      approach rate: -0.433775 m/s,
      LOS rate: -0.102888 deg/s,
      cmd heading: 343.214547 deg,
      new cmd heading: 343.132642 deg.

2025-08-22T16:43:47.239Z,1755881027.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988794 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:47.374Z,1755881027.374 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.500114
2025-08-22T16:43:47.627Z,1755881027.627 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752243
2025-08-22T16:43:47.636Z,1755881027.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:47.663Z,1755881027.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:47.670Z,1755881027.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.593189 m,
      bearing: 335.522795 deg,
      approach rate: -0.419494 m/s,
      LOS rate: -0.095345 deg/s,
      cmd heading: 343.132639 deg,
      new cmd heading: 343.048490 deg.

2025-08-22T16:43:47.671Z,1755881027.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987326 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:47.882Z,1755881027.882 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.007579
2025-08-22T16:43:48.008Z,1755881028.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:48.011Z,1755881028.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.429005 m,
      bearing: 335.485581 deg,
      approach rate: -0.475969 m/s,
      LOS rate: -0.108506 deg/s,
      cmd heading: 343.048491 deg,
      new cmd heading: 342.973633 deg.

2025-08-22T16:43:48.012Z,1755881028.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986019 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:48.131Z,1755881028.131 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256180
2025-08-22T16:43:48.390Z,1755881028.390 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.516123
2025-08-22T16:43:48.415Z,1755881028.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:48.418Z,1755881028.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.248068 m,
      bearing: 335.444319 deg,
      approach rate: -0.444241 m/s,
      LOS rate: -0.101956 deg/s,
      cmd heading: 342.973632 deg,
      new cmd heading: 342.890580 deg.

2025-08-22T16:43:48.419Z,1755881028.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984570 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:48.643Z,1755881028.643 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.768205
2025-08-22T16:43:48.888Z,1755881028.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:48.895Z,1755881028.895 [DAT](INFO): DAT read: Rx Time:16:43:49.4389

2025-08-22T16:43:48.895Z,1755881028.895 [DAT](INFO): Rx dataTimestamp_ set to:1755881028.894805
2025-08-22T16:43:48.896Z,1755881028.896 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.021273
2025-08-22T16:43:48.902Z,1755881028.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 28.046019 m,
      bearing: 335.401031 deg,
      approach rate: -0.426868 m/s,
      LOS rate: -0.092114 deg/s,
      cmd heading: 342.890577 deg,
      new cmd heading: 342.803377 deg.

2025-08-22T16:43:48.903Z,1755881028.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983047 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:49.147Z,1755881029.147 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.272822
2025-08-22T16:43:49.271Z,1755881029.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:43:49.274Z,1755881029.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.515816 m,
      nav range: 27.869650 m,
      bearing: 335.362994 deg,
      approach rate: -0.460498 m/s,
      LOS rate: -0.099942 deg/s,
      cmd heading: 342.803370 deg,
      new cmd heading: 342.726815 deg.

2025-08-22T16:43:49.275Z,1755881029.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981711 target range: 29.515816 and range: 29.70 m.
2025-08-22T16:43:49.404Z,1755881029.404 [DAT](INFO): DAT read: 16:43:49.4389 LVL= 25808, 32753, 22850, 32755, AGC= 59, IDX= 413, 0.09, 2.543, 0.905,-3.117, 2.510, PHS= 0.135,-1.560, 0.612, RAW= 162.1,   8.3, CAL= 161.7,   8.5, ROT= 348.3,  -8.5

2025-08-22T16:43:49.406Z,1755881029.406 [DAT](INFO): got valid direction response:
 16:43:49.4389 LVL= 25808, 32753, 22850, 32755, AGC= 59, IDX= 413, 0.09, 2.543, 0.905,-3.117, 2.510, PHS= 0.135,-1.560, 0.612, RAW= 162.1,   8.3, CAL= 161.7,   8.5, ROT= 348.3,  -8.5

2025-08-22T16:43:49.407Z,1755881029.407 [DAT](INFO): DAT read: Bearing 154.3, -12.2 (Local)

2025-08-22T16:43:49.407Z,1755881029.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -12.2 (Local)

2025-08-22T16:43:49.408Z,1755881029.408 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m  (Round-trip  37.5 ms) speed  0.3 m/s

2025-08-22T16:43:49.409Z,1755881029.409 [DAT](INFO): DAT read: user:252>

2025-08-22T16:43:49.410Z,1755881029.410 [DAT](INFO): DAT read: Tx time:16:43:50.5472

2025-08-22T16:43:49.410Z,1755881029.410 [DAT](INFO): Ping request sent.
2025-08-22T16:43:49.410Z,1755881029.410 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:49.410Z,1755881029.410 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T16:43:49.411Z,1755881029.411 [DAT](INFO): direction in FSK: [0.968467,-0.200560,0.147809]
2025-08-22T16:43:49.412Z,1755881029.412 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:49.412Z,1755881029.412 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:49.420Z,1755881029.420 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:49.420Z,1755881029.420 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:49.427Z,1755881029.427 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.017384
2025-08-22T16:43:49.650Z,1755881029.650 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.240274
2025-08-22T16:43:49.741Z,1755881029.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 3.536122 s,
      deltaX: -1.600000 m,
      approachRate: -0.452473 m/s,
      rangeRepo size: 4

2025-08-22T16:43:49.747Z,1755881029.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.925341 m,
      bearing: 334.056637 deg,
      lat: 36.779435 deg,
      lon: -121.859675 deg,
      deltaT: 3.536122 s,
      deltaX: -1.590475 m,
      approachRate: -0.449779 m/s,
      posRepo size: 4

2025-08-22T16:43:49.748Z,1755881029.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:49.755Z,1755881029.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 27.725552 m,
      bearing: 334.510556 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099942 deg/s,
      cmd heading: 342.726817 deg,
      new cmd heading: 342.633086 deg.

2025-08-22T16:43:49.756Z,1755881029.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980075 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:49.903Z,1755881029.903 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.492537
2025-08-22T16:43:50.110Z,1755881030.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:50.112Z,1755881030.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:50.131Z,1755881030.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 27.553461 m,
      bearing: 334.461976 deg,
      approach rate: -0.463222 m/s,
      LOS rate: -0.131579 deg/s,
      cmd heading: 342.633079 deg,
      new cmd heading: 342.535314 deg.

2025-08-22T16:43:50.132Z,1755881030.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978369 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:50.155Z,1755881030.155 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.745377
2025-08-22T16:43:50.407Z,1755881030.407 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.996967
2025-08-22T16:43:50.535Z,1755881030.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:50.538Z,1755881030.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 27.372488 m,
      bearing: 334.410579 deg,
      approach rate: -0.427401 m/s,
      LOS rate: -0.122186 deg/s,
      cmd heading: 342.535326 deg,
      new cmd heading: 342.431852 deg.

2025-08-22T16:43:50.539Z,1755881030.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976563 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:50.659Z,1755881030.659 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248916
2025-08-22T16:43:50.911Z,1755881030.911 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.500506
2025-08-22T16:43:50.950Z,1755881030.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:50.952Z,1755881030.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 27.194452 m,
      bearing: 334.377328 deg,
      approach rate: -0.429704 m/s,
      LOS rate: -0.080781 deg/s,
      cmd heading: 342.431862 deg,
      new cmd heading: 342.364923 deg.

2025-08-22T16:43:50.958Z,1755881030.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975395 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:51.163Z,1755881031.163 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.752902
2025-08-22T16:43:51.316Z,1755881031.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:51.319Z,1755881031.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 27.025194 m,
      bearing: 334.345670 deg,
      approach rate: -0.461878 m/s,
      LOS rate: -0.086929 deg/s,
      cmd heading: 342.364926 deg,
      new cmd heading: 342.301215 deg.

2025-08-22T16:43:51.320Z,1755881031.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974283 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:51.415Z,1755881031.415 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.004648
2025-08-22T16:43:51.667Z,1755881031.667 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.256414
2025-08-22T16:43:51.752Z,1755881031.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:51.755Z,1755881031.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 26.830402 m,
      bearing: 334.305393 deg,
      approach rate: -0.447181 m/s,
      LOS rate: -0.093135 deg/s,
      cmd heading: 342.301214 deg,
      new cmd heading: 342.220075 deg.

2025-08-22T16:43:51.756Z,1755881031.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972867 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:51.919Z,1755881031.919 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508445
2025-08-22T16:43:52.122Z,1755881032.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:52.124Z,1755881032.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:52.127Z,1755881032.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 26.664125 m,
      bearing: 334.270982 deg,
      approach rate: -0.446695 m/s,
      LOS rate: -0.093022 deg/s,
      cmd heading: 342.220071 deg,
      new cmd heading: 342.150819 deg.

2025-08-22T16:43:52.128Z,1755881032.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971658 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:52.171Z,1755881032.171 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.761055
2025-08-22T16:43:52.423Z,1755881032.423 [DAT](INFO): DAT read: Rx Time:16:43:52.9869

2025-08-22T16:43:52.423Z,1755881032.423 [DAT](INFO): Rx dataTimestamp_ set to:1755881032.422805
2025-08-22T16:43:52.424Z,1755881032.424 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.013538
2025-08-22T16:43:52.530Z,1755881032.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.93 m.
2025-08-22T16:43:52.533Z,1755881032.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.925341 m,
      nav range: 26.482365 m,
      bearing: 334.233472 deg,
      approach rate: -0.447683 m/s,
      LOS rate: -0.093022 deg/s,
      cmd heading: 342.150813 deg,
      new cmd heading: 342.075279 deg.

2025-08-22T16:43:52.534Z,1755881032.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970340 target range: 27.925341 and range: 28.10 m.
2025-08-22T16:43:52.679Z,1755881032.679 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.268971
2025-08-22T16:43:52.936Z,1755881032.936 [DAT](INFO): DAT read: 16:43:52.9869 LVL= 24048, 26401, 20594, 32755, AGC= 58, IDX= 423, 0.47, 1.062,-0.506, 1.700, 1.042, PHS= 0.122,-1.503, 0.614, RAW= 162.8,   8.0, CAL= 162.4,   8.2, ROT= 347.6,  -8.2

2025-08-22T16:43:52.937Z,1755881032.937 [DAT](INFO): got valid direction response:
 16:43:52.9869 LVL= 24048, 26401, 20594, 32755, AGC= 58, IDX= 423, 0.47, 1.062,-0.506, 1.700, 1.042, PHS= 0.122,-1.503, 0.614, RAW= 162.8,   8.0, CAL= 162.4,   8.2, ROT= 347.6,  -8.2

2025-08-22T16:43:52.938Z,1755881032.938 [DAT](INFO): DAT read: Bearing 153.8, -13.3 (Local)

2025-08-22T16:43:52.938Z,1755881032.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -13.3 (Local)

2025-08-22T16:43:52.940Z,1755881032.940 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m  (Round-trip  35.5 ms) speed  0.4 m/s

2025-08-22T16:43:52.940Z,1755881032.940 [DAT](INFO): DAT read: user:253>

2025-08-22T16:43:52.941Z,1755881032.941 [DAT](INFO): DAT read: Tx time:16:43:54.0972

2025-08-22T16:43:52.941Z,1755881032.941 [DAT](INFO): Ping request sent.
2025-08-22T16:43:52.941Z,1755881032.941 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:52.942Z,1755881032.942 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T16:43:52.943Z,1755881032.943 [DAT](INFO): direction in FSK: [0.966687,-0.212540,0.142629]
2025-08-22T16:43:52.943Z,1755881032.943 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:52.943Z,1755881032.943 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:52.946Z,1755881032.946 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:52.947Z,1755881032.947 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:52.950Z,1755881032.950 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.008515
2025-08-22T16:43:53.087Z,1755881033.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 3.531703 s,
      deltaX: -1.500000 m,
      approachRate: -0.424724 m/s,
      rangeRepo size: 4

2025-08-22T16:43:53.089Z,1755881033.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.434570 m,
      bearing: 333.014113 deg,
      lat: 36.779434 deg,
      lon: -121.859676 deg,
      deltaT: 3.531703 s,
      deltaX: -1.490770 m,
      approachRate: -0.422111 m/s,
      posRepo size: 4

2025-08-22T16:43:53.089Z,1755881033.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:53.097Z,1755881033.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 26.206999 m,
      bearing: 333.905537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093022 deg/s,
      cmd heading: 342.075271 deg,
      new cmd heading: 341.973404 deg.

2025-08-22T16:43:53.102Z,1755881033.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968562 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:53.183Z,1755881033.183 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.241700
2025-08-22T16:43:53.435Z,1755881033.435 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.493235
2025-08-22T16:43:53.448Z,1755881033.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:53.451Z,1755881033.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 26.021770 m,
      bearing: 333.855936 deg,
      approach rate: -0.500266 m/s,
      LOS rate: -0.134915 deg/s,
      cmd heading: 341.973392 deg,
      new cmd heading: 341.873485 deg.

2025-08-22T16:43:53.455Z,1755881033.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966818 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:53.688Z,1755881033.688 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.746454
2025-08-22T16:43:53.873Z,1755881033.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:53.880Z,1755881033.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 25.841206 m,
      bearing: 333.798253 deg,
      approach rate: -0.424712 m/s,
      LOS rate: -0.136626 deg/s,
      cmd heading: 341.873480 deg,
      new cmd heading: 341.757309 deg.

2025-08-22T16:43:53.881Z,1755881033.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964790 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:53.940Z,1755881033.940 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.998057
2025-08-22T16:43:54.191Z,1755881034.191 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.249720
2025-08-22T16:43:54.245Z,1755881034.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:54.248Z,1755881034.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:54.251Z,1755881034.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 25.665205 m,
      bearing: 333.741560 deg,
      approach rate: -0.469160 m/s,
      LOS rate: -0.152161 deg/s,
      cmd heading: 341.757312 deg,
      new cmd heading: 341.643149 deg.

2025-08-22T16:43:54.254Z,1755881034.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962798 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:54.442Z,1755881034.442 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.501128
2025-08-22T16:43:54.693Z,1755881034.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:54.698Z,1755881034.698 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.755686
2025-08-22T16:43:54.711Z,1755881034.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 25.487499 m,
      bearing: 333.683637 deg,
      approach rate: -0.400568 m/s,
      LOS rate: -0.131476 deg/s,
      cmd heading: 341.643139 deg,
      new cmd heading: 341.526485 deg.

2025-08-22T16:43:54.712Z,1755881034.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960762 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:54.947Z,1755881034.947 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.005439
2025-08-22T16:43:55.107Z,1755881035.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:55.110Z,1755881035.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 25.280722 m,
      bearing: 333.610730 deg,
      approach rate: -0.497595 m/s,
      LOS rate: -0.176881 deg/s,
      cmd heading: 341.526479 deg,
      new cmd heading: 341.379472 deg.

2025-08-22T16:43:55.111Z,1755881035.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958196 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:55.200Z,1755881035.200 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.258201
2025-08-22T16:43:55.450Z,1755881035.450 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.509070
2025-08-22T16:43:55.497Z,1755881035.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:55.504Z,1755881035.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 25.117182 m,
      bearing: 333.552207 deg,
      approach rate: -0.419697 m/s,
      LOS rate: -0.151167 deg/s,
      cmd heading: 341.379466 deg,
      new cmd heading: 341.261659 deg.

2025-08-22T16:43:55.505Z,1755881035.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956140 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:55.705Z,1755881035.705 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763517
2025-08-22T16:43:55.881Z,1755881035.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:55.884Z,1755881035.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 24.934303 m,
      bearing: 333.486605 deg,
      approach rate: -0.475903 m/s,
      LOS rate: -0.171968 deg/s,
      cmd heading: 341.261659 deg,
      new cmd heading: 341.129493 deg.

2025-08-22T16:43:55.885Z,1755881035.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953833 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:55.955Z,1755881035.955 [DAT](INFO): DAT read: Rx Time:16:43:56.5346

2025-08-22T16:43:55.955Z,1755881035.955 [DAT](INFO): Rx dataTimestamp_ set to:1755881035.954837
2025-08-22T16:43:55.956Z,1755881035.956 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.014323
2025-08-22T16:43:56.207Z,1755881036.207 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.265206
2025-08-22T16:43:56.284Z,1755881036.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:56.287Z,1755881036.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:43:56.290Z,1755881036.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.434570 m,
      nav range: 24.763338 m,
      bearing: 333.424717 deg,
      approach rate: -0.421369 m/s,
      LOS rate: -0.153584 deg/s,
      cmd heading: 341.129481 deg,
      new cmd heading: 341.004852 deg.

2025-08-22T16:43:56.291Z,1755881036.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951657 target range: 26.434570 and range: 26.60 m.
2025-08-22T16:43:56.464Z,1755881036.464 [DAT](INFO): DAT read: 16:43:56.5346 LVL= 26080, 26593, 21746, 32755, AGC= 57, IDX= 418,-0.30,-2.519, 2.189,-1.875,-2.542, PHS= 0.126,-1.507, 0.624, RAW= 162.9,   7.9, CAL= 162.5,   8.0, ROT= 347.5,  -8.0

2025-08-22T16:43:56.465Z,1755881036.465 [DAT](INFO): got valid direction response:
 16:43:56.5346 LVL= 26080, 26593, 21746, 32755, AGC= 57, IDX= 418,-0.30,-2.519, 2.189,-1.875,-2.542, PHS= 0.126,-1.507, 0.624, RAW= 162.9,   7.9, CAL= 162.5,   8.0, ROT= 347.5,  -8.0

2025-08-22T16:43:56.466Z,1755881036.466 [DAT](INFO): DAT read: Bearing 153.4, -13.1 (Local)

2025-08-22T16:43:56.466Z,1755881036.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -13.1 (Local)

2025-08-22T16:43:56.468Z,1755881036.468 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m  (Round-trip  33.3 ms) speed  0.4 m/s

2025-08-22T16:43:56.468Z,1755881036.468 [DAT](INFO): DAT read: user:254>

2025-08-22T16:43:56.469Z,1755881036.469 [DAT](INFO): DAT read: Tx time:16:43:57.6487

2025-08-22T16:43:56.469Z,1755881036.469 [DAT](INFO): Ping request sent.
2025-08-22T16:43:56.469Z,1755881036.469 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:43:56.470Z,1755881036.470 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:43:56.471Z,1755881036.471 [DAT](INFO): direction in FSK: [0.966795,-0.214333,0.139173]
2025-08-22T16:43:56.471Z,1755881036.471 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:56.471Z,1755881036.471 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:56.474Z,1755881036.474 [DAT](INFO): publishing transmit ping time
2025-08-22T16:43:56.475Z,1755881036.475 [DAT](INFO): publishing direction and range info
2025-08-22T16:43:56.482Z,1755881036.482 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.012496
2025-08-22T16:43:56.713Z,1755881036.713 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.243267
2025-08-22T16:43:56.753Z,1755881036.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.528053 s,
      deltaX: -1.700001 m,
      approachRate: -0.481852 m/s,
      rangeRepo size: 4

2025-08-22T16:43:56.759Z,1755881036.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.745171 m,
      bearing: 332.451563 deg,
      lat: 36.779434 deg,
      lon: -121.859677 deg,
      deltaT: 3.528053 s,
      deltaX: -1.689400 m,
      approachRate: -0.478848 m/s,
      posRepo size: 4

2025-08-22T16:43:56.760Z,1755881036.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:56.767Z,1755881036.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 24.572762 m,
      bearing: 333.076983 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.153584 deg/s,
      cmd heading: 341.004844 deg,
      new cmd heading: 340.861823 deg.

2025-08-22T16:43:56.768Z,1755881036.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949161 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:56.966Z,1755881036.966 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.496556
2025-08-22T16:43:57.132Z,1755881037.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:57.135Z,1755881037.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 24.374691 m,
      bearing: 333.002123 deg,
      approach rate: -0.521172 m/s,
      LOS rate: -0.198575 deg/s,
      cmd heading: 340.861820 deg,
      new cmd heading: 340.710884 deg.

2025-08-22T16:43:57.136Z,1755881037.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946527 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:57.215Z,1755881037.215 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.745332
2025-08-22T16:43:57.467Z,1755881037.467 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.997378
2025-08-22T16:43:57.520Z,1755881037.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:57.523Z,1755881037.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 24.202606 m,
      bearing: 332.937391 deg,
      approach rate: -0.444050 m/s,
      LOS rate: -0.168225 deg/s,
      cmd heading: 340.710873 deg,
      new cmd heading: 340.580487 deg.

2025-08-22T16:43:57.524Z,1755881037.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944251 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:57.723Z,1755881037.723 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.252796
2025-08-22T16:43:57.955Z,1755881037.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:57.958Z,1755881037.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 24.003021 m,
      bearing: 332.868308 deg,
      approach rate: -0.459151 m/s,
      LOS rate: -0.160247 deg/s,
      cmd heading: 340.580498 deg,
      new cmd heading: 340.441185 deg.

2025-08-22T16:43:57.959Z,1755881037.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941820 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:57.971Z,1755881037.971 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.501191
2025-08-22T16:43:58.222Z,1755881038.222 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.753092
2025-08-22T16:43:58.335Z,1755881038.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:43:58.338Z,1755881038.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:58.340Z,1755881038.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 23.837448 m,
      bearing: 332.812186 deg,
      approach rate: -0.432454 m/s,
      LOS rate: -0.147601 deg/s,
      cmd heading: 340.441190 deg,
      new cmd heading: 340.328166 deg.

2025-08-22T16:43:58.342Z,1755881038.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939847 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:58.475Z,1755881038.475 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.005151
2025-08-22T16:43:58.729Z,1755881038.729 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.259312
2025-08-22T16:43:58.784Z,1755881038.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:58.791Z,1755881038.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 23.633596 m,
      bearing: 332.743066 deg,
      approach rate: -0.456438 m/s,
      LOS rate: -0.156101 deg/s,
      cmd heading: 340.328164 deg,
      new cmd heading: 340.188731 deg.

2025-08-22T16:43:58.792Z,1755881038.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937413 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:58.978Z,1755881038.978 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.509038
2025-08-22T16:43:59.190Z,1755881039.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:59.193Z,1755881039.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 23.439274 m,
      bearing: 332.681749 deg,
      approach rate: -0.479363 m/s,
      LOS rate: -0.152514 deg/s,
      cmd heading: 340.188718 deg,
      new cmd heading: 340.065068 deg.

2025-08-22T16:43:59.195Z,1755881039.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935255 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:59.232Z,1755881039.232 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.762235
2025-08-22T16:43:59.483Z,1755881039.483 [DAT](INFO): DAT read: Rx Time:16:44:00.0840

2025-08-22T16:43:59.483Z,1755881039.483 [DAT](INFO): Rx dataTimestamp_ set to:1755881039.482753
2025-08-22T16:43:59.484Z,1755881039.484 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.014185
2025-08-22T16:43:59.567Z,1755881039.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:43:59.575Z,1755881039.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.745171 m,
      nav range: 23.277575 m,
      bearing: 332.630961 deg,
      approach rate: -0.427765 m/s,
      LOS rate: -0.135288 deg/s,
      cmd heading: 340.065065 deg,
      new cmd heading: 339.962785 deg.

2025-08-22T16:43:59.576Z,1755881039.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933470 target range: 24.745171 and range: 24.90 m.
2025-08-22T16:43:59.737Z,1755881039.737 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.267560
2025-08-22T16:44:00.001Z,1755881040.001 [DAT](INFO): DAT read: 16:44:00.0840 LVL= 23600, 31041, 20914, 32755, AGC= 58, IDX= 412, 0.03,-2.876, 1.860,-2.270,-2.884, PHS= 0.110,-1.494, 0.570, RAW= 162.3,   8.7, CAL= 162.0,   9.1, ROT= 348.0,  -9.1

2025-08-22T16:44:00.002Z,1755881040.002 [DAT](INFO): got valid direction response:
 16:44:00.0840 LVL= 23600, 31041, 20914, 32755, AGC= 58, IDX= 412, 0.03,-2.876, 1.860,-2.270,-2.884, PHS= 0.110,-1.494, 0.570, RAW= 162.3,   8.7, CAL= 162.0,   9.1, ROT= 348.0,  -9.1

2025-08-22T16:44:00.003Z,1755881040.003 [DAT](INFO): DAT read: Bearing 153.3, -13.0 (Local)

2025-08-22T16:44:00.004Z,1755881040.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3, -13.0 (Local)

2025-08-22T16:44:00.005Z,1755881040.005 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m  (Round-trip  31.2 ms) speed  0.4 m/s

2025-08-22T16:44:00.010Z,1755881040.010 [DAT](INFO): DAT read: user:255>

2025-08-22T16:44:00.011Z,1755881040.011 [DAT](INFO): DAT read: Tx time:16:44:01.1971

2025-08-22T16:44:00.011Z,1755881040.011 [DAT](INFO): Ping request sent.
2025-08-22T16:44:00.011Z,1755881040.011 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:00.011Z,1755881040.011 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:44:00.012Z,1755881040.012 [DAT](INFO): direction in FSK: [0.965836,-0.205295,0.158158]
2025-08-22T16:44:00.012Z,1755881040.012 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:00.013Z,1755881040.013 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:00.020Z,1755881040.020 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:00.020Z,1755881040.020 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:00.028Z,1755881040.028 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.016634
2025-08-22T16:44:00.101Z,1755881040.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 3.529764 s,
      deltaX: -1.500000 m,
      approachRate: -0.424958 m/s,
      rangeRepo size: 4

2025-08-22T16:44:00.111Z,1755881040.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.254362 m,
      bearing: 332.016582 deg,
      lat: 36.779433 deg,
      lon: -121.859679 deg,
      deltaT: 3.529764 s,
      deltaX: -1.490808 m,
      approachRate: -0.422354 m/s,
      posRepo size: 4

2025-08-22T16:44:00.112Z,1755881040.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:00.127Z,1755881040.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 23.069305 m,
      bearing: 332.022100 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135288 deg/s,
      cmd heading: 339.962776 deg,
      new cmd heading: 339.818588 deg.

2025-08-22T16:44:00.128Z,1755881040.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930953 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:00.239Z,1755881040.239 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.227986
2025-08-22T16:44:00.466Z,1755881040.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:00.468Z,1755881040.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:00.487Z,1755881040.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 22.876436 m,
      bearing: 331.949963 deg,
      approach rate: -0.524261 m/s,
      LOS rate: -0.197736 deg/s,
      cmd heading: 339.818577 deg,
      new cmd heading: 339.673088 deg.

2025-08-22T16:44:00.488Z,1755881040.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928414 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:00.491Z,1755881040.491 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.479853
2025-08-22T16:44:00.747Z,1755881040.747 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.735323
2025-08-22T16:44:00.885Z,1755881040.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:00.888Z,1755881040.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 22.687096 m,
      bearing: 331.882057 deg,
      approach rate: -0.454507 m/s,
      LOS rate: -0.164368 deg/s,
      cmd heading: 339.673094 deg,
      new cmd heading: 339.536148 deg.

2025-08-22T16:44:00.889Z,1755881040.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926023 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:00.995Z,1755881040.995 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.984088
2025-08-22T16:44:01.247Z,1755881041.247 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.235560
2025-08-22T16:44:01.272Z,1755881041.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:01.275Z,1755881041.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 22.511015 m,
      bearing: 331.818590 deg,
      approach rate: -0.454433 m/s,
      LOS rate: -0.165077 deg/s,
      cmd heading: 339.536135 deg,
      new cmd heading: 339.408209 deg.

2025-08-22T16:44:01.276Z,1755881041.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923791 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:01.500Z,1755881041.500 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.488905
2025-08-22T16:44:01.680Z,1755881041.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:01.683Z,1755881041.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 22.325733 m,
      bearing: 331.751568 deg,
      approach rate: -0.454288 m/s,
      LOS rate: -0.165694 deg/s,
      cmd heading: 339.408219 deg,
      new cmd heading: 339.273062 deg.

2025-08-22T16:44:01.684Z,1755881041.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921432 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:01.753Z,1755881041.753 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.741655
2025-08-22T16:44:02.003Z,1755881042.003 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.991936
2025-08-22T16:44:02.120Z,1755881042.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:02.123Z,1755881042.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 22.135809 m,
      bearing: 331.686927 deg,
      approach rate: -0.431377 m/s,
      LOS rate: -0.148078 deg/s,
      cmd heading: 339.273063 deg,
      new cmd heading: 339.142673 deg.

2025-08-22T16:44:02.124Z,1755881042.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919156 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:02.255Z,1755881042.255 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.243576
2025-08-22T16:44:02.497Z,1755881042.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:02.503Z,1755881042.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:02.507Z,1755881042.507 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.495624
2025-08-22T16:44:02.514Z,1755881042.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 21.979492 m,
      bearing: 331.633638 deg,
      approach rate: -0.408647 m/s,
      LOS rate: -0.140301 deg/s,
      cmd heading: 339.142661 deg,
      new cmd heading: 339.035325 deg.

2025-08-22T16:44:02.515Z,1755881042.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917283 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:02.759Z,1755881042.759 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.748267
2025-08-22T16:44:02.906Z,1755881042.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:02.909Z,1755881042.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 21.787729 m,
      bearing: 331.574108 deg,
      approach rate: -0.476320 m/s,
      LOS rate: -0.149169 deg/s,
      cmd heading: 339.035318 deg,
      new cmd heading: 338.915210 deg.

2025-08-22T16:44:02.926Z,1755881042.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915186 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:03.011Z,1755881043.011 [DAT](INFO): DAT read: Rx Time:16:44:03.6303

2025-08-22T16:44:03.011Z,1755881043.011 [DAT](INFO): Rx dataTimestamp_ set to:1755881043.010952
2025-08-22T16:44:03.012Z,1755881043.012 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.000804
2025-08-22T16:44:03.263Z,1755881043.263 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.251552
2025-08-22T16:44:03.327Z,1755881043.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:44:03.330Z,1755881043.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.254362 m,
      nav range: 21.604666 m,
      bearing: 331.516286 deg,
      approach rate: -0.433995 m/s,
      LOS rate: -0.138242 deg/s,
      cmd heading: 338.915216 deg,
      new cmd heading: 338.798593 deg.

2025-08-22T16:44:03.331Z,1755881043.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913151 target range: 23.254362 and range: 23.40 m.
2025-08-22T16:44:03.535Z,1755881043.535 [DAT](INFO): DAT read: 16:44:03.6303 LVL= 22976, 24257, 23186, 32755, AGC= 57, IDX= 422, 0.06, 2.230, 0.643, 2.821, 2.213, PHS= 0.119,-1.525, 0.564, RAW= 161.7,   8.9, CAL= 161.4,   9.3, ROT= 348.6,  -9.3

2025-08-22T16:44:03.540Z,1755881043.540 [DAT](INFO): got valid direction response:
 16:44:03.6303 LVL= 22976, 24257, 23186, 32755, AGC= 57, IDX= 422, 0.06, 2.230, 0.643, 2.821, 2.213, PHS= 0.119,-1.525, 0.564, RAW= 161.7,   8.9, CAL= 161.4,   9.3, ROT= 348.6,  -9.3

2025-08-22T16:44:03.545Z,1755881043.545 [DAT](INFO): DAT read: Bearing 152.7, -12.4 (Local)

2025-08-22T16:44:03.546Z,1755881043.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7, -12.4 (Local)

2025-08-22T16:44:03.548Z,1755881043.548 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m  (Round-trip  29.1 ms) speed  0.4 m/s

2025-08-22T16:44:03.550Z,1755881043.550 [DAT](INFO): DAT read: user:256>

2025-08-22T16:44:03.551Z,1755881043.551 [DAT](INFO): DAT read: Tx time:16:44:04.7471

2025-08-22T16:44:03.552Z,1755881043.552 [DAT](INFO): Ping request sent.
2025-08-22T16:44:03.552Z,1755881043.552 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:03.553Z,1755881043.553 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:44:03.555Z,1755881043.555 [DAT](INFO): direction in FSK: [0.967386,-0.195059,0.161604]
2025-08-22T16:44:03.556Z,1755881043.556 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:03.556Z,1755881043.556 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:03.564Z,1755881043.564 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:03.564Z,1755881043.564 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:03.602Z,1755881043.602 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.045681
2025-08-22T16:44:03.730Z,1755881043.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 3.531813 s,
      deltaX: -1.600000 m,
      approachRate: -0.453025 m/s,
      rangeRepo size: 4

2025-08-22T16:44:03.732Z,1755881043.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.664190 m,
      bearing: 331.620581 deg,
      lat: 36.779433 deg,
      lon: -121.859679 deg,
      deltaT: 3.531813 s,
      deltaX: -1.590172 m,
      approachRate: -0.450242 m/s,
      posRepo size: 4

2025-08-22T16:44:03.733Z,1755881043.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:03.740Z,1755881043.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 21.420698 m,
      bearing: 331.459190 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138242 deg/s,
      cmd heading: 338.798584 deg,
      new cmd heading: 338.688583 deg.

2025-08-22T16:44:03.741Z,1755881043.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911231 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:03.773Z,1755881043.773 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.220542
2025-08-22T16:44:04.023Z,1755881044.023 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.471229
2025-08-22T16:44:04.217Z,1755881044.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:04.224Z,1755881044.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 21.197107 m,
      bearing: 331.401958 deg,
      approach rate: -0.454903 m/s,
      LOS rate: -0.117669 deg/s,
      cmd heading: 338.688590 deg,
      new cmd heading: 338.572918 deg.

2025-08-22T16:44:04.225Z,1755881044.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909212 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:04.275Z,1755881044.275 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.722935
2025-08-22T16:44:04.527Z,1755881044.527 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.975544
2025-08-22T16:44:04.644Z,1755881044.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:04.648Z,1755881044.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:04.669Z,1755881044.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 21.000610 m,
      bearing: 331.350650 deg,
      approach rate: -0.458035 m/s,
      LOS rate: -0.120718 deg/s,
      cmd heading: 338.572914 deg,
      new cmd heading: 338.469339 deg.

2025-08-22T16:44:04.674Z,1755881044.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907404 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:04.781Z,1755881044.781 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.229591
2025-08-22T16:44:05.032Z,1755881045.032 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.480013
2025-08-22T16:44:05.088Z,1755881045.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:05.095Z,1755881045.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 20.825384 m,
      bearing: 331.309425 deg,
      approach rate: -0.396534 m/s,
      LOS rate: -0.094076 deg/s,
      cmd heading: 338.469341 deg,
      new cmd heading: 338.386198 deg.

2025-08-22T16:44:05.096Z,1755881045.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905953 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:05.284Z,1755881045.284 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.732211
2025-08-22T16:44:05.536Z,1755881045.536 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.983953
2025-08-22T16:44:05.599Z,1755881045.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:05.606Z,1755881045.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 20.587400 m,
      bearing: 331.255135 deg,
      approach rate: -0.465294 m/s,
      LOS rate: -0.107374 deg/s,
      cmd heading: 338.386204 deg,
      new cmd heading: 338.276368 deg.

2025-08-22T16:44:05.607Z,1755881045.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904037 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:05.787Z,1755881045.787 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.235390
2025-08-22T16:44:06.039Z,1755881046.039 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.487440
2025-08-22T16:44:06.135Z,1755881046.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:06.137Z,1755881046.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 20.330492 m,
      bearing: 331.198596 deg,
      approach rate: -0.479847 m/s,
      LOS rate: -0.106935 deg/s,
      cmd heading: 338.276375 deg,
      new cmd heading: 338.161869 deg.

2025-08-22T16:44:06.138Z,1755881046.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902038 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:06.291Z,1755881046.291 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.739310
2025-08-22T16:44:06.544Z,1755881046.544 [DAT](INFO): DAT read: Rx Time:16:44:07.1782

2025-08-22T16:44:06.544Z,1755881046.544 [DAT](INFO): Rx dataTimestamp_ set to:1755881046.543698
2025-08-22T16:44:06.545Z,1755881046.545 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.993158
2025-08-22T16:44:06.607Z,1755881046.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:06.614Z,1755881046.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 20.124640 m,
      bearing: 331.154237 deg,
      approach rate: -0.435844 m/s,
      LOS rate: -0.094881 deg/s,
      cmd heading: 338.161874 deg,
      new cmd heading: 338.072248 deg.

2025-08-22T16:44:06.618Z,1755881046.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900474 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:06.795Z,1755881046.795 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.242826
2025-08-22T16:44:07.030Z,1755881047.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:07.044Z,1755881047.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:44:07.050Z,1755881047.050 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.497575
2025-08-22T16:44:07.084Z,1755881047.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.664190 m,
      nav range: 19.928165 m,
      bearing: 331.121318 deg,
      approach rate: -0.452405 m/s,
      LOS rate: -0.076547 deg/s,
      cmd heading: 338.072261 deg,
      new cmd heading: 338.005774 deg.

2025-08-22T16:44:07.090Z,1755881047.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899313 target range: 21.664190 and range: 21.80 m.
2025-08-22T16:44:07.305Z,1755881047.305 [DAT](INFO): DAT read: 16:44:07.1782 LVL= 19184, 23665, 20322, 31859, AGC= 55, IDX= 416,-0.04,-0.998,-2.574,-0.531,-1.035, PHS= 0.139,-1.494, 0.460, RAW= 158.8,   9.9, CAL= 158.7,  10.7, ROT= 351.3, -10.7

2025-08-22T16:44:07.306Z,1755881047.306 [DAT](INFO): got valid direction response:
 16:44:07.1782 LVL= 19184, 23665, 20322, 31859, AGC= 55, IDX= 416,-0.04,-0.998,-2.574,-0.531,-1.035, PHS= 0.139,-1.494, 0.460, RAW= 158.8,   9.9, CAL= 158.7,  10.7, ROT= 351.3, -10.7

2025-08-22T16:44:07.307Z,1755881047.307 [DAT](INFO): DAT read: Bearing 152.8,  -9.9 (Local)

2025-08-22T16:44:07.308Z,1755881047.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8,  -9.9 (Local)

2025-08-22T16:44:07.311Z,1755881047.311 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m  (Round-trip  26.9 ms) speed  0.4 m/s

2025-08-22T16:44:07.312Z,1755881047.312 [DAT](INFO): DAT read: user:257>

2025-08-22T16:44:07.313Z,1755881047.313 [DAT](INFO): DAT read: Tx time:16:44:08.2971

2025-08-22T16:44:07.313Z,1755881047.313 [DAT](INFO): Ping request sent.
2025-08-22T16:44:07.314Z,1755881047.314 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:07.314Z,1755881047.314 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:44:07.315Z,1755881047.315 [DAT](INFO): direction in FSK: [0.971307,-0.148631,0.185667]
2025-08-22T16:44:07.315Z,1755881047.315 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:07.315Z,1755881047.315 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:07.319Z,1755881047.319 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:07.319Z,1755881047.319 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:07.323Z,1755881047.323 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.009551
2025-08-22T16:44:07.439Z,1755881047.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 3.779022 s,
      deltaX: -1.699999 m,
      approachRate: -0.449852 m/s,
      rangeRepo size: 4

2025-08-22T16:44:07.446Z,1755881047.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.974552 m,
      bearing: 333.344506 deg,
      lat: 36.779433 deg,
      lon: -121.859679 deg,
      deltaT: 3.779022 s,
      deltaX: -1.689638 m,
      approachRate: -0.447110 m/s,
      posRepo size: 4

2025-08-22T16:44:07.447Z,1755881047.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:07.458Z,1755881047.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 19.750563 m,
      bearing: 331.093116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076547 deg/s,
      cmd heading: 338.005763 deg,
      new cmd heading: 337.944904 deg.

2025-08-22T16:44:07.459Z,1755881047.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898251 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:07.552Z,1755881047.552 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.238312
2025-08-22T16:44:07.796Z,1755881047.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:07.799Z,1755881047.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 19.586775 m,
      bearing: 331.067347 deg,
      approach rate: -0.458499 m/s,
      LOS rate: -0.072740 deg/s,
      cmd heading: 337.944892 deg,
      new cmd heading: 337.892923 deg.

2025-08-22T16:44:07.800Z,1755881047.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897344 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:07.803Z,1755881047.803 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.489059
2025-08-22T16:44:08.055Z,1755881048.055 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.741756
2025-08-22T16:44:08.223Z,1755881048.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:08.226Z,1755881048.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 19.397421 m,
      bearing: 331.037672 deg,
      approach rate: -0.443387 m/s,
      LOS rate: -0.070164 deg/s,
      cmd heading: 337.892928 deg,
      new cmd heading: 337.832999 deg.

2025-08-22T16:44:08.227Z,1755881048.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896298 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:08.307Z,1755881048.307 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.993714
2025-08-22T16:44:08.558Z,1755881048.558 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.244922
2025-08-22T16:44:08.610Z,1755881048.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:08.613Z,1755881048.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 19.227644 m,
      bearing: 331.011170 deg,
      approach rate: -0.443483 m/s,
      LOS rate: -0.069841 deg/s,
      cmd heading: 337.832986 deg,
      new cmd heading: 337.779513 deg.

2025-08-22T16:44:08.638Z,1755881048.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895365 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:08.811Z,1755881048.811 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.497037
2025-08-22T16:44:09.043Z,1755881049.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:09.047Z,1755881049.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:09.053Z,1755881049.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 19.037657 m,
      bearing: 330.971769 deg,
      approach rate: -0.431065 m/s,
      LOS rate: -0.090288 deg/s,
      cmd heading: 337.779520 deg,
      new cmd heading: 337.699933 deg.

2025-08-22T16:44:09.054Z,1755881049.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893976 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:09.063Z,1755881049.063 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.748976
2025-08-22T16:44:09.315Z,1755881049.315 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.000951
2025-08-22T16:44:09.421Z,1755881049.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:09.448Z,1755881049.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 18.867886 m,
      bearing: 330.935889 deg,
      approach rate: -0.453120 m/s,
      LOS rate: -0.096626 deg/s,
      cmd heading: 337.699934 deg,
      new cmd heading: 337.627528 deg.

2025-08-22T16:44:09.449Z,1755881049.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892712 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:09.567Z,1755881049.567 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.253892
2025-08-22T16:44:09.819Z,1755881049.819 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.505108
2025-08-22T16:44:09.822Z,1755881049.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:09.825Z,1755881049.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 18.698290 m,
      bearing: 330.901117 deg,
      approach rate: -0.427769 m/s,
      LOS rate: -0.088500 deg/s,
      cmd heading: 337.627534 deg,
      new cmd heading: 337.557359 deg.

2025-08-22T16:44:09.830Z,1755881049.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891487 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:10.071Z,1755881050.071 [DAT](INFO): DAT read: Rx Time:16:44:10.7260

2025-08-22T16:44:10.071Z,1755881050.071 [DAT](INFO): Rx dataTimestamp_ set to:1755881050.070734
2025-08-22T16:44:10.072Z,1755881050.072 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.758011
2025-08-22T16:44:10.252Z,1755881050.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:10.255Z,1755881050.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 18.501387 m,
      bearing: 330.851433 deg,
      approach rate: -0.452931 m/s,
      LOS rate: -0.115505 deg/s,
      cmd heading: 337.557347 deg,
      new cmd heading: 337.456920 deg.

2025-08-22T16:44:10.256Z,1755881050.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889734 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:10.324Z,1755881050.324 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.010529
2025-08-22T16:44:10.575Z,1755881050.575 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.261011
2025-08-22T16:44:10.728Z,1755881050.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:44:10.731Z,1755881050.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.974552 m,
      nav range: 18.291689 m,
      bearing: 330.797339 deg,
      approach rate: -0.440927 m/s,
      LOS rate: -0.115044 deg/s,
      cmd heading: 337.456916 deg,
      new cmd heading: 337.347490 deg.

2025-08-22T16:44:10.732Z,1755881050.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887825 target range: 19.974552 and range: 20.10 m.
2025-08-22T16:44:10.832Z,1755881050.832 [DAT](INFO): DAT read: 16:44:10.7260 LVL= 20576, 21409, 23202, 29043, AGC= 54, IDX= 426, 0.03,-2.456, 2.158,-2.147,-2.524, PHS= 0.170,-1.557, 0.332, RAW= 154.4,  11.6, CAL= 154.5,  12.9, ROT= 355.5, -12.9

2025-08-22T16:44:10.833Z,1755881050.833 [DAT](INFO): got valid direction response:
 16:44:10.7260 LVL= 20576, 21409, 23202, 29043, AGC= 54, IDX= 426, 0.03,-2.456, 2.158,-2.147,-2.524, PHS= 0.170,-1.557, 0.332, RAW= 154.4,  11.6, CAL= 154.5,  12.9, ROT= 355.5, -12.9

2025-08-22T16:44:10.834Z,1755881050.834 [DAT](INFO): DAT read: Bearing 154.4,  -5.3 (Local)

2025-08-22T16:44:10.835Z,1755881050.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4,  -5.3 (Local)

2025-08-22T16:44:10.836Z,1755881050.836 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m  (Round-trip  24.8 ms) speed  0.4 m/s

2025-08-22T16:44:10.837Z,1755881050.837 [DAT](INFO): DAT read: user:258>

2025-08-22T16:44:10.838Z,1755881050.838 [DAT](INFO): DAT read: Tx time:16:44:11.8471

2025-08-22T16:44:10.838Z,1755881050.838 [DAT](INFO): Ping request sent.
2025-08-22T16:44:10.838Z,1755881050.838 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:10.838Z,1755881050.838 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T16:44:10.839Z,1755881050.839 [DAT](INFO): direction in FSK: [0.971756,-0.076479,0.223250]
2025-08-22T16:44:10.839Z,1755881050.839 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:10.840Z,1755881050.840 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:10.847Z,1755881050.847 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:10.847Z,1755881050.847 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:10.855Z,1755881050.855 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.016740
2025-08-22T16:44:11.079Z,1755881051.079 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240612
2025-08-22T16:44:11.168Z,1755881051.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 3.527546 s,
      deltaX: -1.500000 m,
      approachRate: -0.425225 m/s,
      rangeRepo size: 4

2025-08-22T16:44:11.176Z,1755881051.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.484156 m,
      bearing: 336.601569 deg,
      lat: 36.779434 deg,
      lon: -121.859679 deg,
      deltaT: 3.527546 s,
      deltaX: -1.490396 m,
      approachRate: -0.422502 m/s,
      posRepo size: 4

2025-08-22T16:44:11.177Z,1755881051.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:11.185Z,1755881051.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 18.168619 m,
      bearing: 330.939063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.115044 deg/s,
      cmd heading: 337.347496 deg,
      new cmd heading: 337.246415 deg.

2025-08-22T16:44:11.191Z,1755881051.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886060 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:11.331Z,1755881051.331 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.492489
2025-08-22T16:44:11.544Z,1755881051.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:11.551Z,1755881051.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:11.558Z,1755881051.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.997807 m,
      bearing: 330.894924 deg,
      approach rate: -0.445331 m/s,
      LOS rate: -0.116168 deg/s,
      cmd heading: 337.246410 deg,
      new cmd heading: 337.157294 deg.

2025-08-22T16:44:11.559Z,1755881051.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884505 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:11.583Z,1755881051.583 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.744567
2025-08-22T16:44:11.835Z,1755881051.835 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.996838
2025-08-22T16:44:11.988Z,1755881051.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:11.991Z,1755881051.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.793009 m,
      bearing: 330.831091 deg,
      approach rate: -0.468943 m/s,
      LOS rate: -0.147845 deg/s,
      cmd heading: 337.157289 deg,
      new cmd heading: 337.028155 deg.

2025-08-22T16:44:11.991Z,1755881051.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882251 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:12.087Z,1755881052.087 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.248759
2025-08-22T16:44:12.324Z,1755881052.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:12.327Z,1755881052.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.645510 m,
      bearing: 330.785148 deg,
      approach rate: -0.438582 m/s,
      LOS rate: -0.137752 deg/s,
      cmd heading: 337.028144 deg,
      new cmd heading: 336.935489 deg.

2025-08-22T16:44:12.328Z,1755881052.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880634 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:12.339Z,1755881052.339 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.500595
2025-08-22T16:44:12.592Z,1755881052.592 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.753357
2025-08-22T16:44:12.734Z,1755881052.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:12.737Z,1755881052.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.465485 m,
      bearing: 330.729084 deg,
      approach rate: -0.438480 m/s,
      LOS rate: -0.137960 deg/s,
      cmd heading: 336.935499 deg,
      new cmd heading: 336.822216 deg.

2025-08-22T16:44:12.738Z,1755881052.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878657 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:12.843Z,1755881052.843 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.004683
2025-08-22T16:44:13.094Z,1755881053.094 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256452
2025-08-22T16:44:13.183Z,1755881053.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:13.192Z,1755881053.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.269716 m,
      bearing: 330.673869 deg,
      approach rate: -0.436400 m/s,
      LOS rate: -0.124479 deg/s,
      cmd heading: 336.822228 deg,
      new cmd heading: 336.710546 deg.

2025-08-22T16:44:13.192Z,1755881053.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876708 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:13.347Z,1755881053.347 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.508556
2025-08-22T16:44:13.588Z,1755881053.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:13.592Z,1755881053.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:13.599Z,1755881053.599 [DAT](INFO): DAT read: Rx Time:16:44:14.2739

2025-08-22T16:44:13.599Z,1755881053.599 [DAT](INFO): Rx dataTimestamp_ set to:1755881053.598874
2025-08-22T16:44:13.600Z,1755881053.600 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.761695
2025-08-22T16:44:13.603Z,1755881053.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 17.089396 m,
      bearing: 330.622796 deg,
      approach rate: -0.440484 m/s,
      LOS rate: -0.126076 deg/s,
      cmd heading: 336.710540 deg,
      new cmd heading: 336.607317 deg.

2025-08-22T16:44:13.604Z,1755881053.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874906 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:13.850Z,1755881053.850 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.012458
2025-08-22T16:44:14.006Z,1755881054.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:44:14.008Z,1755881054.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.484156 m,
      nav range: 16.901661 m,
      bearing: 330.569684 deg,
      approach rate: -0.472596 m/s,
      LOS rate: -0.135189 deg/s,
      cmd heading: 336.607322 deg,
      new cmd heading: 336.499917 deg.

2025-08-22T16:44:14.011Z,1755881054.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873032 target range: 18.484156 and range: 18.60 m.
2025-08-22T16:44:14.063Z,1755881054.063 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:44:14.104Z,1755881054.104 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.265486
2025-08-22T16:44:14.360Z,1755881054.360 [DAT](INFO): DAT read: 16:44:14.2739 LVL= 23360, 27313, 21714, 32755, AGC= 54, IDX= 420, 0.45, 2.068, 0.282, 2.265, 1.939, PHS= 0.231,-1.612, 0.281, RAW= 151.3,  11.8, CAL= 151.3,  13.0, ROT= 358.7, -13.0

2025-08-22T16:44:14.361Z,1755881054.361 [DAT](INFO): got valid direction response:
 16:44:14.2739 LVL= 23360, 27313, 21714, 32755, AGC= 54, IDX= 420, 0.45, 2.068, 0.282, 2.265, 1.939, PHS= 0.231,-1.612, 0.281, RAW= 151.3,  11.8, CAL= 151.3,  13.0, ROT= 358.7, -13.0

2025-08-22T16:44:14.362Z,1755881054.362 [DAT](INFO): DAT read: Bearing 153.6,  -2.3 (Local)

2025-08-22T16:44:14.363Z,1755881054.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6,  -2.3 (Local)

2025-08-22T16:44:14.364Z,1755881054.364 [DAT](INFO): DAT read: Range 11 to 50 : 16.9 m  (Round-trip  22.6 ms) speed  0.4 m/s

2025-08-22T16:44:14.365Z,1755881054.365 [DAT](INFO): DAT read: user:259>

2025-08-22T16:44:14.365Z,1755881054.365 [DAT](INFO): DAT read: Tx time:16:44:15.3971

2025-08-22T16:44:14.366Z,1755881054.366 [DAT](INFO): Ping request sent.
2025-08-22T16:44:14.366Z,1755881054.366 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:14.366Z,1755881054.366 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:44:14.367Z,1755881054.367 [DAT](INFO): direction in FSK: [0.974119,-0.022106,0.224951]
2025-08-22T16:44:14.367Z,1755881054.367 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:14.368Z,1755881054.368 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:14.379Z,1755881054.379 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:14.379Z,1755881054.379 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:14.391Z,1755881054.391 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.025049
2025-08-22T16:44:14.467Z,1755881054.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.900000 m,
      deltaT: 3.528029 s,
      deltaX: -1.700001 m,
      approachRate: -0.481856 m/s,
      rangeRepo size: 4

2025-08-22T16:44:14.469Z,1755881054.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.794697 m,
      bearing: 338.987149 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 3.528029 s,
      deltaX: -1.689459 m,
      approachRate: -0.478868 m/s,
      posRepo size: 4

2025-08-22T16:44:14.470Z,1755881054.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:14.472Z,1755881054.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 16.624084 m,
      bearing: 332.966449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135189 deg/s,
      cmd heading: 336.499925 deg,
      new cmd heading: 336.372439 deg.

2025-08-22T16:44:14.478Z,1755881054.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870807 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:14.607Z,1755881054.607 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.241096
2025-08-22T16:44:14.815Z,1755881054.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:14.834Z,1755881054.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 16.455669 m,
      bearing: 332.935674 deg,
      approach rate: -0.475386 m/s,
      LOS rate: -0.087759 deg/s,
      cmd heading: 336.372446 deg,
      new cmd heading: 336.310265 deg.

2025-08-22T16:44:14.835Z,1755881054.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869721 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:14.859Z,1755881054.859 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492796
2025-08-22T16:44:15.066Z,1755881055.066 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:44:15.111Z,1755881055.111 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.745441
2025-08-22T16:44:15.248Z,1755881055.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:15.251Z,1755881055.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 16.268688 m,
      bearing: 332.911332 deg,
      approach rate: -0.432472 m/s,
      LOS rate: -0.056947 deg/s,
      cmd heading: 336.310264 deg,
      new cmd heading: 336.261021 deg.

2025-08-22T16:44:15.252Z,1755881055.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868862 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:15.362Z,1755881055.362 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996591
2025-08-22T16:44:15.615Z,1755881055.615 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248781
2025-08-22T16:44:15.622Z,1755881055.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:15.624Z,1755881055.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:15.628Z,1755881055.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 16.105867 m,
      bearing: 332.890759 deg,
      approach rate: -0.432192 m/s,
      LOS rate: -0.055162 deg/s,
      cmd heading: 336.261032 deg,
      new cmd heading: 336.219469 deg.

2025-08-22T16:44:15.628Z,1755881055.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868137 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:15.867Z,1755881055.867 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.501168
2025-08-22T16:44:16.077Z,1755881056.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:16.080Z,1755881056.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 15.900949 m,
      bearing: 332.868917 deg,
      approach rate: -0.453316 m/s,
      LOS rate: -0.048941 deg/s,
      cmd heading: 336.219477 deg,
      new cmd heading: 336.175230 deg.

2025-08-22T16:44:16.081Z,1755881056.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867364 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:16.119Z,1755881056.119 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.753130
2025-08-22T16:44:16.371Z,1755881056.371 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004906
2025-08-22T16:44:16.430Z,1755881056.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:16.432Z,1755881056.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 15.740381 m,
      bearing: 332.852305 deg,
      approach rate: -0.454883 m/s,
      LOS rate: -0.047540 deg/s,
      cmd heading: 336.175217 deg,
      new cmd heading: 336.141655 deg.

2025-08-22T16:44:16.434Z,1755881056.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866779 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:16.623Z,1755881056.623 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.256686
2025-08-22T16:44:16.852Z,1755881056.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:16.863Z,1755881056.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 15.552519 m,
      bearing: 332.833893 deg,
      approach rate: -0.444358 m/s,
      LOS rate: -0.044079 deg/s,
      cmd heading: 336.141667 deg,
      new cmd heading: 336.104397 deg.

2025-08-22T16:44:16.864Z,1755881056.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866128 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:16.875Z,1755881056.875 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.508884
2025-08-22T16:44:17.126Z,1755881057.126 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.760599
2025-08-22T16:44:17.262Z,1755881057.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:17.265Z,1755881057.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 15.368102 m,
      bearing: 332.831334 deg,
      approach rate: -0.450385 m/s,
      LOS rate: -0.006322 deg/s,
      cmd heading: 336.104402 deg,
      new cmd heading: 336.099224 deg.

2025-08-22T16:44:17.267Z,1755881057.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866038 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:17.379Z,1755881057.379 [DAT](INFO): DAT read: Rx Time:16:44:17.8218

2025-08-22T16:44:17.380Z,1755881057.380 [DAT](INFO): Rx dataTimestamp_ set to:1755881057.379553
2025-08-22T16:44:17.380Z,1755881057.380 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.014550
2025-08-22T16:44:17.631Z,1755881057.631 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.264735
2025-08-22T16:44:17.642Z,1755881057.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:17.644Z,1755881057.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T16:44:17.647Z,1755881057.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.794697 m,
      nav range: 15.199835 m,
      bearing: 332.830197 deg,
      approach rate: -0.440599 m/s,
      LOS rate: -0.003012 deg/s,
      cmd heading: 336.099211 deg,
      new cmd heading: 336.096911 deg.

2025-08-22T16:44:17.648Z,1755881057.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865998 target range: 16.794697 and range: 16.90 m.
2025-08-22T16:44:17.889Z,1755881057.889 [DAT](INFO): DAT read: 16:44:17.8218 LVL= 20848, 26913, 21202, 32755, AGC= 53, IDX= 415,-0.08,-0.610,-2.375,-0.550,-0.741, PHS= 0.233,-1.589, 0.147, RAW= 147.6,  13.5, CAL= 147.5,  14.9, ROT=   2.5, -14.9

2025-08-22T16:44:17.890Z,1755881057.890 [DAT](INFO): got valid direction response:
 16:44:17.8218 LVL= 20848, 26913, 21202, 32755, AGC= 53, IDX= 415,-0.08,-0.610,-2.375,-0.550,-0.741, PHS= 0.233,-1.589, 0.147, RAW= 147.6,  13.5, CAL= 147.5,  14.9, ROT=   2.5, -14.9

2025-08-22T16:44:17.891Z,1755881057.891 [DAT](INFO): DAT read: Bearing 154.4,   1.8 (Local)

2025-08-22T16:44:17.891Z,1755881057.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4,   1.8 (Local)

2025-08-22T16:44:17.893Z,1755881057.893 [DAT](INFO): DAT read: Range 11 to 50 : 15.4 m  (Round-trip  20.6 ms) speed  0.4 m/s

2025-08-22T16:44:17.894Z,1755881057.894 [DAT](INFO): DAT read: user:260>

2025-08-22T16:44:17.895Z,1755881057.895 [DAT](INFO): DAT read: Tx time:16:44:18.9471

2025-08-22T16:44:17.895Z,1755881057.895 [DAT](INFO): Ping request sent.
2025-08-22T16:44:17.895Z,1755881057.895 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:17.895Z,1755881057.895 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:44:17.896Z,1755881057.896 [DAT](INFO): direction in FSK: [0.965456,0.042153,0.257133]
2025-08-22T16:44:17.897Z,1755881057.897 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:17.897Z,1755881057.897 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:17.900Z,1755881057.900 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:17.900Z,1755881057.900 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:17.909Z,1755881057.909 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.013537
2025-08-22T16:44:18.135Z,1755881058.135 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.239548
2025-08-22T16:44:18.191Z,1755881058.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.400000 m,
      deltaT: 3.528791 s,
      deltaX: -1.500000 m,
      approachRate: -0.425075 m/s,
      rangeRepo size: 4

2025-08-22T16:44:18.198Z,1755881058.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.304060 m,
      bearing: 341.803960 deg,
      lat: 36.779441 deg,
      lon: -121.859660 deg,
      deltaT: 3.528791 s,
      deltaX: -1.490637 m,
      approachRate: -0.422421 m/s,
      posRepo size: 4

2025-08-22T16:44:18.198Z,1755881058.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:18.201Z,1755881058.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 15.011039 m,
      bearing: 336.962351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003012 deg/s,
      cmd heading: 336.096916 deg,
      new cmd heading: 336.093623 deg.

2025-08-22T16:44:18.207Z,1755881058.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865940 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:18.387Z,1755881058.387 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491417
2025-08-22T16:44:18.559Z,1755881058.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:18.563Z,1755881058.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 14.830946 m,
      bearing: 337.035022 deg,
      approach rate: -0.488104 m/s,
      LOS rate: 0.199351 deg/s,
      cmd heading: 336.093610 deg,
      new cmd heading: 336.240716 deg.

2025-08-22T16:44:18.564Z,1755881058.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868507 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:18.639Z,1755881058.639 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.743626
2025-08-22T16:44:18.891Z,1755881058.891 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.995433
2025-08-22T16:44:18.938Z,1755881058.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:18.940Z,1755881058.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 14.664021 m,
      bearing: 337.105141 deg,
      approach rate: -0.441742 m/s,
      LOS rate: 0.187672 deg/s,
      cmd heading: 336.240705 deg,
      new cmd heading: 336.382540 deg.

2025-08-22T16:44:18.941Z,1755881058.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870983 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:19.142Z,1755881059.142 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.247249
2025-08-22T16:44:19.380Z,1755881059.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:19.383Z,1755881059.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 14.461557 m,
      bearing: 337.181496 deg,
      approach rate: -0.457434 m/s,
      LOS rate: 0.174927 deg/s,
      cmd heading: 336.382527 deg,
      new cmd heading: 336.537374 deg.

2025-08-22T16:44:19.384Z,1755881059.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873685 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:19.395Z,1755881059.395 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.499516
2025-08-22T16:44:19.647Z,1755881059.647 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.751424
2025-08-22T16:44:19.755Z,1755881059.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:19.758Z,1755881059.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:19.760Z,1755881059.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 14.289176 m,
      bearing: 337.249605 deg,
      approach rate: -0.456727 m/s,
      LOS rate: 0.182635 deg/s,
      cmd heading: 336.537381 deg,
      new cmd heading: 336.675244 deg.

2025-08-22T16:44:19.761Z,1755881059.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876091 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:19.898Z,1755881059.898 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003395
2025-08-22T16:44:20.150Z,1755881060.150 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.255369
2025-08-22T16:44:20.201Z,1755881060.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:20.204Z,1755881060.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 14.093475 m,
      bearing: 337.346226 deg,
      approach rate: -0.444415 m/s,
      LOS rate: 0.222462 deg/s,
      cmd heading: 336.675242 deg,
      new cmd heading: 336.871166 deg.

2025-08-22T16:44:20.205Z,1755881060.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879511 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:20.403Z,1755881060.403 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.507493
2025-08-22T16:44:20.579Z,1755881060.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:20.586Z,1755881060.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 13.927056 m,
      bearing: 337.433568 deg,
      approach rate: -0.436785 m/s,
      LOS rate: 0.231976 deg/s,
      cmd heading: 336.871159 deg,
      new cmd heading: 337.047928 deg.

2025-08-22T16:44:20.587Z,1755881060.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882596 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:20.655Z,1755881060.655 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.760061
2025-08-22T16:44:20.907Z,1755881060.907 [DAT](INFO): DAT read: Rx Time:16:44:21.3696

2025-08-22T16:44:20.907Z,1755881060.907 [DAT](INFO): Rx dataTimestamp_ set to:1755881060.906697
2025-08-22T16:44:20.907Z,1755881060.907 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.012424
2025-08-22T16:44:20.974Z,1755881060.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:20.977Z,1755881060.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 13.747795 m,
      bearing: 337.531756 deg,
      approach rate: -0.453323 m/s,
      LOS rate: 0.251540 deg/s,
      cmd heading: 337.047924 deg,
      new cmd heading: 337.246861 deg.

2025-08-22T16:44:20.978Z,1755881060.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886068 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:21.159Z,1755881061.159 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.264184
2025-08-22T16:44:21.391Z,1755881061.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-22T16:44:21.394Z,1755881061.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.304060 m,
      nav range: 13.561643 m,
      bearing: 337.644699 deg,
      approach rate: -0.446304 m/s,
      LOS rate: 0.274500 deg/s,
      cmd heading: 337.246874 deg,
      new cmd heading: 337.475859 deg.

2025-08-22T16:44:21.395Z,1755881061.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890065 target range: 15.304060 and range: 15.40 m.
2025-08-22T16:44:21.419Z,1755881061.419 [DAT](INFO): DAT read: 16:44:21.3696 LVL= 28720, 30625, 21906, 32755, AGC= 53, IDX= 425, 0.25,-1.188,-3.030,-1.232,-1.364, PHS= 0.278,-1.621, 0.088, RAW= 144.8,  13.8, CAL= 144.4,  15.0, ROT=   5.6, -15.0

2025-08-22T16:44:21.420Z,1755881061.420 [DAT](INFO): got valid direction response:
 16:44:21.3696 LVL= 28720, 30625, 21906, 32755, AGC= 53, IDX= 425, 0.25,-1.188,-3.030,-1.232,-1.364, PHS= 0.278,-1.621, 0.088, RAW= 144.8,  13.8, CAL= 144.4,  15.0, ROT=   5.6, -15.0

2025-08-22T16:44:21.421Z,1755881061.421 [DAT](INFO): DAT read: Bearing 153.8,   4.7 (Local)

2025-08-22T16:44:21.438Z,1755881061.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8,   4.7 (Local)

2025-08-22T16:44:21.440Z,1755881061.440 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.4 ms) speed  0.4 m/s

2025-08-22T16:44:21.441Z,1755881061.441 [DAT](INFO): DAT read: user:261>

2025-08-22T16:44:21.446Z,1755881061.446 [DAT](INFO): DAT read: Tx time:16:44:22.4970

2025-08-22T16:44:21.447Z,1755881061.447 [DAT](INFO): Ping request sent.
2025-08-22T16:44:21.447Z,1755881061.447 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:21.448Z,1755881061.448 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:44:21.449Z,1755881061.449 [DAT](INFO): direction in FSK: [0.961316,0.094258,0.258819]
2025-08-22T16:44:21.454Z,1755881061.454 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:21.454Z,1755881061.454 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:21.457Z,1755881061.457 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:21.457Z,1755881061.457 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:21.472Z,1755881061.472 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.025457
2025-08-22T16:44:21.663Z,1755881061.663 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.215702
2025-08-22T16:44:21.789Z,1755881061.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.529245 s,
      deltaX: -1.599999 m,
      approachRate: -0.453355 m/s,
      rangeRepo size: 4

2025-08-22T16:44:21.791Z,1755881061.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.713967 m,
      bearing: 343.914633 deg,
      lat: 36.779441 deg,
      lon: -121.859653 deg,
      deltaT: 3.529245 s,
      deltaX: -1.590093 m,
      approachRate: -0.450548 m/s,
      posRepo size: 4

2025-08-22T16:44:21.792Z,1755881061.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:21.794Z,1755881061.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 13.190235 m,
      bearing: 340.670178 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274500 deg/s,
      cmd heading: 337.475849 deg,
      new cmd heading: 337.693670 deg.

2025-08-22T16:44:21.795Z,1755881061.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893867 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:21.916Z,1755881061.916 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.468706
2025-08-22T16:44:22.167Z,1755881062.167 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.720121
2025-08-22T16:44:22.217Z,1755881062.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:22.219Z,1755881062.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:22.238Z,1755881062.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 13.001765 m,
      bearing: 340.843955 deg,
      approach rate: -0.436893 m/s,
      LOS rate: 0.408671 deg/s,
      cmd heading: 337.693678 deg,
      new cmd heading: 338.046264 deg.

2025-08-22T16:44:22.239Z,1755881062.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900020 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:22.419Z,1755881062.419 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.971847
2025-08-22T16:44:22.589Z,1755881062.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:22.596Z,1755881062.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 12.847277 m,
      bearing: 340.991399 deg,
      approach rate: -0.422234 m/s,
      LOS rate: 0.407826 deg/s,
      cmd heading: 338.046252 deg,
      new cmd heading: 338.344683 deg.

2025-08-22T16:44:22.597Z,1755881062.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905229 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:22.671Z,1755881062.671 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.224444
2025-08-22T16:44:22.922Z,1755881062.922 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.475545
2025-08-22T16:44:22.986Z,1755881062.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:22.990Z,1755881062.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 12.665753 m,
      bearing: 341.170341 deg,
      approach rate: -0.452451 m/s,
      LOS rate: 0.452409 deg/s,
      cmd heading: 338.344677 deg,
      new cmd heading: 338.707685 deg.

2025-08-22T16:44:22.991Z,1755881062.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911564 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:23.175Z,1755881063.175 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.728215
2025-08-22T16:44:23.422Z,1755881063.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:23.424Z,1755881063.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 12.484611 m,
      bearing: 341.321140 deg,
      approach rate: -0.420318 m/s,
      LOS rate: 0.354984 deg/s,
      cmd heading: 338.707688 deg,
      new cmd heading: 339.013657 deg.

2025-08-22T16:44:23.427Z,1755881063.427 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.979765
2025-08-22T16:44:23.427Z,1755881063.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916904 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T16:34:23.4Z
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:44:23.432Z,1755881063.432 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T16:44:23.678Z,1755881063.678 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.231545
2025-08-22T16:44:23.800Z,1755881063.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:23.803Z,1755881063.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 12.307040 m,
      bearing: 341.473511 deg,
      approach rate: -0.464290 m/s,
      LOS rate: 0.404150 deg/s,
      cmd heading: 339.013653 deg,
      new cmd heading: 339.322789 deg.

2025-08-22T16:44:23.804Z,1755881063.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922300 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:23.808Z,1755881063.808 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:44:23.808Z,1755881063.808 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:44:23.808Z,1755881063.808 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:44:23.808Z,1755881063.808 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:44:23.808Z,1755881063.808 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:44:23.931Z,1755881063.931 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.483690
2025-08-22T16:44:24.183Z,1755881064.183 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.736524
2025-08-22T16:44:24.435Z,1755881064.435 [DAT](INFO): DAT read: Rx Time:16:44:24.9175

2025-08-22T16:44:24.435Z,1755881064.435 [DAT](INFO): Rx dataTimestamp_ set to:1755881064.434790
2025-08-22T16:44:24.436Z,1755881064.436 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.988852
2025-08-22T16:44:24.475Z,1755881064.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:24.477Z,1755881064.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m.
2025-08-22T16:44:24.484Z,1755881064.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.713967 m,
      nav range: 12.008041 m,
      bearing: 341.724247 deg,
      approach rate: -0.441514 m/s,
      LOS rate: 0.379465 deg/s,
      cmd heading: 339.322787 deg,
      new cmd heading: 339.836730 deg.

2025-08-22T16:44:24.485Z,1755881064.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931270 target range: 13.713967 and range: 13.80 m.
2025-08-22T16:44:24.691Z,1755881064.691 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.243429
2025-08-22T16:44:24.944Z,1755881064.944 [DAT](INFO): DAT read: 16:44:24.9175 LVL= 26784, 32753, 23922, 32755, AGC= 54, IDX= 421,-0.21, 2.901, 1.023, 2.839, 2.726, PHS= 0.277,-1.658, 0.069, RAW= 144.4,  14.2, CAL= 144.0,  15.4, ROT=   6.0, -15.4

2025-08-22T16:44:24.945Z,1755881064.945 [DAT](INFO): got valid direction response:
 16:44:24.9175 LVL= 26784, 32753, 23922, 32755, AGC= 54, IDX= 421,-0.21, 2.901, 1.023, 2.839, 2.726, PHS= 0.277,-1.658, 0.069, RAW= 144.4,  14.2, CAL= 144.0,  15.4, ROT=   6.0, -15.4

2025-08-22T16:44:24.946Z,1755881064.946 [DAT](INFO): DAT read: Bearing 153.9,   5.6 (Local)

2025-08-22T16:44:24.946Z,1755881064.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9,   5.6 (Local)

2025-08-22T16:44:24.948Z,1755881064.948 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m  (Round-trip  16.4 ms) speed  0.4 m/s

2025-08-22T16:44:24.949Z,1755881064.949 [DAT](INFO): DAT read: user:262>

2025-08-22T16:44:24.949Z,1755881064.949 [DAT](INFO): DAT read: Tx time:16:44:26.0470

2025-08-22T16:44:24.950Z,1755881064.950 [DAT](INFO): Ping request sent.
2025-08-22T16:44:24.950Z,1755881064.950 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:24.950Z,1755881064.950 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:44:24.951Z,1755881064.951 [DAT](INFO): direction in FSK: [0.958814,0.100775,0.265556]
2025-08-22T16:44:24.951Z,1755881064.951 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:24.951Z,1755881064.951 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:24.955Z,1755881064.955 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:24.955Z,1755881064.955 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:24.958Z,1755881064.958 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.008484
2025-08-22T16:44:25.064Z,1755881065.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 3.525870 s,
      deltaX: -1.500000 m,
      approachRate: -0.425427 m/s,
      rangeRepo size: 4

2025-08-22T16:44:25.071Z,1755881065.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.223247 m,
      bearing: 344.014441 deg,
      lat: 36.779443 deg,
      lon: -121.859648 deg,
      deltaT: 3.525870 s,
      deltaX: -1.490721 m,
      approachRate: -0.422795 m/s,
      posRepo size: 4

2025-08-22T16:44:25.072Z,1755881065.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:25.086Z,1755881065.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 11.812479 m,
      bearing: 344.014461 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.379465 deg/s,
      cmd heading: 339.836718 deg,
      new cmd heading: 340.282022 deg.

2025-08-22T16:44:25.100Z,1755881065.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939042 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:25.191Z,1755881065.191 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.241353
2025-08-22T16:44:25.443Z,1755881065.443 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.492734
2025-08-22T16:44:25.649Z,1755881065.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:25.652Z,1755881065.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 11.537626 m,
      bearing: 344.306050 deg,
      approach rate: -0.469806 m/s,
      LOS rate: 0.510285 deg/s,
      cmd heading: 340.282019 deg,
      new cmd heading: 340.879066 deg.

2025-08-22T16:44:25.653Z,1755881065.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949462 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:25.695Z,1755881065.695 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.744934
2025-08-22T16:44:25.946Z,1755881065.946 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.996721
2025-08-22T16:44:26.038Z,1755881066.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:26.041Z,1755881066.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 11.362983 m,
      bearing: 344.493585 deg,
      approach rate: -0.448640 m/s,
      LOS rate: 0.489159 deg/s,
      cmd heading: 340.879059 deg,
      new cmd heading: 341.259887 deg.

2025-08-22T16:44:26.042Z,1755881066.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956109 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:26.199Z,1755881066.199 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.248828
2025-08-22T16:44:26.447Z,1755881066.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:26.451Z,1755881066.451 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.500939
2025-08-22T16:44:26.451Z,1755881066.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 11.178423 m,
      bearing: 344.679924 deg,
      approach rate: -0.451685 m/s,
      LOS rate: 0.463567 deg/s,
      cmd heading: 341.259883 deg,
      new cmd heading: 341.638708 deg.

2025-08-22T16:44:26.452Z,1755881066.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962720 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:26.702Z,1755881066.702 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.752720
2025-08-22T16:44:26.838Z,1755881066.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:26.840Z,1755881066.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:26.843Z,1755881066.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 11.008234 m,
      bearing: 344.854543 deg,
      approach rate: -0.432813 m/s,
      LOS rate: 0.450944 deg/s,
      cmd heading: 341.638713 deg,
      new cmd heading: 341.993346 deg.

2025-08-22T16:44:26.844Z,1755881066.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968910 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:26.955Z,1755881066.955 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.005366
2025-08-22T16:44:27.207Z,1755881067.207 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.256868
2025-08-22T16:44:27.280Z,1755881067.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:27.287Z,1755881067.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 10.812593 m,
      bearing: 345.048676 deg,
      approach rate: -0.444782 m/s,
      LOS rate: 0.449337 deg/s,
      cmd heading: 341.993336 deg,
      new cmd heading: 342.388620 deg.

2025-08-22T16:44:27.288Z,1755881067.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975809 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:27.458Z,1755881067.458 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.508704
2025-08-22T16:44:27.672Z,1755881067.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:27.683Z,1755881067.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 10.634072 m,
      bearing: 345.228391 deg,
      approach rate: -0.455682 m/s,
      LOS rate: 0.466432 deg/s,
      cmd heading: 342.388613 deg,
      new cmd heading: 342.754072 deg.

2025-08-22T16:44:27.684Z,1755881067.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982187 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:27.711Z,1755881067.711 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.760784
2025-08-22T16:44:27.963Z,1755881067.963 [DAT](INFO): DAT read: Rx Time:16:44:28.4655

2025-08-22T16:44:27.963Z,1755881067.963 [DAT](INFO): Rx dataTimestamp_ set to:1755881067.962782
2025-08-22T16:44:27.964Z,1755881067.964 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.013862
2025-08-22T16:44:28.081Z,1755881068.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:28.084Z,1755881068.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 10.440027 m,
      bearing: 345.426468 deg,
      approach rate: -0.474099 m/s,
      LOS rate: 0.492944 deg/s,
      cmd heading: 342.754083 deg,
      new cmd heading: 343.157592 deg.

2025-08-22T16:44:28.085Z,1755881068.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989230 target range: 12.223247 and range: 12.30 m.
2025-08-22T16:44:28.215Z,1755881068.215 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.265003
2025-08-22T16:44:28.472Z,1755881068.472 [DAT](INFO): DAT read: 16:44:28.4655 LVL= 32752, 32753, 25234, 32755, AGC= 54, IDX= 415, 0.09,-2.790, 1.650,-2.760,-2.937, PHS= 0.249,-1.651, 0.133, RAW= 146.9,  13.7, CAL= 146.7,  15.0, ROT=   3.3, -15.0

2025-08-22T16:44:28.473Z,1755881068.473 [DAT](INFO): got valid direction response:
 16:44:28.4655 LVL= 32752, 32753, 25234, 32755, AGC= 54, IDX= 415, 0.09,-2.790, 1.650,-2.760,-2.937, PHS= 0.249,-1.651, 0.133, RAW= 146.9,  13.7, CAL= 146.7,  15.0, ROT=   3.3, -15.0

2025-08-22T16:44:28.474Z,1755881068.474 [DAT](INFO): DAT read: Bearing 154.4,   4.0 (Local)

2025-08-22T16:44:28.474Z,1755881068.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4,   4.0 (Local)

2025-08-22T16:44:28.476Z,1755881068.476 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m  (Round-trip  14.3 ms) speed  0.4 m/s

2025-08-22T16:44:28.477Z,1755881068.477 [DAT](INFO): DAT read: user:263>

2025-08-22T16:44:28.477Z,1755881068.477 [DAT](INFO): DAT read: Tx time:16:44:29.5970

2025-08-22T16:44:28.478Z,1755881068.478 [DAT](INFO): Ping request sent.
2025-08-22T16:44:28.478Z,1755881068.478 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:28.478Z,1755881068.478 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:44:28.479Z,1755881068.479 [DAT](INFO): direction in FSK: [0.964324,0.055603,0.258819]
2025-08-22T16:44:28.479Z,1755881068.479 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:28.479Z,1755881068.479 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:28.484Z,1755881068.484 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:28.484Z,1755881068.484 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:28.504Z,1755881068.504 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.026128
2025-08-22T16:44:28.512Z,1755881068.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 3.528003 s,
      deltaX: -1.600000 m,
      approachRate: -0.453514 m/s,
      rangeRepo size: 4

2025-08-22T16:44:28.513Z,1755881068.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:28.520Z,1755881068.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 10.266253 m,
      bearing: 345.600343 deg,
      approach rate: -0.404575 m/s,
      LOS rate: 0.411664 deg/s,
      cmd heading: 343.157583 deg,
      new cmd heading: 343.511216 deg.

2025-08-22T16:44:28.521Z,1755881068.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995402 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:28.719Z,1755881068.719 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.241157
2025-08-22T16:44:28.871Z,1755881068.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:28.878Z,1755881068.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 10.084723 m,
      bearing: 345.783731 deg,
      approach rate: -0.502750 m/s,
      LOS rate: 0.517034 deg/s,
      cmd heading: 343.511223 deg,
      new cmd heading: 343.884595 deg.

2025-08-22T16:44:28.879Z,1755881068.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001918 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:28.971Z,1755881068.971 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.493517
2025-08-22T16:44:29.222Z,1755881069.222 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.744683
2025-08-22T16:44:29.297Z,1755881069.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:29.299Z,1755881069.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:29.302Z,1755881069.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 9.883873 m,
      bearing: 345.971072 deg,
      approach rate: -0.469355 m/s,
      LOS rate: 0.446683 deg/s,
      cmd heading: 343.884588 deg,
      new cmd heading: 344.266878 deg.

2025-08-22T16:44:29.303Z,1755881069.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008591 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:29.475Z,1755881069.475 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.996784
2025-08-22T16:44:29.661Z,1755881069.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:29.664Z,1755881069.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 9.718418 m,
      bearing: 346.126849 deg,
      approach rate: -0.457922 m/s,
      LOS rate: 0.438474 deg/s,
      cmd heading: 344.266888 deg,
      new cmd heading: 344.583741 deg.

2025-08-22T16:44:29.665Z,1755881069.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014121 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:29.727Z,1755881069.727 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.248911
2025-08-22T16:44:29.979Z,1755881069.979 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.500821
2025-08-22T16:44:30.059Z,1755881070.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:30.079Z,1755881070.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 9.536058 m,
      bearing: 346.300327 deg,
      approach rate: -0.457398 m/s,
      LOS rate: 0.443441 deg/s,
      cmd heading: 344.583754 deg,
      new cmd heading: 344.937340 deg.

2025-08-22T16:44:30.080Z,1755881070.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020292 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:30.231Z,1755881070.231 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.752838
2025-08-22T16:44:30.484Z,1755881070.484 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.006337
2025-08-22T16:44:30.523Z,1755881070.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:30.530Z,1755881070.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 9.332505 m,
      bearing: 346.543460 deg,
      approach rate: -0.439299 m/s,
      LOS rate: 0.536162 deg/s,
      cmd heading: 344.937339 deg,
      new cmd heading: 345.434198 deg.

2025-08-22T16:44:30.531Z,1755881070.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028964 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:30.735Z,1755881070.735 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.257200
2025-08-22T16:44:30.880Z,1755881070.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:30.883Z,1755881070.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 9.162665 m,
      bearing: 346.750410 deg,
      approach rate: -0.475229 m/s,
      LOS rate: 0.589801 deg/s,
      cmd heading: 345.434194 deg,
      new cmd heading: 345.855759 deg.

2025-08-22T16:44:30.884Z,1755881070.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036322 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:30.988Z,1755881070.988 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.510282
2025-08-22T16:44:31.242Z,1755881071.242 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.763301
2025-08-22T16:44:31.364Z,1755881071.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:31.366Z,1755881071.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:31.369Z,1755881071.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.945604 m,
      bearing: 347.010474 deg,
      approach rate: -0.446488 m/s,
      LOS rate: 0.547922 deg/s,
      cmd heading: 345.855754 deg,
      new cmd heading: 346.388485 deg.

2025-08-22T16:44:31.370Z,1755881071.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045619 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:31.494Z,1755881071.494 [DAT](INFO): DAT read: Rx Time:16:44:32.0134

2025-08-22T16:44:31.496Z,1755881071.496 [DAT](INFO): Rx dataTimestamp_ set to:1755881071.495013
2025-08-22T16:44:31.498Z,1755881071.498 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.019518
2025-08-22T16:44:31.683Z,1755881071.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:31.690Z,1755881071.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.805708 m,
      bearing: 347.181602 deg,
      approach rate: -0.441516 m/s,
      LOS rate: 0.548662 deg/s,
      cmd heading: 346.388481 deg,
      new cmd heading: 346.736169 deg.

2025-08-22T16:44:31.691Z,1755881071.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051688 target range: 12.223247 and range: 10.70 m.
2025-08-22T16:44:31.743Z,1755881071.743 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.264985
2025-08-22T16:44:32.007Z,1755881072.007 [DAT](INFO): DAT read: 16:44:32.0134 LVL= 26016, 27777, 21042, 32755, AGC= 51, IDX= 426,-0.31,-0.614,-2.301,-0.407,-0.652, PHS= 0.141,-1.604, 0.201, RAW= 151.7,  14.1, CAL= 151.9,  15.8, ROT= 358.1, -15ing 157.4,  -0.1 (Local)

2025-08-22T16:44:32.008Z,1755881072.008 [DAT](INFO): Local bearing/azimuth received:
 16:44:32.0134 LVL= 26016, 27777, 21042, 32755, AGC= 51, IDX= 426,-0.31,-0.614,-2.301,-0.407,-0.652, PHS= 0.141,-1.604, 0.201, RAW= 151.7,  14.1, CAL= 151.9,  15.8, ROT= 358.1, -15ing 157.4,  -0.1 (Local)

2025-08-22T16:44:32.011Z,1755881072.011 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m  (Round-trip  12.3 ms) speed  0.4 m/s

2025-08-22T16:44:32.011Z,1755881072.011 [DAT](INFO): DAT read: user:264>

2025-08-22T16:44:32.012Z,1755881072.012 [DAT](INFO): DAT read: Tx time:16:44:33.1470

2025-08-22T16:44:32.012Z,1755881072.012 [DAT](INFO): Ping request sent.
2025-08-22T16:44:32.012Z,1755881072.012 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:32.013Z,1755881072.013 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-22T16:44:32.013Z,1755881072.013 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:32.014Z,1755881072.014 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:32.015Z,1755881072.015 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.002131
2025-08-22T16:44:32.135Z,1755881072.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 3.529799 s,
      deltaX: -1.500000 m,
      approachRate: -0.424953 m/s,
      rangeRepo size: 4

2025-08-22T16:44:32.136Z,1755881072.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T16:44:32.136Z,1755881072.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.20 m.
2025-08-22T16:44:32.136Z,1755881072.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T16:44:32.147Z,1755881072.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.605892 m,
      bearing: 347.430859 deg,
      approach rate: -0.447700 m/s,
      LOS rate: 0.571443 deg/s,
      cmd heading: 346.736165 deg,
      new cmd heading: 347.246240 deg.

2025-08-22T16:44:32.148Z,1755881072.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060590 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:32.249Z,1755881072.249 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.236331
2025-08-22T16:44:32.500Z,1755881072.500 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.486998
2025-08-22T16:44:32.541Z,1755881072.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:32.544Z,1755881072.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.410335 m,
      bearing: 347.696666 deg,
      approach rate: -0.475969 m/s,
      LOS rate: 0.661989 deg/s,
      cmd heading: 347.246244 deg,
      new cmd heading: 347.790199 deg.

2025-08-22T16:44:32.544Z,1755881072.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070084 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:32.750Z,1755881072.750 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.738082
2025-08-22T16:44:32.922Z,1755881072.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:32.925Z,1755881072.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.246395 m,
      bearing: 347.925346 deg,
      approach rate: -0.439044 m/s,
      LOS rate: 0.624600 deg/s,
      cmd heading: 347.790200 deg,
      new cmd heading: 348.256642 deg.

2025-08-22T16:44:32.934Z,1755881072.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078225 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:33.004Z,1755881073.004 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.991787
2025-08-22T16:44:33.257Z,1755881073.257 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.244307
2025-08-22T16:44:33.361Z,1755881073.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:33.364Z,1755881073.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 8.036745 m,
      bearing: 348.244319 deg,
      approach rate: -0.469077 m/s,
      LOS rate: 0.732292 deg/s,
      cmd heading: 348.256647 deg,
      new cmd heading: 348.911203 deg.

2025-08-22T16:44:33.365Z,1755881073.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089649 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:33.507Z,1755881073.507 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.494590
2025-08-22T16:44:33.695Z,1755881073.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:33.697Z,1755881073.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:33.700Z,1755881073.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 7.889594 m,
      bearing: 348.468278 deg,
      approach rate: -0.437665 m/s,
      LOS rate: 0.678533 deg/s,
      cmd heading: 348.911198 deg,
      new cmd heading: 349.367458 deg.

2025-08-22T16:44:33.701Z,1755881073.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097612 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:33.759Z,1755881073.759 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.746280
2025-08-22T16:44:34.012Z,1755881074.012 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.998943
2025-08-22T16:44:34.107Z,1755881074.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:34.110Z,1755881074.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 7.698671 m,
      bearing: 348.764095 deg,
      approach rate: -0.466357 m/s,
      LOS rate: 0.740494 deg/s,
      cmd heading: 349.367455 deg,
      new cmd heading: 349.973737 deg.

2025-08-22T16:44:34.110Z,1755881074.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108194 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:34.265Z,1755881074.265 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.252090
2025-08-22T16:44:34.515Z,1755881074.515 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.502168
2025-08-22T16:44:34.540Z,1755881074.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:34.543Z,1755881074.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 7.513739 m,
      bearing: 349.072603 deg,
      approach rate: -0.427176 m/s,
      LOS rate: 0.730161 deg/s,
      cmd heading: 349.973729 deg,
      new cmd heading: 350.605903 deg.

2025-08-22T16:44:34.543Z,1755881074.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119227 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:34.767Z,1755881074.767 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.754161
2025-08-22T16:44:34.919Z,1755881074.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:34.921Z,1755881074.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 7.355395 m,
      bearing: 349.341161 deg,
      approach rate: -0.418469 m/s,
      LOS rate: 0.725018 deg/s,
      cmd heading: 350.605904 deg,
      new cmd heading: 351.154564 deg.

2025-08-22T16:44:34.931Z,1755881074.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128803 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:35.019Z,1755881075.019 [DAT](INFO): DAT read: Rx Time:16:44:35.5615

2025-08-22T16:44:35.020Z,1755881075.020 [DAT](INFO): Rx dataTimestamp_ set to:1755881075.019495
2025-08-22T16:44:35.021Z,1755881075.021 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.008280
2025-08-22T16:44:35.274Z,1755881075.274 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.261519
2025-08-22T16:44:35.380Z,1755881075.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:35.387Z,1755881075.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 7.153129 m,
      bearing: 349.649157 deg,
      approach rate: -0.437963 m/s,
      LOS rate: 0.685750 deg/s,
      cmd heading: 351.154560 deg,
      new cmd heading: 351.787941 deg.

2025-08-22T16:44:35.388Z,1755881075.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139858 target range: 12.223247 and range: 9.20 m.
2025-08-22T16:44:35.530Z,1755881075.530 [DAT](INFO): DAT read: 16:44:35.5615 LVL= 29968, 28945, 26450, 32755, AGC= 50, IDX= 421, 0.25,-2.845, 1.791,-2.426,-2.778, PHS= 0.035,-1.670, 0.308, RAW= 157.3,  14.2, CAL= 157.9,  16.2, ROT= 352.1, -16.2

2025-08-22T16:44:35.531Z,1755881075.531 [DAT](INFO): got valid direction response:
 16:44:35.5615 LVL= 29968, 28945, 26450, 32755, AGC= 50, IDX= 421, 0.25,-2.845, 1.791,-2.426,-2.778, PHS= 0.035,-1.670, 0.308, RAW= 157.3,  14.2, CAL= 157.9,  16.2, ROT= 352.1, -16.2

2025-08-22T16:44:35.532Z,1755881075.532 [DAT](INFO): DAT read: Bearing 160.5,  -4.6 (Local)

2025-08-22T16:44:35.533Z,1755881075.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5,  -4.6 (Local)

2025-08-22T16:44:35.534Z,1755881075.534 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m  (Round-trip  10.3 ms) speed  0.4 m/s

2025-08-22T16:44:35.535Z,1755881075.535 [DAT](INFO): DAT read: user:265>

2025-08-22T16:44:35.536Z,1755881075.536 [DAT](INFO): DAT read: Tx time:16:44:36.6470

2025-08-22T16:44:35.536Z,1755881075.536 [DAT](INFO): Ping request sent.
2025-08-22T16:44:35.536Z,1755881075.536 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:35.536Z,1755881075.536 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:44:35.537Z,1755881075.537 [DAT](INFO): direction in FSK: [0.951180,-0.131987,0.278991]
2025-08-22T16:44:35.538Z,1755881075.538 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:35.538Z,1755881075.538 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:35.541Z,1755881075.541 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:35.541Z,1755881075.541 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:35.553Z,1755881075.553 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.016589
2025-08-22T16:44:35.774Z,1755881075.774 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.238430
2025-08-22T16:44:35.793Z,1755881075.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 3.526763 s,
      deltaX: -1.500000 m,
      approachRate: -0.425319 m/s,
      rangeRepo size: 4

2025-08-22T16:44:35.795Z,1755881075.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.651865 m,
      bearing: 335.330425 deg,
      lat: 36.779443 deg,
      lon: -121.859648 deg,
      deltaT: 10.584565 s,
      deltaX: -4.571382 m,
      approachRate: -0.431891 m/s,
      posRepo size: 4

2025-08-22T16:44:35.796Z,1755881075.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.65 m. 12.22 m.
2025-08-22T16:44:35.815Z,1755881075.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.963110 m,
      bearing: 349.944611 deg,
      approach rate: -0.441516 m/s,
      LOS rate: 0.548662 deg/s,
      cmd heading: 351.787937 deg,
      new cmd heading: 352.241319 deg.

2025-08-22T16:44:35.816Z,1755881075.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147771 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:36.026Z,1755881076.026 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.490556
2025-08-22T16:44:36.183Z,1755881076.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:36.203Z,1755881076.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:36.205Z,1755881076.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.787951 m,
      bearing: 350.221382 deg,
      approach rate: -0.427691 m/s,
      LOS rate: 0.693234 deg/s,
      cmd heading: 352.241325 deg,
      new cmd heading: 352.809130 deg.

2025-08-22T16:44:36.214Z,1755881076.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157681 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:36.282Z,1755881076.282 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.745091
2025-08-22T16:44:36.531Z,1755881076.531 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.994570
2025-08-22T16:44:36.642Z,1755881076.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:36.645Z,1755881076.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.586932 m,
      bearing: 350.520313 deg,
      approach rate: -0.457577 m/s,
      LOS rate: 0.701218 deg/s,
      cmd heading: 352.809132 deg,
      new cmd heading: 353.425214 deg.

2025-08-22T16:44:36.646Z,1755881076.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168434 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:36.783Z,1755881076.783 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.246947
2025-08-22T16:44:37.021Z,1755881077.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:37.024Z,1755881077.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.420619 m,
      bearing: 350.770652 deg,
      approach rate: -0.438477 m/s,
      LOS rate: 0.677104 deg/s,
      cmd heading: 353.425215 deg,
      new cmd heading: 353.938846 deg.

2025-08-22T16:44:37.025Z,1755881077.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177398 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:37.035Z,1755881077.035 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.498731
2025-08-22T16:44:37.290Z,1755881077.290 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.753296
2025-08-22T16:44:37.438Z,1755881077.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:37.440Z,1755881077.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.231460 m,
      bearing: 351.019092 deg,
      approach rate: -0.454394 m/s,
      LOS rate: 0.614911 deg/s,
      cmd heading: 353.938846 deg,
      new cmd heading: 354.450793 deg.

2025-08-22T16:44:37.442Z,1755881077.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186333 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:37.540Z,1755881077.540 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.003499
2025-08-22T16:44:37.791Z,1755881077.791 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.254681
2025-08-22T16:44:37.848Z,1755881077.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:37.851Z,1755881077.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 6.046776 m,
      bearing: 351.276818 deg,
      approach rate: -0.449968 m/s,
      LOS rate: 0.647105 deg/s,
      cmd heading: 354.450782 deg,
      new cmd heading: 354.981960 deg.

2025-08-22T16:44:37.852Z,1755881077.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195604 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:38.043Z,1755881078.043 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.507024
2025-08-22T16:44:38.240Z,1755881078.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:38.242Z,1755881078.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:38.245Z,1755881078.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 5.866226 m,
      bearing: 351.544648 deg,
      approach rate: -0.457617 m/s,
      LOS rate: 0.699727 deg/s,
      cmd heading: 354.981952 deg,
      new cmd heading: 355.534080 deg.

2025-08-22T16:44:38.246Z,1755881078.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205240 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:38.300Z,1755881078.300 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.763599
2025-08-22T16:44:38.547Z,1755881078.547 [DAT](INFO): DAT read: Rx Time:16:44:39.0595

2025-08-22T16:44:38.547Z,1755881078.547 [DAT](INFO): Rx dataTimestamp_ set to:1755881078.546793
2025-08-22T16:44:38.548Z,1755881078.548 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.011707
2025-08-22T16:44:38.680Z,1755881078.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:38.683Z,1755881078.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 5.666831 m,
      bearing: 351.845914 deg,
      approach rate: -0.455256 m/s,
      LOS rate: 0.712043 deg/s,
      cmd heading: 355.534077 deg,
      new cmd heading: 356.157781 deg.

2025-08-22T16:44:38.684Z,1755881078.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216126 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:38.799Z,1755881078.799 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.262602
2025-08-22T16:44:39.028Z,1755881079.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:39.038Z,1755881079.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 5.508162 m,
      bearing: 352.043701 deg,
      approach rate: -0.456935 m/s,
      LOS rate: 0.585994 deg/s,
      cmd heading: 356.157783 deg,
      new cmd heading: 356.564744 deg.

2025-08-22T16:44:39.039Z,1755881079.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223229 target range: 12.223247 and range: 7.70 m.
2025-08-22T16:44:39.056Z,1755881079.056 [DAT](INFO): DAT read: 16:44:39.0595 LVL= 18544, 21841, 23378, 32755, AGC= 49, IDX= 417, 0.06,-2.245, 2.548,-1.251,-2.196, PHS= 0.053,-1.494, 0.901, RAW= 170.4,   5.2, CAL= 169.7,   4.0, ROT= 340.3,  -4.0

2025-08-22T16:44:39.058Z,1755881079.058 [DAT](INFO): got valid direction response:
 16:44:39.0595 LVL= 18544, 21841, 23378, 32755, AGC= 49, IDX= 417, 0.06,-2.245, 2.548,-1.251,-2.196, PHS= 0.053,-1.494, 0.901, RAW= 170.4,   5.2, CAL= 169.7,   4.0, ROT= 340.3,  -4.0

2025-08-22T16:44:39.059Z,1755881079.059 [DAT](INFO): DAT read: Bearing 153.5, -16.5 (Local)

2025-08-22T16:44:39.059Z,1755881079.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -16.5 (Local)

2025-08-22T16:44:39.060Z,1755881079.060 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed  0.4 m/s

2025-08-22T16:44:39.061Z,1755881079.061 [DAT](INFO): DAT read: user:266>

2025-08-22T16:44:39.062Z,1755881079.062 [DAT](INFO): DAT read: Tx time:16:44:40.1470

2025-08-22T16:44:39.062Z,1755881079.062 [DAT](INFO): Ping request sent.
2025-08-22T16:44:39.062Z,1755881079.062 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:39.063Z,1755881079.063 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:44:39.064Z,1755881079.064 [DAT](INFO): direction in FSK: [0.939177,-0.336274,0.069756]
2025-08-22T16:44:39.064Z,1755881079.064 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:39.064Z,1755881079.064 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:39.071Z,1755881079.071 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:39.072Z,1755881079.072 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:39.083Z,1755881079.083 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.020726
2025-08-22T16:44:39.306Z,1755881079.306 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.242637
2025-08-22T16:44:39.498Z,1755881079.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 3.527804 s,
      deltaX: -1.500000 m,
      approachRate: -0.425194 m/s,
      rangeRepo size: 4

2025-08-22T16:44:39.506Z,1755881079.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.161240 m,
      bearing: 328.920025 deg,
      lat: 36.779443 deg,
      lon: -121.859655 deg,
      deltaT: 14.112369 s,
      deltaX: -6.062006 m,
      approachRate: -0.429553 m/s,
      posRepo size: 4

2025-08-22T16:44:39.507Z,1755881079.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 12.22 m.
2025-08-22T16:44:39.514Z,1755881079.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 5.302341 m,
      bearing: 352.252492 deg,
      approach rate: -0.441516 m/s,
      LOS rate: 0.548662 deg/s,
      cmd heading: 356.564753 deg,
      new cmd heading: 357.074865 deg.

2025-08-22T16:44:39.515Z,1755881079.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232132 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:39.555Z,1755881079.555 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.492449
2025-08-22T16:44:39.806Z,1755881079.806 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.744131
2025-08-22T16:44:39.851Z,1755881079.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:39.858Z,1755881079.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 5.118781 m,
      bearing: 352.432159 deg,
      approach rate: -0.511540 m/s,
      LOS rate: 0.518643 deg/s,
      cmd heading: 357.074859 deg,
      new cmd heading: 357.447072 deg.

2025-08-22T16:44:39.859Z,1755881079.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238628 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:40.059Z,1755881080.059 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.996214
2025-08-22T16:44:40.244Z,1755881080.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:40.247Z,1755881080.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:40.266Z,1755881080.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 4.931893 m,
      bearing: 352.605448 deg,
      approach rate: -0.472467 m/s,
      LOS rate: 0.454688 deg/s,
      cmd heading: 357.447077 deg,
      new cmd heading: 357.806783 deg.

2025-08-22T16:44:40.267Z,1755881080.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244906 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:40.315Z,1755881080.315 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.252421
2025-08-22T16:44:40.564Z,1755881080.564 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.501562
2025-08-22T16:44:40.740Z,1755881080.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:40.747Z,1755881080.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 4.723595 m,
      bearing: 352.736381 deg,
      approach rate: -0.422582 m/s,
      LOS rate: 0.277342 deg/s,
      cmd heading: 357.806782 deg,
      new cmd heading: 358.080193 deg.

2025-08-22T16:44:40.748Z,1755881080.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249678 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:40.815Z,1755881080.815 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.752310
2025-08-22T16:44:41.066Z,1755881081.066 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.004111
2025-08-22T16:44:41.175Z,1755881081.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:41.183Z,1755881081.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 4.504457 m,
      bearing: 352.828022 deg,
      approach rate: -0.524974 m/s,
      LOS rate: 0.230219 deg/s,
      cmd heading: 358.080180 deg,
      new cmd heading: 358.272378 deg.

2025-08-22T16:44:41.184Z,1755881081.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253033 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:41.321Z,1755881081.321 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.258860
2025-08-22T16:44:41.571Z,1755881081.571 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.508289
2025-08-22T16:44:41.586Z,1755881081.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:41.588Z,1755881081.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 4.309256 m,
      bearing: 352.853299 deg,
      approach rate: -0.455810 m/s,
      LOS rate: 0.061697 deg/s,
      cmd heading: 358.272382 deg,
      new cmd heading: 358.325226 deg.

2025-08-22T16:44:41.590Z,1755881081.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253955 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:41.823Z,1755881081.823 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.760887
2025-08-22T16:44:42.013Z,1755881082.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:42.015Z,1755881082.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 4.115014 m,
      bearing: 352.856107 deg,
      approach rate: -0.454798 m/s,
      LOS rate: 0.006886 deg/s,
      cmd heading: 358.325220 deg,
      new cmd heading: 358.331102 deg.

2025-08-22T16:44:42.016Z,1755881082.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254057 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:42.075Z,1755881082.075 [DAT](INFO): DAT read: Rx Time:16:44:42.5577

2025-08-22T16:44:42.076Z,1755881082.076 [DAT](INFO): Rx dataTimestamp_ set to:1755881082.075229
2025-08-22T16:44:42.076Z,1755881082.076 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.013756
2025-08-22T16:44:42.327Z,1755881082.327 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.264234
2025-08-22T16:44:42.528Z,1755881082.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:42.530Z,1755881082.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:42.533Z,1755881082.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 3.882448 m,
      bearing: 352.801717 deg,
      approach rate: -0.449092 m/s,
      LOS rate: -0.111321 deg/s,
      cmd heading: 358.331094 deg,
      new cmd heading: 358.215798 deg.

2025-08-22T16:44:42.534Z,1755881082.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252045 target range: 12.223247 and range: 6.20 m.
2025-08-22T16:44:42.588Z,1755881082.588 [DAT](INFO): DAT read: 16:44:42.5577 LVL= 28768, 27921, 19890, 32387, AGC= 51, IDX= 414,-0.35,-2.624, 1.622,-2.580,-2.604, PHS= 0.082,-2.013,-0.020, RAW= 147.5,  18.6, CAL= 148.1,  21.4, ROT=   1.9, -21.4

2025-08-22T16:44:42.589Z,1755881082.589 [DAT](INFO): got valid direction response:
 16:44:42.5577 LVL= 28768, 27921, 19890, 32387, AGC= 51, IDX= 414,-0.35,-2.624, 1.622,-2.580,-2.604, PHS= 0.082,-2.013,-0.020, RAW= 147.5,  18.6, CAL= 148.1,  21.4, ROT=   1.9, -21.4

2025-08-22T16:44:42.592Z,1755881082.592 [DAT](INFO): DAT read: Bearing 173.2,   7.8 (Local)

2025-08-22T16:44:42.592Z,1755881082.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.2,   7.8 (Local)

2025-08-22T16:44:42.594Z,1755881082.594 [DAT](INFO): DAT read: Range 11 to 50 : 4.9 m  (Round-trip  6.6 ms) speed  0.3 m/s

2025-08-22T16:44:42.595Z,1755881082.595 [DAT](INFO): DAT read: user:267>

2025-08-22T16:44:42.596Z,1755881082.596 [DAT](INFO): DAT read: Tx time:16:44:43.6469

2025-08-22T16:44:42.596Z,1755881082.596 [DAT](INFO): Ping request sent.
2025-08-22T16:44:42.596Z,1755881082.596 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:42.596Z,1755881082.596 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T16:44:42.597Z,1755881082.597 [DAT](INFO): direction in FSK: [0.930544,0.030869,0.364877]
2025-08-22T16:44:42.598Z,1755881082.598 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:42.598Z,1755881082.598 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:42.601Z,1755881082.601 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:42.601Z,1755881082.601 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:42.606Z,1755881082.606 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.009361
2025-08-22T16:44:42.830Z,1755881082.830 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.234466
2025-08-22T16:44:42.903Z,1755881082.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.900000 m,
      deltaT: 3.528531 s,
      deltaX: -1.300000 m,
      approachRate: -0.368425 m/s,
      rangeRepo size: 4

2025-08-22T16:44:42.905Z,1755881082.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.869373 m,
      bearing: 352.998281 deg,
      lat: 36.779443 deg,
      lon: -121.859655 deg,
      deltaT: 17.640900 s,
      deltaX: -7.353873 m,
      approachRate: -0.416865 m/s,
      posRepo size: 4

2025-08-22T16:44:42.910Z,1755881082.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.87 m. 12.22 m.
2025-08-22T16:44:42.916Z,1755881082.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 3.715096 m,
      bearing: 352.737441 deg,
      approach rate: -0.441516 m/s,
      LOS rate: 0.548662 deg/s,
      cmd heading: 358.215801 deg,
      new cmd heading: 358.619248 deg.

2025-08-22T16:44:42.918Z,1755881082.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259087 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:43.083Z,1755881083.083 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.487106
2025-08-22T16:44:43.275Z,1755881083.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:43.278Z,1755881083.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 3.536616 m,
      bearing: 352.638364 deg,
      approach rate: -0.473579 m/s,
      LOS rate: -0.276159 deg/s,
      cmd heading: 358.619246 deg,
      new cmd heading: 358.411092 deg.

2025-08-22T16:44:43.279Z,1755881083.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255454 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:43.336Z,1755881083.336 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.740003
2025-08-22T16:44:43.587Z,1755881083.587 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.990606
2025-08-22T16:44:43.695Z,1755881083.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:43.697Z,1755881083.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 3.345823 m,
      bearing: 352.462775 deg,
      approach rate: -0.454742 m/s,
      LOS rate: -0.442368 deg/s,
      cmd heading: 358.411089 deg,
      new cmd heading: 358.039892 deg.

2025-08-22T16:44:43.698Z,1755881083.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248975 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:43.839Z,1755881083.839 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.243232
2025-08-22T16:44:44.069Z,1755881084.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:44.071Z,1755881084.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 3.182185 m,
      bearing: 352.274187 deg,
      approach rate: -0.437346 m/s,
      LOS rate: -0.529946 deg/s,
      cmd heading: 358.039882 deg,
      new cmd heading: 357.643318 deg.

2025-08-22T16:44:44.072Z,1755881084.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242054 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:44.091Z,1755881084.091 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.495392
2025-08-22T16:44:44.343Z,1755881084.343 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.746950
2025-08-22T16:44:44.531Z,1755881084.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:44.538Z,1755881084.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.983722 m,
      bearing: 352.034822 deg,
      approach rate: -0.429107 m/s,
      LOS rate: -0.551967 deg/s,
      cmd heading: 357.643322 deg,
      new cmd heading: 357.132763 deg.

2025-08-22T16:44:44.539Z,1755881084.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233142 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:44.596Z,1755881084.596 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.999438
2025-08-22T16:44:44.846Z,1755881084.846 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.250563
2025-08-22T16:44:44.879Z,1755881084.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:44.882Z,1755881084.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:44.884Z,1755881084.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.821378 m,
      bearing: 351.795755 deg,
      approach rate: -0.463508 m/s,
      LOS rate: -0.721829 deg/s,
      cmd heading: 357.132751 deg,
      new cmd heading: 356.627120 deg.

2025-08-22T16:44:44.885Z,1755881084.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224318 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:45.101Z,1755881085.101 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.505460
2025-08-22T16:44:45.186Z,1755881085.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:44:45.279Z,1755881085.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:45.282Z,1755881085.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.645240 m,
      bearing: 351.483689 deg,
      approach rate: -0.443236 m/s,
      LOS rate: -0.837572 deg/s,
      cmd heading: 356.627126 deg,
      new cmd heading: 355.961469 deg.

2025-08-22T16:44:45.283Z,1755881085.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212699 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:45.352Z,1755881085.352 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.755900
2025-08-22T16:44:45.602Z,1755881085.602 [DAT](INFO): DAT read: Rx Time:16:44:46.0559

2025-08-22T16:44:45.603Z,1755881085.603 [DAT](INFO): Rx dataTimestamp_ set to:1755881085.602638
2025-08-22T16:44:45.603Z,1755881085.603 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.007560
2025-08-22T16:44:45.743Z,1755881085.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:45.762Z,1755881085.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.446404 m,
      bearing: 351.014866 deg,
      approach rate: -0.428354 m/s,
      LOS rate: -1.092067 deg/s,
      cmd heading: 355.961456 deg,
      new cmd heading: 354.947717 deg.

2025-08-22T16:44:45.766Z,1755881085.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195006 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:45.855Z,1755881085.855 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.259200
2025-08-22T16:44:46.090Z,1755881086.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:46.092Z,1755881086.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.279377 m,
      bearing: 350.540634 deg,
      approach rate: -0.482310 m/s,
      LOS rate: -1.469731 deg/s,
      cmd heading: 354.947719 deg,
      new cmd heading: 353.929873 deg.

2025-08-22T16:44:46.093Z,1755881086.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177242 target range: 12.223247 and range: 4.90 m.
2025-08-22T16:44:46.107Z,1755881086.107 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m  (Round-trip  4.8 ms) speed  0.2 m/s

2025-08-22T16:44:46.108Z,1755881086.108 [DAT](INFO): DAT read: user:268>

2025-08-22T16:44:46.109Z,1755881086.109 [DAT](INFO): DAT read: Tx time:16:44:47.1469

2025-08-22T16:44:46.109Z,1755881086.109 [DAT](INFO): Ping request sent.
2025-08-22T16:44:46.109Z,1755881086.109 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:46.110Z,1755881086.110 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-22T16:44:46.110Z,1755881086.110 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:46.110Z,1755881086.110 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:46.111Z,1755881086.111 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.001996
2025-08-22T16:44:46.191Z,1755881086.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:44:46.358Z,1755881086.358 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.249230
2025-08-22T16:44:46.528Z,1755881086.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.527118 s,
      deltaX: -1.300000 m,
      approachRate: -0.368573 m/s,
      rangeRepo size: 4

2025-08-22T16:44:46.530Z,1755881086.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:46.532Z,1755881086.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 2.091126 m,
      bearing: 349.948241 deg,
      approach rate: -0.429116 m/s,
      LOS rate: -1.471897 deg/s,
      cmd heading: 353.929884 deg,
      new cmd heading: 352.638681 deg.

2025-08-22T16:44:46.533Z,1755881086.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154706 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:46.611Z,1755881086.611 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.501738
2025-08-22T16:44:46.863Z,1755881086.863 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.753271
2025-08-22T16:44:46.907Z,1755881086.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:46.910Z,1755881086.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:46.913Z,1755881086.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.927995 m,
      bearing: 349.330469 deg,
      approach rate: -0.427422 m/s,
      LOS rate: -1.755549 deg/s,
      cmd heading: 352.638678 deg,
      new cmd heading: 351.298863 deg.

2025-08-22T16:44:46.926Z,1755881086.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131322 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:47.114Z,1755881087.114 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.005205
2025-08-22T16:44:47.300Z,1755881087.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:47.303Z,1755881087.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.761289 m,
      bearing: 348.572457 deg,
      approach rate: -0.427673 m/s,
      LOS rate: -2.128629 deg/s,
      cmd heading: 351.298868 deg,
      new cmd heading: 349.639865 deg.

2025-08-22T16:44:47.303Z,1755881087.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102367 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:47.371Z,1755881087.371 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.262045
2025-08-22T16:44:47.623Z,1755881087.623 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.513803
2025-08-22T16:44:47.727Z,1755881087.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:47.730Z,1755881087.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.574693 m,
      bearing: 347.581421 deg,
      approach rate: -0.436161 m/s,
      LOS rate: -2.590871 deg/s,
      cmd heading: 349.639870 deg,
      new cmd heading: 347.424143 deg.

2025-08-22T16:44:47.731Z,1755881087.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063695 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:47.875Z,1755881087.875 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.765264
2025-08-22T16:44:48.110Z,1755881088.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:48.113Z,1755881088.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.408450 m,
      bearing: 346.477642 deg,
      approach rate: -0.434647 m/s,
      LOS rate: -3.226297 deg/s,
      cmd heading: 347.424129 deg,
      new cmd heading: 344.957685 deg.

2025-08-22T16:44:48.114Z,1755881088.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020648 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:48.127Z,1755881088.127 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.018048
2025-08-22T16:44:48.379Z,1755881088.379 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.269665
2025-08-22T16:44:48.561Z,1755881088.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:48.564Z,1755881088.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.218593 m,
      bearing: 344.906583 deg,
      approach rate: -0.435967 m/s,
      LOS rate: -4.169150 deg/s,
      cmd heading: 344.957693 deg,
      new cmd heading: 341.331338 deg.

2025-08-22T16:44:48.565Z,1755881088.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957355 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:48.631Z,1755881088.631 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.521757
2025-08-22T16:44:48.882Z,1755881088.882 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.773240
2025-08-22T16:44:48.924Z,1755881088.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:48.927Z,1755881088.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:48.930Z,1755881088.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 1.053225 m,
      bearing: 343.097379 deg,
      approach rate: -0.433309 m/s,
      LOS rate: -5.484006 deg/s,
      cmd heading: 341.331327 deg,
      new cmd heading: 337.152907 deg.

2025-08-22T16:44:48.931Z,1755881088.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884429 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:49.135Z,1755881089.135 [DAT](INFO): DAT read: Rx Time:16:44:49.5547

2025-08-22T16:44:49.135Z,1755881089.135 [DAT](INFO): Rx dataTimestamp_ set to:1755881089.134750
2025-08-22T16:44:49.136Z,1755881089.136 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.026348
2025-08-22T16:44:49.338Z,1755881089.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 12.22 m. 12.22 m.
2025-08-22T16:44:49.341Z,1755881089.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.223247 m,
      nav range: 0.876469 m,
      bearing: 340.383268 deg,
      approach rate: -0.430206 m/s,
      LOS rate: -7.935103 deg/s,
      cmd heading: 337.152918 deg,
      new cmd heading: 330.660371 deg.

2025-08-22T16:44:49.342Z,1755881089.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771112 target range: 12.223247 and range: 3.60 m.
2025-08-22T16:44:49.387Z,1755881089.387 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.277948
2025-08-22T16:44:49.644Z,1755881089.644 [DAT](INFO): DAT read: 16:44:49.5547 LVL= 32752, 27345, 32754, 32755, AGC= 55, IDX= 433,-0.29, 1.396, 1.679, 2.543,-2.980, PHS=-1.806,-1.579,-0.804, RAW= 222.5,  58.5, CAL= 222.7,  64.6, ROT= 287.3, -64.6

2025-08-22T16:44:49.646Z,1755881089.646 [DAT](INFO): got valid direction response:
 16:44:49.5547 LVL= 32752, 27345, 32754, 32755, AGC= 55, IDX= 433,-0.29, 1.396, 1.679, 2.543,-2.980, PHS=-1.806,-1.579,-0.804, RAW= 222.5,  58.5, CAL= 222.7,  64.6, ROT= 287.3, -64.6

2025-08-22T16:44:49.647Z,1755881089.647 [DAT](INFO): DAT read: Bearing 237.2, -21.6 (Local)

2025-08-22T16:44:49.647Z,1755881089.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.2, -21.6 (Local)

2025-08-22T16:44:49.648Z,1755881089.648 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.7 ms) speed  0.2 m/s

2025-08-22T16:44:49.649Z,1755881089.649 [DAT](INFO): DAT read: user:269>

2025-08-22T16:44:49.650Z,1755881089.650 [DAT](INFO): DAT read: Tx time:16:44:50.6469

2025-08-22T16:44:49.650Z,1755881089.650 [DAT](INFO): Ping request sent.
2025-08-22T16:44:49.650Z,1755881089.650 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:49.650Z,1755881089.650 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T16:44:49.651Z,1755881089.651 [DAT](INFO): direction in FSK: [0.127555,-0.409530,0.903335]
2025-08-22T16:44:49.652Z,1755881089.652 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:49.652Z,1755881089.652 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:49.655Z,1755881089.655 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:49.655Z,1755881089.655 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:49.659Z,1755881089.659 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.008437
2025-08-22T16:44:49.807Z,1755881089.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.531911 s,
      deltaX: -0.900000 m,
      approachRate: -0.254820 m/s,
      rangeRepo size: 4

2025-08-22T16:44:49.809Z,1755881089.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.683006 m,
      bearing: 277.013934 deg,
      lat: 36.779443 deg,
      lon: -121.859658 deg,
      deltaT: 24.699929 s,
      deltaX: -9.540241 m,
      approachRate: -0.386246 m/s,
      posRepo size: 4

2025-08-22T16:44:49.814Z,1755881089.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-08-22T16:44:49.814Z,1755881089.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T16:44:49.895Z,1755881089.895 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.245292
2025-08-22T16:44:50.146Z,1755881090.146 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.496336
2025-08-22T16:44:50.399Z,1755881090.399 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.748671
2025-08-22T16:44:50.651Z,1755881090.651 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.000590
2025-08-22T16:44:50.902Z,1755881090.902 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.252421
2025-08-22T16:44:50.969Z,1755881090.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:51.155Z,1755881091.155 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.505230
2025-08-22T16:44:51.407Z,1755881091.407 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.757135
2025-08-22T16:44:51.658Z,1755881091.658 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.008405
2025-08-22T16:44:51.911Z,1755881091.911 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.260444
2025-08-22T16:44:52.163Z,1755881092.163 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.513334
2025-08-22T16:44:52.414Z,1755881092.414 [DAT](INFO): DAT read: Rx Time:16:44:53.0543

2025-08-22T16:44:52.415Z,1755881092.415 [DAT](INFO): Rx dataTimestamp_ set to:1755881092.414675
2025-08-22T16:44:52.415Z,1755881092.415 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.765449
2025-08-22T16:44:52.668Z,1755881092.668 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.017707
2025-08-22T16:44:52.922Z,1755881092.922 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.270846
2025-08-22T16:44:52.999Z,1755881092.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:53.178Z,1755881093.178 [DAT](INFO): DAT read: 16:44:53.0543 LVL= 32752, 32689, 32754, 32755, AGC= 49, IDX= 430, 0.30,-2.229,-0.955,-0.391,-0.262, PHS=-1.865,-0.648,-0.174, RAW= 254.2,  32.2, CAL= 257.0,  41.3, ROT= 253.0, -41.3

2025-08-22T16:44:53.180Z,1755881093.180 [DAT](INFO): got valid direction response:
 16:44:53.0543 LVL= 32752, 32689, 32754, 32755, AGC= 49, IDX= 430, 0.30,-2.229,-0.955,-0.391,-0.262, PHS=-1.865,-0.648,-0.174, RAW= 254.2,  32.2, CAL= 257.0,  41.3, ROT= 253.0, -41.3

2025-08-22T16:44:53.181Z,1755881093.181 [DAT](INFO): DAT read: Bearing 257.4, -50.0 (Local)

2025-08-22T16:44:53.182Z,1755881093.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.4, -50.0 (Local)

2025-08-22T16:44:53.184Z,1755881093.184 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed -0.2 m/s

2025-08-22T16:44:53.185Z,1755881093.185 [DAT](INFO): DAT read: user:270>

2025-08-22T16:44:53.186Z,1755881093.186 [DAT](INFO): DAT read: Tx time:16:44:54.1469

2025-08-22T16:44:53.186Z,1755881093.186 [DAT](INFO): Ping request sent.
2025-08-22T16:44:53.186Z,1755881093.186 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:53.187Z,1755881093.187 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T16:44:53.188Z,1755881093.188 [DAT](INFO): direction in FSK: [-0.219649,-0.718437,0.660002]
2025-08-22T16:44:53.189Z,1755881093.189 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:53.189Z,1755881093.189 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:53.193Z,1755881093.193 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:53.193Z,1755881093.193 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:53.210Z,1755881093.210 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.018928
2025-08-22T16:44:53.384Z,1755881093.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 3.532111 s,
      deltaX: -0.300000 m,
      approachRate: -0.084935 m/s,
      rangeRepo size: 4

2025-08-22T16:44:53.389Z,1755881093.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.384852 m,
      bearing: 238.910765 deg,
      lat: 36.779443 deg,
      lon: -121.859664 deg,
      deltaT: 3.532111 s,
      deltaX: -0.298153 m,
      approachRate: -0.084412 m/s,
      posRepo size: 4

2025-08-22T16:44:53.423Z,1755881093.423 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.236134
2025-08-22T16:44:53.675Z,1755881093.675 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.488069
2025-08-22T16:44:53.927Z,1755881093.927 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.740065
2025-08-22T16:44:54.180Z,1755881094.180 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.993074
2025-08-22T16:44:54.431Z,1755881094.431 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.244117
2025-08-22T16:44:54.683Z,1755881094.683 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.496710
2025-08-22T16:44:54.936Z,1755881094.936 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.749406
2025-08-22T16:44:55.018Z,1755881095.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:55.187Z,1755881095.187 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.000896
2025-08-22T16:44:55.440Z,1755881095.440 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.253548
2025-08-22T16:44:55.691Z,1755881095.691 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.504114
2025-08-22T16:44:55.944Z,1755881095.944 [DAT](INFO): DAT read: Rx Time:16:44:56.5553

2025-08-22T16:44:55.944Z,1755881095.944 [DAT](INFO): Rx dataTimestamp_ set to:1755881095.943792
2025-08-22T16:44:55.946Z,1755881095.946 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.758838
2025-08-22T16:44:56.195Z,1755881096.195 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.008159
2025-08-22T16:44:56.470Z,1755881096.470 [DAT](INFO): DAT read: 16:44:56.5553 LVL= 32752, 19393, 16946, 32755, AGC= 44, IDX= 441,-0.38, 0.608, 2.431, 1.591, 2.151, PHS=-1.441, 0.325,-0.603, RAW= 301.7,  21.7, CAL= 301.2,  27.6, ROT= 208.8, -27.6

2025-08-22T16:44:56.471Z,1755881096.471 [DAT](INFO): got valid direction response:
 16:44:56.5553 LVL= 32752, 19393, 16946, 32755, AGC= 44, IDX= 441,-0.38, 0.608, 2.431, 1.591, 2.151, PHS=-1.441, 0.325,-0.603, RAW= 301.7,  21.7, CAL= 301.2,  27.6, ROT= 208.8, -27.6

2025-08-22T16:44:56.472Z,1755881096.472 [DAT](INFO): DAT read: Bearing 293.0, -29.1 (Local)

2025-08-22T16:44:56.473Z,1755881096.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.0, -29.1 (Local)

2025-08-22T16:44:56.474Z,1755881096.474 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed -0.3 m/s

2025-08-22T16:44:56.475Z,1755881096.475 [DAT](INFO): DAT read: user:271>

2025-08-22T16:44:56.476Z,1755881096.476 [DAT](INFO): DAT read: Tx time:16:44:57.6469

2025-08-22T16:44:56.476Z,1755881096.476 [DAT](INFO): Ping request sent.
2025-08-22T16:44:56.476Z,1755881096.476 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:44:56.476Z,1755881096.476 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T16:44:56.477Z,1755881096.477 [DAT](INFO): direction in FSK: [-0.776586,-0.426932,0.463296]
2025-08-22T16:44:56.478Z,1755881096.478 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:56.478Z,1755881096.478 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:56.481Z,1755881096.481 [DAT](INFO): publishing transmit ping time
2025-08-22T16:44:56.481Z,1755881096.481 [DAT](INFO): publishing direction and range info
2025-08-22T16:44:56.490Z,1755881096.490 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.013990
2025-08-22T16:44:56.699Z,1755881096.699 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.222726
2025-08-22T16:44:56.767Z,1755881096.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.279746 s,
      deltaX: 0.700000 m,
      approachRate: 0.213431 m/s,
      rangeRepo size: 4

2025-08-22T16:44:56.769Z,1755881096.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.080405 m,
      bearing: 190.166703 deg,
      lat: 36.779443 deg,
      lon: -121.859659 deg,
      deltaT: 3.279746 s,
      deltaX: 0.695553 m,
      approachRate: 0.212075 m/s,
      posRepo size: 4

2025-08-22T16:44:56.952Z,1755881096.952 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.476091
2025-08-22T16:44:57.006Z,1755881097.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-22T16:44:57.204Z,1755881097.204 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.727680
2025-08-22T16:44:57.417Z,1755881097.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:44:57.456Z,1755881097.456 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.979757
2025-08-22T16:44:57.706Z,1755881097.706 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.230546
2025-08-22T16:44:57.840Z,1755881097.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.10 m.
2025-08-22T16:44:57.960Z,1755881097.960 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.484390
2025-08-22T16:44:58.211Z,1755881098.211 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.734731
2025-08-22T16:44:58.218Z,1755881098.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-22T16:44:58.463Z,1755881098.463 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.987290
2025-08-22T16:44:58.684Z,1755881098.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.10 m.
2025-08-22T16:44:58.715Z,1755881098.715 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.238549
2025-08-22T16:44:58.971Z,1755881098.971 [DAT](INFO): DAT read: Rx Time:16:44:59.7817 

2025-08-22T16:44:58.973Z,1755881098.973 [DAT](INFO): Rx dataTimestamp_ set to:1755881098.971509
2025-08-22T16:44:58.977Z,1755881098.977 [DAT](INFO): DAT read: Bearing 294.7, -19.5 (Local)

2025-08-22T16:44:58.978Z,1755881098.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.7, -19.5 (Local)

2025-08-22T16:44:58.984Z,1755881098.984 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-08-22T16:44:58.989Z,1755881098.989 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-22T16:44:58.994Z,1755881098.994 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.516711
2025-08-22T16:44:59.156Z,1755881099.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 2.521748 s,
      deltaX: 1.100000 m,
      approachRate: 0.436205 m/s,
      rangeRepo size: 4

2025-08-22T16:44:59.158Z,1755881099.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.20 m.
2025-08-22T16:44:59.225Z,1755881099.225 [DAT](INFO): DAT read: 16:44:59.7817 LVL= 28512, 17201, 16866, 30195, AGC= 50, IDX= 182, 0.49,-2.170,-0.066,-1.411,-0.679, PHS=-1.389, 0.658,-0.776, RAW= 313.0,  16.3, CAL= 312.0,  21.4, ROT= 198.0, -21.4

2025-08-22T16:44:59.227Z,1755881099.227 [DAT](INFO): got valid direction response:
 16:44:59.7817 LVL= 28512, 17201, 16866, 30195, AGC= 50, IDX= 182, 0.49,-2.170,-0.066,-1.411,-0.679, PHS=-1.389, 0.658,-0.776, RAW= 313.0,  16.3, CAL= 312.0,  21.4, ROT= 198.0, -21.4

2025-08-22T16:44:59.227Z,1755881099.227 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-08-22T16:44:59.228Z,1755881099.228 [DAT](INFO): direction in FSK: [-0.885487,-0.287712,0.364877]
2025-08-22T16:44:59.234Z,1755881099.234 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.757456
2025-08-22T16:44:59.475Z,1755881099.475 [DAT](INFO): DAT read: Rx Time:16:45:00.2817 

2025-08-22T16:44:59.476Z,1755881099.476 [DAT](INFO): Rx dataTimestamp_ set to:1755881099.475294
2025-08-22T16:44:59.481Z,1755881099.481 [DAT](INFO): DAT read: Bearing 296.8, -22.9 (Local)

2025-08-22T16:44:59.482Z,1755881099.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.8, -22.9 (Local)

2025-08-22T16:44:59.489Z,1755881099.489 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.4

2025-08-22T16:44:59.492Z,1755881099.492 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-08-22T16:44:59.497Z,1755881099.497 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.020114
2025-08-22T16:44:59.678Z,1755881099.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503785 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:44:59.680Z,1755881099.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.173523 m,
      bearing: 174.518200 deg,
      lat: 36.779439 deg,
      lon: -121.859658 deg,
      deltaT: 3.025533 s,
      deltaX: 1.093119 m,
      approachRate: 0.361298 m/s,
      posRepo size: 4

2025-08-22T16:44:59.729Z,1755881099.729 [DAT](INFO): DAT read: 16:45:00.2817 LVL= 26864, 14785, 13602, 26051, AGC= 47, IDX= 503, 0.17,-0.572, 1.603, 0.307, 0.906, PHS=-1.376, 0.741,-0.643, RAW= 310.1,  13.6, CAL= 308.5,  18.3, ROT= 201.5, -18.3

2025-08-22T16:44:59.730Z,1755881099.730 [DAT](INFO): got valid direction response:
 16:45:00.2817 LVL= 26864, 14785, 13602, 26051, AGC= 47, IDX= 503, 0.17,-0.572, 1.603, 0.307, 0.906, PHS=-1.376, 0.741,-0.643, RAW= 310.1,  13.6, CAL= 308.5,  18.3, ROT= 201.5, -18.3

2025-08-22T16:44:59.730Z,1755881099.730 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-08-22T16:44:59.731Z,1755881099.731 [DAT](INFO): direction in FSK: [-0.883362,-0.347966,0.313992]
2025-08-22T16:44:59.735Z,1755881099.735 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.259288
2025-08-22T16:44:59.983Z,1755881099.983 [DAT](INFO): DAT read: Rx Time:16:45:00.7819 

2025-08-22T16:44:59.985Z,1755881099.985 [DAT](INFO): Rx dataTimestamp_ set to:1755881099.983676
2025-08-22T16:44:59.989Z,1755881099.989 [DAT](INFO): DAT read: Bearing 298.0, -19.8 (Local)

2025-08-22T16:44:59.990Z,1755881099.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.0, -19.8 (Local)

2025-08-22T16:44:59.997Z,1755881099.997 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.4

2025-08-22T16:45:00.008Z,1755881100.008 [DAT](INFO): DAT read: 16:45:00.7819 LVL= 28800, 17201, 15490, 29939, AGC= 49, IDX= 504, 0.43, 0.618, 2.831, 1.405, 2.070, PHS=-1.349, 0.807,-0.709, RAW= 313.2,  13.0, CAL= 311.8,  16.8, ROT= 198.2, -16.8

2025-08-22T16:45:00.017Z,1755881100.017 [DAT](INFO): got valid direction response:
 16:45:00.7819 LVL= 28800, 17201, 15490, 29939, AGC= 49, IDX= 504, 0.43, 0.618, 2.831, 1.405, 2.070, PHS=-1.349, 0.807,-0.709, RAW= 313.2,  13.0, CAL= 311.8,  16.8, ROT= 198.2, -16.8

2025-08-22T16:45:00.018Z,1755881100.018 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T16:45:00.019Z,1755881100.019 [DAT](INFO): direction in FSK: [-0.909427,-0.299004,0.289032]
2025-08-22T16:45:00.019Z,1755881100.019 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:00.027Z,1755881100.027 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.550889
2025-08-22T16:45:00.130Z,1755881100.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.508382 s,
      deltaX: 0.300000 m,
      approachRate: 0.590108 m/s,
      rangeRepo size: 4

2025-08-22T16:45:00.132Z,1755881100.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471665 m,
      bearing: 174.227124 deg,
      lat: 36.779439 deg,
      lon: -121.859658 deg,
      deltaT: 0.508382 s,
      deltaX: 0.298141 m,
      approachRate: 0.586452 m/s,
      posRepo size: 4

2025-08-22T16:45:00.132Z,1755881100.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-08-22T16:45:00.233Z,1755881100.233 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.756846
2025-08-22T16:45:00.382Z,1755881100.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:00.492Z,1755881100.492 [DAT](INFO): DAT read: Rx Time:16:45:01.2819 

2025-08-22T16:45:00.494Z,1755881100.494 [DAT](INFO): Rx dataTimestamp_ set to:1755881100.492330
2025-08-22T16:45:00.498Z,1755881100.498 [DAT](INFO): DAT read: Bearing 305.0, -30.8 (Local)

2025-08-22T16:45:00.498Z,1755881100.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0, -30.8 (Local)

2025-08-22T16:45:00.500Z,1755881100.500 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.4

2025-08-22T16:45:00.505Z,1755881100.505 [DAT](INFO): DAT read: 16:45:01.2819 LVL= 29392, 14033, 12370, 22163, AGC= 50, IDX= 505,-0.08,-2.540,-0.145,-1.345,-1.034, PHS=-1.403, 0.935,-0.355, RAW= 303.4,   8.2, CAL= 301.0,   8.8, ROT= 209.0,  -8.8

2025-08-22T16:45:00.506Z,1755881100.506 [DAT](INFO): got valid direction response:
 16:45:01.2819 LVL= 29392, 14033, 12370, 22163, AGC= 50, IDX= 505,-0.08,-2.540,-0.145,-1.345,-1.034, PHS=-1.403, 0.935,-0.355, RAW= 303.4,   8.2, CAL= 301.0,   8.8, ROT= 209.0,  -8.8

2025-08-22T16:45:00.506Z,1755881100.506 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T16:45:00.507Z,1755881100.507 [DAT](INFO): direction in FSK: [-0.864324,-0.479103,0.152986]
2025-08-22T16:45:00.507Z,1755881100.507 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:00.516Z,1755881100.516 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.040002
2025-08-22T16:45:00.739Z,1755881100.739 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.263457
2025-08-22T16:45:00.827Z,1755881100.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.508654 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:00.829Z,1755881100.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471702 m,
      bearing: 184.207066 deg,
      lat: 36.779438 deg,
      lon: -121.859659 deg,
      deltaT: 0.508654 s,
      deltaX: 0.000037 m,
      approachRate: 0.000072 m/s,
      posRepo size: 4

2025-08-22T16:45:00.997Z,1755881100.997 [DAT](INFO): DAT read: Rx Time:16:45:01.7822 

2025-08-22T16:45:00.999Z,1755881100.999 [DAT](INFO): Rx dataTimestamp_ set to:1755881100.998356
2025-08-22T16:45:00.000Z,1755881101.000 [DAT](INFO): DAT read: Bearing 298.9, -30.0 (Local)

2025-08-22T16:45:01.000Z,1755881101.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.9, -30.0 (Local)

2025-08-22T16:45:01.002Z,1755881101.002 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-08-22T16:45:01.007Z,1755881101.007 [DAT](INFO): DAT read: 16:45:01.7822 LVL= 27888, 16273, 16930, 24851, AGC= 50, IDX= 508,-0.28, 0.552, 2.913, 1.732, 2.117, PHS=-1.463, 0.842,-0.429, RAW= 303.4,  10.5, CAL= 300.9,  13.5, ROT= 209.1, -13.5

2025-08-22T16:45:01.008Z,1755881101.008 [DAT](INFO): got valid direction response:
 16:45:01.7822 LVL= 27888, 16273, 16930, 24851, AGC= 50, IDX= 508,-0.28, 0.552, 2.913, 1.732, 2.117, PHS=-1.463, 0.842,-0.429, RAW= 303.4,  10.5, CAL= 300.9,  13.5, ROT= 209.1, -13.5

2025-08-22T16:45:01.008Z,1755881101.008 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T16:45:01.009Z,1755881101.009 [DAT](INFO): direction in FSK: [-0.849630,-0.472898,0.233445]
2025-08-22T16:45:01.010Z,1755881101.010 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:01.013Z,1755881101.013 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.537058
2025-08-22T16:45:01.216Z,1755881101.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.506026 s,
      deltaX: 0.500000 m,
      approachRate: 0.988092 m/s,
      rangeRepo size: 4

2025-08-22T16:45:01.223Z,1755881101.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968557 m,
      bearing: 183.895946 deg,
      lat: 36.779438 deg,
      lon: -121.859659 deg,
      deltaT: 0.506026 s,
      deltaX: 0.496856 m,
      approachRate: 0.981878 m/s,
      posRepo size: 4

2025-08-22T16:45:01.243Z,1755881101.243 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.766732
2025-08-22T16:45:01.498Z,1755881101.498 [DAT](INFO): DAT read: Rx Time:16:45:02.2822 

2025-08-22T16:45:01.499Z,1755881101.499 [DAT](INFO): Rx dataTimestamp_ set to:1755881101.498545
2025-08-22T16:45:01.500Z,1755881101.500 [DAT](INFO): DAT read: Bearing 302.3, -34.9 (Local)

2025-08-22T16:45:01.500Z,1755881101.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.3, -34.9 (Local)

2025-08-22T16:45:01.503Z,1755881101.503 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.4

2025-08-22T16:45:01.507Z,1755881101.507 [DAT](INFO): DAT read: 16:45:02.2822 LVL= 29840, 19649, 19250, 27923, AGC= 51, IDX= 508,-0.02, 1.120,-2.725, 2.501, 2.720, PHS=-1.498, 0.883,-0.263, RAW= 298.8,   8.6, CAL= 296.3,   9.5, ROT= 213.7,  -9.5

2025-08-22T16:45:01.508Z,1755881101.508 [DAT](INFO): got valid direction response:
 16:45:02.2822 LVL= 29840, 19649, 19250, 27923, AGC= 51, IDX= 508,-0.02, 1.120,-2.725, 2.501, 2.720, PHS=-1.498, 0.883,-0.263, RAW= 298.8,   8.6, CAL= 296.3,   9.5, ROT= 213.7,  -9.5

2025-08-22T16:45:01.508Z,1755881101.508 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T16:45:01.510Z,1755881101.510 [DAT](INFO): direction in FSK: [-0.820544,-0.547235,0.165048]
2025-08-22T16:45:01.510Z,1755881101.510 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:01.513Z,1755881101.513 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.037340
2025-08-22T16:45:01.681Z,1755881101.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.500189 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:01.702Z,1755881101.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.968557 m,
      bearing: 188.512115 deg,
      lat: 36.779437 deg,
      lon: -121.859667 deg,
      deltaT: 0.500189 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:01.747Z,1755881101.747 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.270641
2025-08-22T16:45:01.000Z,1755881102.000 [DAT](INFO): DAT read: Rx Time:16:45:02.7824 

2025-08-22T16:45:02.000Z,1755881102.000 [DAT](INFO): Rx dataTimestamp_ set to:1755881101.999943
2025-08-22T16:45:02.002Z,1755881102.002 [DAT](INFO): DAT read: Bearing 303.1, -37.8 (Local)

2025-08-22T16:45:02.002Z,1755881102.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.1, -37.8 (Local)

2025-08-22T16:45:02.004Z,1755881102.004 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.4

2025-08-22T16:45:02.009Z,1755881102.009 [DAT](INFO): DAT read: 16:45:02.7824 LVL= 31152, 20273, 22002, 30131, AGC= 53, IDX= 510, 0.01, 0.988,-2.801, 2.512, 2.644, PHS=-1.555, 0.883,-0.176, RAW= 295.7,   8.1, CAL= 293.3,   8.3, ROT= 216.7,  -8.3

2025-08-22T16:45:02.010Z,1755881102.010 [DAT](INFO): got valid direction response:
 16:45:02.7824 LVL= 31152, 20273, 22002, 30131, AGC= 53, IDX= 510, 0.01, 0.988,-2.801, 2.512, 2.644, PHS=-1.555, 0.883,-0.176, RAW= 295.7,   8.1, CAL= 293.3,   8.3, ROT= 216.7,  -8.3

2025-08-22T16:45:02.010Z,1755881102.010 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T16:45:02.011Z,1755881102.011 [DAT](INFO): direction in FSK: [-0.793378,-0.591365,0.144356]
2025-08-22T16:45:02.011Z,1755881102.011 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:02.015Z,1755881102.015 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.539120
2025-08-22T16:45:02.212Z,1755881102.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.501398 s,
      deltaX: 0.300000 m,
      approachRate: 0.598327 m/s,
      rangeRepo size: 4

2025-08-22T16:45:02.218Z,1755881102.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.266678 m,
      bearing: 191.514659 deg,
      lat: 36.779436 deg,
      lon: -121.859668 deg,
      deltaT: 0.501398 s,
      deltaX: 0.298120 m,
      approachRate: 0.594579 m/s,
      posRepo size: 4

2025-08-22T16:45:02.251Z,1755881102.251 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.774679
2025-08-22T16:45:02.503Z,1755881102.503 [DAT](INFO): DAT read: Rx Time:16:45:03.2825 

2025-08-22T16:45:02.504Z,1755881102.504 [DAT](INFO): Rx dataTimestamp_ set to:1755881102.503664
2025-08-22T16:45:02.505Z,1755881102.505 [DAT](INFO): DAT read: Bearing 302.8, -33.4 (Local)

2025-08-22T16:45:02.506Z,1755881102.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.8, -33.4 (Local)

2025-08-22T16:45:02.508Z,1755881102.508 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.4

2025-08-22T16:45:02.512Z,1755881102.512 [DAT](INFO): DAT read: 16:45:03.2825 LVL= 29824, 19617, 26098, 29971, AGC= 54, IDX= 511,-0.46,-1.423, 1.063,-0.064, 0.178, PHS=-1.499, 0.930,-0.286, RAW= 300.0,   8.2, CAL= 297.6,   8.7, ROT= 212.4,  -8.7

2025-08-22T16:45:02.513Z,1755881102.513 [DAT](INFO): got valid direction response:
 16:45:03.2825 LVL= 29824, 19617, 26098, 29971, AGC= 54, IDX= 511,-0.46,-1.423, 1.063,-0.064, 0.178, PHS=-1.499, 0.930,-0.286, RAW= 300.0,   8.2, CAL= 297.6,   8.7, ROT= 212.4,  -8.7

2025-08-22T16:45:02.514Z,1755881102.514 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T16:45:02.515Z,1755881102.515 [DAT](INFO): direction in FSK: [-0.834613,-0.529661,0.151261]
2025-08-22T16:45:02.515Z,1755881102.515 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:02.523Z,1755881102.523 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.046572
2025-08-22T16:45:02.580Z,1755881102.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.503721 s,
      deltaX: 0.100000 m,
      approachRate: 0.198522 m/s,
      rangeRepo size: 4

2025-08-22T16:45:02.586Z,1755881102.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.366049 m,
      bearing: 186.305624 deg,
      lat: 36.779436 deg,
      lon: -121.859674 deg,
      deltaT: 0.503721 s,
      deltaX: 0.099371 m,
      approachRate: 0.197275 m/s,
      posRepo size: 4

2025-08-22T16:45:02.755Z,1755881102.755 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.278816
2025-08-22T16:45:02.919Z,1755881102.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:03.008Z,1755881103.008 [DAT](INFO): DAT read: Rx Time:16:45:03.7827 

2025-08-22T16:45:03.009Z,1755881103.009 [DAT](INFO): Rx dataTimestamp_ set to:1755881103.008118
2025-08-22T16:45:03.010Z,1755881103.010 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.4

2025-08-22T16:45:03.011Z,1755881103.011 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-08-22T16:45:03.013Z,1755881103.013 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.536491
2025-08-22T16:45:03.258Z,1755881103.258 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.782435
2025-08-22T16:45:03.311Z,1755881103.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504454 s,
      deltaX: 0.300000 m,
      approachRate: 0.594702 m/s,
      rangeRepo size: 4

2025-08-22T16:45:03.512Z,1755881103.512 [DAT](INFO): DAT read: Rx Time:16:45:04.2827 

2025-08-22T16:45:03.512Z,1755881103.512 [DAT](INFO): Rx dataTimestamp_ set to:1755881103.511930
2025-08-22T16:45:03.514Z,1755881103.514 [DAT](INFO): DAT read: Bearing 269.9, -31.3 (Local)

2025-08-22T16:45:03.514Z,1755881103.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.9, -31.3 (Local)

2025-08-22T16:45:03.516Z,1755881103.516 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.4

2025-08-22T16:45:03.520Z,1755881103.520 [DAT](INFO): DAT read: 16:45:04.2827 LVL= 25120, 12017, 17202, 23459, AGC= 53, IDX= 514,-0.08,-2.562,-0.669,-1.190,-0.602, PHS=-1.858,-0.022,-0.632, RAW= 289.0,  28.7, CAL= 291.2,  35.4, ROT= 218.8, -35.4

2025-08-22T16:45:03.521Z,1755881103.521 [DAT](INFO): got valid direction response:
 16:45:04.2827 LVL= 25120, 12017, 17202, 23459, AGC= 53, IDX= 514,-0.08,-2.562,-0.669,-1.190,-0.602, PHS=-1.858,-0.022,-0.632, RAW= 289.0,  28.7, CAL= 291.2,  35.4, ROT= 218.8, -35.4

2025-08-22T16:45:03.522Z,1755881103.522 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:45:03.523Z,1755881103.523 [DAT](INFO): direction in FSK: [-0.635260,-0.510762,0.579281]
2025-08-22T16:45:03.523Z,1755881103.523 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:03.536Z,1755881103.536 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.059232
2025-08-22T16:45:03.771Z,1755881103.771 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.294592
2025-08-22T16:45:03.802Z,1755881103.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.503812 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:03.804Z,1755881103.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.664274 m,
      bearing: 192.055253 deg,
      lat: 36.779436 deg,
      lon: -121.859675 deg,
      deltaT: 1.008266 s,
      deltaX: 0.298225 m,
      approachRate: 0.295780 m/s,
      posRepo size: 4

2025-08-22T16:45:04.024Z,1755881104.024 [DAT](INFO): DAT read: Rx Time:16:45:04.7829 

2025-08-22T16:45:04.024Z,1755881104.024 [DAT](INFO): Rx dataTimestamp_ set to:1755881104.024222
2025-08-22T16:45:04.026Z,1755881104.026 [DAT](INFO): DAT read: Bearing 302.4, -25.4 (Local)

2025-08-22T16:45:04.026Z,1755881104.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.4, -25.4 (Local)

2025-08-22T16:45:04.028Z,1755881104.028 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-08-22T16:45:04.033Z,1755881104.033 [DAT](INFO): DAT read: 16:45:04.7829 LVL= 18384, 14113, 24626, 19171, AGC= 59, IDX=   3, 0.42, 0.688,-3.016, 1.816, 2.259, PHS=-1.469, 1.053,-0.487, RAW= 307.3,   8.3, CAL= 305.1,   9.0, ROT= 204.9,  -9.0

2025-08-22T16:45:04.034Z,1755881104.034 [DAT](INFO): got valid direction response:
 16:45:04.7829 LVL= 18384, 14113, 24626, 19171, AGC= 59, IDX=   3, 0.42, 0.688,-3.016, 1.816, 2.259, PHS=-1.469, 1.053,-0.487, RAW= 307.3,   8.3, CAL= 305.1,   9.0, ROT= 204.9,  -9.0

2025-08-22T16:45:04.034Z,1755881104.034 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T16:45:04.035Z,1755881104.035 [DAT](INFO): direction in FSK: [-0.895877,-0.415852,0.156434]
2025-08-22T16:45:04.035Z,1755881104.035 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:04.056Z,1755881104.056 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.579761
2025-08-22T16:45:04.195Z,1755881104.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.512292 s,
      deltaX: 0.300000 m,
      approachRate: 0.585604 m/s,
      rangeRepo size: 4

2025-08-22T16:45:04.197Z,1755881104.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.962394 m,
      bearing: 178.115627 deg,
      lat: 36.779436 deg,
      lon: -121.859675 deg,
      deltaT: 0.512292 s,
      deltaX: 0.298120 m,
      approachRate: 0.581934 m/s,
      posRepo size: 4

2025-08-22T16:45:04.276Z,1755881104.276 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.799589
2025-08-22T16:45:04.527Z,1755881104.527 [DAT](INFO): DAT read: Rx Time:16:45:05.2829 

2025-08-22T16:45:04.528Z,1755881104.528 [DAT](INFO): Rx dataTimestamp_ set to:1755881104.527343
2025-08-22T16:45:04.529Z,1755881104.529 [DAT](INFO): DAT read: Bearing 305.1, -25.4 (Local)

2025-08-22T16:45:04.529Z,1755881104.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.1, -25.4 (Local)

2025-08-22T16:45:04.531Z,1755881104.531 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-08-22T16:45:04.536Z,1755881104.536 [DAT](INFO): DAT read: 16:45:05.2829 LVL= 29392, 20593, 30946, 29619, AGC= 58, IDX= 500,-0.15,-0.290, 2.297, 0.836, 1.229, PHS=-1.417, 1.113,-0.437, RAW= 307.4,   6.8, CAL= 305.1,   6.2, ROT= 204.9,  -6.2

2025-08-22T16:45:04.537Z,1755881104.537 [DAT](INFO): got valid direction response:
 16:45:05.2829 LVL= 29392, 20593, 30946, 29619, AGC= 58, IDX= 500,-0.15,-0.290, 2.297, 0.836, 1.229, PHS=-1.417, 1.113,-0.437, RAW= 307.4,   6.8, CAL= 305.1,   6.2, ROT= 204.9,  -6.2

2025-08-22T16:45:04.537Z,1755881104.537 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T16:45:04.538Z,1755881104.538 [DAT](INFO): direction in FSK: [-0.901739,-0.418573,0.107999]
2025-08-22T16:45:04.538Z,1755881104.538 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:04.555Z,1755881104.555 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.079001
2025-08-22T16:45:04.615Z,1755881104.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:04.617Z,1755881104.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.962394 m,
      bearing: 177.983469 deg,
      lat: 36.779436 deg,
      lon: -121.859675 deg,
      deltaT: 0.503121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:04.779Z,1755881104.779 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.303010
2025-08-22T16:45:05.031Z,1755881105.031 [DAT](INFO): DAT read: Rx Time:16:45:05.7832 

2025-08-22T16:45:05.032Z,1755881105.032 [DAT](INFO): Rx dataTimestamp_ set to:1755881105.031292
2025-08-22T16:45:05.033Z,1755881105.033 [DAT](INFO): DAT read: Bearing 310.6, -28.9 (Local)

2025-08-22T16:45:05.033Z,1755881105.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6, -28.9 (Local)

2025-08-22T16:45:05.035Z,1755881105.035 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.4

2025-08-22T16:45:05.040Z,1755881105.040 [DAT](INFO): DAT read: 16:45:05.7832 LVL= 32752, 17249, 28082, 30067, AGC= 58, IDX= 502, 0.05,-0.880, 1.721, 0.377, 0.592, PHS=-1.369, 1.174,-0.258, RAW= 304.2,   4.1, CAL= 301.8,   1.0, ROT= 208.2,  -1.0

2025-08-22T16:45:05.041Z,1755881105.041 [DAT](INFO): got valid direction response:
 16:45:05.7832 LVL= 32752, 17249, 28082, 30067, AGC= 58, IDX= 502, 0.05,-0.880, 1.721, 0.377, 0.592, PHS=-1.369, 1.174,-0.258, RAW= 304.2,   4.1, CAL= 301.8,   1.0, ROT= 208.2,  -1.0

2025-08-22T16:45:05.041Z,1755881105.041 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T16:45:05.042Z,1755881105.042 [DAT](INFO): direction in FSK: [-0.881169,-0.472479,0.017452]
2025-08-22T16:45:05.042Z,1755881105.042 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:05.046Z,1755881105.046 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.569841
2025-08-22T16:45:05.083Z,1755881105.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503949 s,
      deltaX: 0.300000 m,
      approachRate: 0.595299 m/s,
      rangeRepo size: 4

2025-08-22T16:45:05.084Z,1755881105.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.260557 m,
      bearing: 181.089450 deg,
      lat: 36.779436 deg,
      lon: -121.859675 deg,
      deltaT: 0.503949 s,
      deltaX: 0.298162 m,
      approachRate: 0.591652 m/s,
      posRepo size: 4

2025-08-22T16:45:05.282Z,1755881105.282 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.806510
2025-08-22T16:45:05.381Z,1755881105.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:05.535Z,1755881105.535 [DAT](INFO): DAT read: Rx Time:16:45:06.2832 

2025-08-22T16:45:05.536Z,1755881105.536 [DAT](INFO): Rx dataTimestamp_ set to:1755881105.535313
2025-08-22T16:45:05.537Z,1755881105.537 [DAT](INFO): DAT read: Bearing 312.0, -28.2 (Local)

2025-08-22T16:45:05.537Z,1755881105.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0, -28.2 (Local)

2025-08-22T16:45:05.539Z,1755881105.539 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.4

2025-08-22T16:45:05.544Z,1755881105.544 [DAT](INFO): DAT read: 16:45:06.2832 LVL= 32752, 20545, 30802, 31075, AGC= 56, IDX= 502, 0.29, 1.369,-2.383, 2.576, 2.764, PHS=-1.293, 1.181,-0.232, RAW= 304.7,   3.2, CAL= 302.4,  -0.4, ROT= 207.6,   0.4

2025-08-22T16:45:05.545Z,1755881105.545 [DAT](INFO): got valid direction response:
 16:45:06.2832 LVL= 32752, 20545, 30802, 31075, AGC= 56, IDX= 502, 0.29, 1.369,-2.383, 2.576, 2.764, PHS=-1.293, 1.181,-0.232, RAW= 304.7,   3.2, CAL= 302.4,  -0.4, ROT= 207.6,   0.4

2025-08-22T16:45:05.545Z,1755881105.545 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T16:45:05.546Z,1755881105.546 [DAT](INFO): direction in FSK: [-0.886182,-0.463285,-0.006981]
2025-08-22T16:45:05.546Z,1755881105.546 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:05.550Z,1755881105.550 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.074115
2025-08-22T16:45:05.787Z,1755881105.787 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.310718
2025-08-22T16:45:05.815Z,1755881105.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504021 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:05.817Z,1755881105.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.260578 m,
      bearing: 180.231625 deg,
      lat: 36.779437 deg,
      lon: -121.859677 deg,
      deltaT: 0.504021 s,
      deltaX: 0.000021 m,
      approachRate: 0.000042 m/s,
      posRepo size: 4

2025-08-22T16:45:06.040Z,1755881106.040 [DAT](INFO): DAT read: Rx Time:16:45:06.7834 

2025-08-22T16:45:06.041Z,1755881106.041 [DAT](INFO): Rx dataTimestamp_ set to:1755881106.040188
2025-08-22T16:45:06.042Z,1755881106.042 [DAT](INFO): DAT read: Bearing 312.0, -24.9 (Local)

2025-08-22T16:45:06.042Z,1755881106.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0, -24.9 (Local)

2025-08-22T16:45:06.044Z,1755881106.044 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed -0.4

2025-08-22T16:45:06.049Z,1755881106.049 [DAT](INFO): DAT read: 16:45:06.7834 LVL= 32752, 22065, 30002, 31427, AGC= 58, IDX= 505,-0.28,-2.966,-0.548,-1.920,-1.679, PHS=-1.185, 1.176,-0.285, RAW= 307.8,   2.9, CAL= 305.5,  -0.5, ROT= 204.5,   0.5

2025-08-22T16:45:06.050Z,1755881106.050 [DAT](INFO): got valid direction response:
 16:45:06.7834 LVL= 32752, 22065, 30002, 31427, AGC= 58, IDX= 505,-0.28,-2.966,-0.548,-1.920,-1.679, PHS=-1.185, 1.176,-0.285, RAW= 307.8,   2.9, CAL= 305.5,  -0.5, ROT= 204.5,   0.5

2025-08-22T16:45:06.050Z,1755881106.050 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:45:06.051Z,1755881106.051 [DAT](INFO): direction in FSK: [-0.909927,-0.414677,-0.008727]
2025-08-22T16:45:06.052Z,1755881106.052 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:06.101Z,1755881106.101 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.624893
2025-08-22T16:45:06.232Z,1755881106.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504875 s,
      deltaX: 0.500000 m,
      approachRate: 0.990344 m/s,
      rangeRepo size: 4

2025-08-22T16:45:06.243Z,1755881106.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.757449 m,
      bearing: 177.038478 deg,
      lat: 36.779435 deg,
      lon: -121.859675 deg,
      deltaT: 0.504875 s,
      deltaX: 0.496871 m,
      approachRate: 0.984147 m/s,
      posRepo size: 4

2025-08-22T16:45:06.291Z,1755881106.291 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.815000
2025-08-22T16:45:06.543Z,1755881106.543 [DAT](INFO): DAT read: Rx Time:16:45:07.2834 

2025-08-22T16:45:06.544Z,1755881106.544 [DAT](INFO): Rx dataTimestamp_ set to:1755881106.543396
2025-08-22T16:45:06.545Z,1755881106.545 [DAT](INFO): DAT read: Bearing 312.0, -22.1 (Local)

2025-08-22T16:45:06.545Z,1755881106.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0, -22.1 (Local)

2025-08-22T16:45:06.547Z,1755881106.547 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed -0.4

2025-08-22T16:45:06.552Z,1755881106.552 [DAT](INFO): DAT read: 16:45:07.2834 LVL= 32752, 20465, 29938, 31475, AGC= 56, IDX= 505, 0.13,-1.877, 0.455,-0.957,-0.674, PHS=-1.101, 1.174,-0.326, RAW= 310.4,   2.6, CAL= 308.1,  -0.6, ROT= 201.9,   0.6

2025-08-22T16:45:06.553Z,1755881106.553 [DAT](INFO): got valid direction response:
 16:45:07.2834 LVL= 32752, 20465, 29938, 31475, AGC= 56, IDX= 505, 0.13,-1.877, 0.455,-0.957,-0.674, PHS=-1.101, 1.174,-0.326, RAW= 310.4,   2.6, CAL= 308.1,  -0.6, ROT= 201.9,   0.6

2025-08-22T16:45:06.553Z,1755881106.553 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T16:45:06.554Z,1755881106.554 [DAT](INFO): direction in FSK: [-0.927785,-0.372967,-0.010472]
2025-08-22T16:45:06.555Z,1755881106.555 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:06.590Z,1755881106.590 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.114381
2025-08-22T16:45:06.691Z,1755881106.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.503208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:06.707Z,1755881106.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.757449 m,
      bearing: 174.353234 deg,
      lat: 36.779436 deg,
      lon: -121.859675 deg,
      deltaT: 0.503208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:06.796Z,1755881106.796 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.319714
2025-08-22T16:45:07.047Z,1755881107.047 [DAT](INFO): DAT read: Rx Time:16:45:07.7836 

2025-08-22T16:45:07.048Z,1755881107.048 [DAT](INFO): Rx dataTimestamp_ set to:1755881107.047315
2025-08-22T16:45:07.049Z,1755881107.049 [DAT](INFO): DAT read: Bearing 312.0, -20.1 (Local)

2025-08-22T16:45:07.049Z,1755881107.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0, -20.1 (Local)

2025-08-22T16:45:07.051Z,1755881107.051 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.4

2025-08-22T16:45:07.056Z,1755881107.056 [DAT](INFO): DAT read: 16:45:07.7836 LVL= 32752, 17649, 31730, 32099, AGC= 57, IDX= 507,-0.29,-2.222, 0.081,-1.376,-1.060, PHS=-1.060, 1.186,-0.361, RAW= 312.3,   2.4, CAL= 310.0,  -0.6, ROT= 200.0,   0.6

2025-08-22T16:45:07.057Z,1755881107.057 [DAT](INFO): got valid direction response:
 16:45:07.7836 LVL= 32752, 17649, 31730, 32099, AGC= 57, IDX= 507,-0.29,-2.222, 0.081,-1.376,-1.060, PHS=-1.060, 1.186,-0.361, RAW= 312.3,   2.4, CAL= 310.0,  -0.6, ROT= 200.0,   0.6

2025-08-22T16:45:07.057Z,1755881107.057 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T16:45:07.058Z,1755881107.058 [DAT](INFO): direction in FSK: [-0.939641,-0.342001,-0.010472]
2025-08-22T16:45:07.058Z,1755881107.058 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:07.066Z,1755881107.066 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.590135
2025-08-22T16:45:07.068Z,1755881107.068 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -70,  +49,A
2025-08-22T16:45:07.088Z,1755881107.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.503919 s,
      deltaX: 0.300000 m,
      approachRate: 0.595333 m/s,
      rangeRepo size: 4

2025-08-22T16:45:07.128Z,1755881107.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.055579 m,
      bearing: 172.355245 deg,
      lat: 36.779435 deg,
      lon: -121.859675 deg,
      deltaT: 0.503919 s,
      deltaX: 0.298131 m,
      approachRate: 0.591624 m/s,
      posRepo size: 4

2025-08-22T16:45:07.299Z,1755881107.299 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.822899
2025-08-22T16:45:07.504Z,1755881107.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:07.551Z,1755881107.551 [DAT](INFO): DAT read: Rx Time:16:45:08.2836 

2025-08-22T16:45:07.552Z,1755881107.552 [DAT](INFO): Rx dataTimestamp_ set to:1755881107.551363
2025-08-22T16:45:07.553Z,1755881107.553 [DAT](INFO): DAT read: Bearing 311.7, -18.9 (Local)

2025-08-22T16:45:07.553Z,1755881107.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7, -18.9 (Local)

2025-08-22T16:45:07.555Z,1755881107.555 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.4

2025-08-22T16:45:07.561Z,1755881107.561 [DAT](INFO): DAT read: 16:45:08.2836 LVL= 32752, 17073, 29618, 30803, AGC= 58, IDX= 507, 0.26,-2.238, 0.035,-1.441,-1.098, PHS=-1.038, 1.178,-0.386, RAW= 313.4,   2.5, CAL= 311.1,  -0.5, ROT= 198.9,   0.5

2025-08-22T16:45:07.563Z,1755881107.563 [DAT](INFO): got valid direction response:
 16:45:08.2836 LVL= 32752, 17073, 29618, 30803, AGC= 58, IDX= 507, 0.26,-2.238, 0.035,-1.441,-1.098, PHS=-1.038, 1.178,-0.386, RAW= 313.4,   2.5, CAL= 311.1,  -0.5, ROT= 198.9,   0.5

2025-08-22T16:45:07.563Z,1755881107.563 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T16:45:07.564Z,1755881107.564 [DAT](INFO): direction in FSK: [-0.946049,-0.323905,-0.008727]
2025-08-22T16:45:07.565Z,1755881107.565 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:07.571Z,1755881107.571 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.094711
2025-08-22T16:45:07.803Z,1755881107.803 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.326578
2025-08-22T16:45:07.892Z,1755881107.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:07.898Z,1755881107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.055597 m,
      bearing: 171.076744 deg,
      lat: 36.779436 deg,
      lon: -121.859673 deg,
      deltaT: 0.504048 s,
      deltaX: 0.000018 m,
      approachRate: 0.000036 m/s,
      posRepo size: 4

2025-08-22T16:45:08.056Z,1755881108.056 [DAT](INFO): DAT read: Rx Time:16:45:08.7839 

2025-08-22T16:45:08.056Z,1755881108.056 [DAT](INFO): Rx dataTimestamp_ set to:1755881108.055776
2025-08-22T16:45:08.057Z,1755881108.057 [DAT](INFO): DAT read: Bearing 311.8, -17.4 (Local)

2025-08-22T16:45:08.058Z,1755881108.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8, -17.4 (Local)

2025-08-22T16:45:08.060Z,1755881108.060 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-08-22T16:45:08.082Z,1755881108.082 [DAT](INFO): DAT read: 16:45:08.7839 LVL= 32752, 19537, 30914, 32755, AGC= 60, IDX= 510, 0.04,-2.410,-0.111,-1.651,-1.277, PHS=-1.031, 1.211,-0.418, RAW= 314.7,   2.4, CAL= 312.4,  -0.6, ROT= 197.6,   0.6

2025-08-22T16:45:08.084Z,1755881108.084 [DAT](INFO): got valid direction response:
 16:45:08.7839 LVL= 32752, 19537, 30914, 32755, AGC= 60, IDX= 510, 0.04,-2.410,-0.111,-1.651,-1.277, PHS=-1.031, 1.211,-0.418, RAW= 314.7,   2.4, CAL= 312.4,  -0.6, ROT= 197.6,   0.6

2025-08-22T16:45:08.084Z,1755881108.084 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T16:45:08.092Z,1755881108.092 [DAT](INFO): direction in FSK: [-0.953138,-0.302353,-0.010472]
2025-08-22T16:45:08.092Z,1755881108.092 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:08.108Z,1755881108.108 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.631747
2025-08-22T16:45:08.307Z,1755881108.307 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.830578
2025-08-22T16:45:08.335Z,1755881108.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504413 s,
      deltaX: 0.400000 m,
      approachRate: 0.793001 m/s,
      rangeRepo size: 4

2025-08-22T16:45:08.337Z,1755881108.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.453096 m,
      bearing: 169.716751 deg,
      lat: 36.779436 deg,
      lon: -121.859672 deg,
      deltaT: 0.504413 s,
      deltaX: 0.397499 m,
      approachRate: 0.788042 m/s,
      posRepo size: 4

2025-08-22T16:45:08.560Z,1755881108.560 [DAT](INFO): DAT read: Rx Time:16:45:09.2839 

2025-08-22T16:45:08.561Z,1755881108.561 [DAT](INFO): Rx dataTimestamp_ set to:1755881108.559920
2025-08-22T16:45:08.564Z,1755881108.564 [DAT](INFO): DAT read: Bearing 311.7, -16.4 (Local)

2025-08-22T16:45:08.564Z,1755881108.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7, -16.4 (Local)

2025-08-22T16:45:08.567Z,1755881108.567 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed -0.4

2025-08-22T16:45:08.576Z,1755881108.576 [DAT](INFO): DAT read: 16:45:09.2839 LVL= 32752, 18881, 29090, 32755, AGC= 59, IDX= 511,-0.14,-0.010, 2.335, 0.729, 1.135, PHS=-1.044, 1.245,-0.450, RAW= 315.5,   2.4, CAL= 313.3,  -0.5, ROT= 196.7,   0.5

2025-08-22T16:45:08.579Z,1755881108.579 [DAT](INFO): got valid direction response:
 16:45:09.2839 LVL= 32752, 18881, 29090, 32755, AGC= 59, IDX= 511,-0.14,-0.010, 2.335, 0.729, 1.135, PHS=-1.044, 1.245,-0.450, RAW= 315.5,   2.4, CAL= 313.3,  -0.5, ROT= 196.7,   0.5

2025-08-22T16:45:08.579Z,1755881108.579 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T16:45:08.581Z,1755881108.581 [DAT](INFO): direction in FSK: [-0.957786,-0.287349,-0.008727]
2025-08-22T16:45:08.581Z,1755881108.581 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:08.588Z,1755881108.588 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.112242
2025-08-22T16:45:08.807Z,1755881108.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504144 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:08.811Z,1755881108.811 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.334747
2025-08-22T16:45:08.814Z,1755881108.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.453091 m,
      bearing: 168.754726 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 0.504144 s,
      deltaX: -0.000005 m,
      approachRate: -0.000010 m/s,
      posRepo size: 4

2025-08-22T16:45:09.066Z,1755881109.066 [DAT](INFO): DAT read: Rx Time:16:45:09.7842 

2025-08-22T16:45:09.067Z,1755881109.067 [DAT](INFO): Rx dataTimestamp_ set to:1755881109.066654
2025-08-22T16:45:09.069Z,1755881109.069 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed -0.4

2025-08-22T16:45:09.070Z,1755881109.070 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-22T16:45:09.071Z,1755881109.071 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.595168
2025-08-22T16:45:09.228Z,1755881109.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.506734 s,
      deltaX: 0.500000 m,
      approachRate: 0.986711 m/s,
      rangeRepo size: 4

2025-08-22T16:45:09.315Z,1755881109.315 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.838642
2025-08-22T16:45:09.567Z,1755881109.567 [DAT](INFO): DAT read: Rx Time:16:45:10.2843 

2025-08-22T16:45:09.568Z,1755881109.568 [DAT](INFO): Rx dataTimestamp_ set to:1755881109.567437
2025-08-22T16:45:09.569Z,1755881109.569 [DAT](INFO): DAT read: Bearing 311.8, -16.0 (Local)

2025-08-22T16:45:09.569Z,1755881109.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8, -16.0 (Local)

2025-08-22T16:45:09.571Z,1755881109.571 [DAT](INFO): DAT read: Range 11 to 50 :     8.1 m (trip time 5.4 ms) speed -0.4

2025-08-22T16:45:09.576Z,1755881109.576 [DAT](INFO): DAT read: 16:45:10.2843 LVL= 22848, 14497, 20050, 20035, AGC= 64, IDX=   2, 0.20,-0.387, 1.949, 0.343, 0.744, PHS=-1.029, 1.251,-0.445, RAW= 315.7,   2.2, CAL= 313.6,  -0.8, ROT= 196.4,   0.8

2025-08-22T16:45:09.577Z,1755881109.577 [DAT](INFO): got valid direction response:
 16:45:10.2843 LVL= 22848, 14497, 20050, 20035, AGC= 64, IDX=   2, 0.20,-0.387, 1.949, 0.343, 0.744, PHS=-1.029, 1.251,-0.445, RAW= 315.7,   2.2, CAL= 313.6,  -0.8, ROT= 196.4,   0.8

2025-08-22T16:45:09.577Z,1755881109.577 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:45:09.578Z,1755881109.578 [DAT](INFO): direction in FSK: [-0.959220,-0.282314,-0.013962]
2025-08-22T16:45:09.579Z,1755881109.579 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:09.586Z,1755881109.586 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.110383
2025-08-22T16:45:09.591Z,1755881109.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.500783 s,
      deltaX: 0.100000 m,
      approachRate: 0.199688 m/s,
      rangeRepo size: 4

2025-08-22T16:45:09.593Z,1755881109.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.049338 m,
      bearing: 168.363120 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 1.007517 s,
      deltaX: 0.596248 m,
      approachRate: 0.591799 m/s,
      posRepo size: 4

2025-08-22T16:45:09.819Z,1755881109.819 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.343033
2025-08-22T16:45:10.057Z,1755881110.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:10.071Z,1755881110.071 [DAT](INFO): DAT read: Rx Time:16:45:10.7846 

2025-08-22T16:45:10.072Z,1755881110.072 [DAT](INFO): Rx dataTimestamp_ set to:1755881110.071669
2025-08-22T16:45:10.073Z,1755881110.073 [DAT](INFO): DAT read: Bearing 311.6, -16.1 (Local)

2025-08-22T16:45:10.074Z,1755881110.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6, -16.1 (Local)

2025-08-22T16:45:10.076Z,1755881110.076 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.4

2025-08-22T16:45:10.080Z,1755881110.080 [DAT](INFO): DAT read: 16:45:10.7846 LVL= 29664, 17505, 24722, 29091, AGC= 63, IDX= 501,-0.04,-1.087, 1.277,-0.345, 0.059, PHS=-1.044, 1.264,-0.448, RAW= 315.6,   2.2, CAL= 313.5,  -0.8, ROT= 196.5,   0.8

2025-08-22T16:45:10.081Z,1755881110.081 [DAT](INFO): got valid direction response:
 16:45:10.7846 LVL= 29664, 17505, 24722, 29091, AGC= 63, IDX= 501,-0.04,-1.087, 1.277,-0.345, 0.059, PHS=-1.044, 1.264,-0.448, RAW= 315.6,   2.2, CAL= 313.5,  -0.8, ROT= 196.5,   0.8

2025-08-22T16:45:10.082Z,1755881110.082 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T16:45:10.083Z,1755881110.083 [DAT](INFO): direction in FSK: [-0.958726,-0.283988,-0.013962]
2025-08-22T16:45:10.083Z,1755881110.083 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:10.091Z,1755881110.091 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.614555
2025-08-22T16:45:10.323Z,1755881110.323 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.846931
2025-08-22T16:45:10.504Z,1755881110.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504232 s,
      deltaX: 0.500000 m,
      approachRate: 0.991607 m/s,
      rangeRepo size: 4

2025-08-22T16:45:10.510Z,1755881110.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.546212 m,
      bearing: 168.389544 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 0.504232 s,
      deltaX: 0.496874 m,
      approachRate: 0.985407 m/s,
      posRepo size: 4

2025-08-22T16:45:10.576Z,1755881110.576 [DAT](INFO): DAT read: Rx Time:16:45:11.2846 

2025-08-22T16:45:10.577Z,1755881110.577 [DAT](INFO): Rx dataTimestamp_ set to:1755881110.576432
2025-08-22T16:45:10.579Z,1755881110.579 [DAT](INFO): DAT read: Bearing 311.9, -16.5 (Local)

2025-08-22T16:45:10.579Z,1755881110.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9, -16.5 (Local)

2025-08-22T16:45:10.584Z,1755881110.584 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed -0.4

2025-08-22T16:45:10.598Z,1755881110.598 [DAT](INFO): DAT read: 16:45:11.2846 LVL= 31952, 17009, 26610, 32627, AGC= 63, IDX= 502,-0.34,-2.790,-0.429,-2.029,-1.650, PHS=-1.038, 1.266,-0.423, RAW= 315.1,   1.9, CAL= 313.0,  -1.1, ROT= 197.0,   1.1

2025-08-22T16:45:10.600Z,1755881110.600 [DAT](INFO): got valid direction response:
 16:45:11.2846 LVL= 31952, 17009, 26610, 32627, AGC= 63, IDX= 502,-0.34,-2.790,-0.429,-2.029,-1.650, PHS=-1.038, 1.266,-0.423, RAW= 315.1,   1.9, CAL= 313.0,  -1.1, ROT= 197.0,   1.1

2025-08-22T16:45:10.600Z,1755881110.600 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T16:45:10.601Z,1755881110.601 [DAT](INFO): direction in FSK: [-0.956128,-0.292318,-0.019197]
2025-08-22T16:45:10.601Z,1755881110.601 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:10.617Z,1755881110.617 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.140547
2025-08-22T16:45:10.827Z,1755881110.827 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.350613
2025-08-22T16:45:10.858Z,1755881110.858 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000227235.0, +10.4,  1.3,  0
2025-08-22T16:45:10.953Z,1755881110.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504763 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:10.986Z,1755881110.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.546206 m,
      bearing: 168.845841 deg,
      lat: 36.779435 deg,
      lon: -121.859671 deg,
      deltaT: 0.504763 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-08-22T16:45:11.080Z,1755881111.080 [DAT](INFO): DAT read: Rx Time:16:45:11.7848 

2025-08-22T16:45:11.081Z,1755881111.081 [DAT](INFO): Rx dataTimestamp_ set to:1755881111.080418
2025-08-22T16:45:11.083Z,1755881111.083 [DAT](INFO): DAT read: Bearing 312.0, -17.5 (Local)

2025-08-22T16:45:11.083Z,1755881111.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0, -17.5 (Local)

2025-08-22T16:45:11.086Z,1755881111.086 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed -0.6

2025-08-22T16:45:11.092Z,1755881111.092 [DAT](INFO): DAT read: 16:45:11.7848 LVL= 31056, 16977, 25250, 29347, AGC= 63, IDX= 503, 0.18,-0.565, 1.784, 0.231, 0.575, PHS=-1.038, 1.254,-0.389, RAW= 314.0,   1.7, CAL= 311.9,  -1.3, ROT= 198.1,   1.3

2025-08-22T16:45:11.103Z,1755881111.103 [DAT](INFO): got valid direction response:
 16:45:11.7848 LVL= 31056, 16977, 25250, 29347, AGC= 63, IDX= 503, 0.18,-0.565, 1.784, 0.231, 0.575, PHS=-1.038, 1.254,-0.389, RAW= 314.0,   1.7, CAL= 311.9,  -1.3, ROT= 198.1,   1.3

2025-08-22T16:45:11.103Z,1755881111.103 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T16:45:11.104Z,1755881111.104 [DAT](INFO): direction in FSK: [-0.950271,-0.310597,-0.022687]
2025-08-22T16:45:11.104Z,1755881111.104 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:11.118Z,1755881111.118 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.637355
2025-08-22T16:45:11.331Z,1755881111.331 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.854673
2025-08-22T16:45:11.346Z,1755881111.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.503986 s,
      deltaX: 0.299999 m,
      approachRate: 0.595253 m/s,
      rangeRepo size: 4

2025-08-22T16:45:11.348Z,1755881111.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.844329 m,
      bearing: 169.871543 deg,
      lat: 36.779435 deg,
      lon: -121.859672 deg,
      deltaT: 0.503986 s,
      deltaX: 0.298122 m,
      approachRate: 0.591529 m/s,
      posRepo size: 4

2025-08-22T16:45:11.588Z,1755881111.588 [DAT](INFO): DAT read: Rx Time:16:45:12.2849 

2025-08-22T16:45:11.588Z,1755881111.588 [DAT](INFO): Rx dataTimestamp_ set to:1755881111.587735
2025-08-22T16:45:11.591Z,1755881111.591 [DAT](INFO): DAT read: Bearing 312.3, -18.7 (Local)

2025-08-22T16:45:11.591Z,1755881111.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3, -18.7 (Local)

2025-08-22T16:45:11.594Z,1755881111.594 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed -0.4

2025-08-22T16:45:11.600Z,1755881111.600 [DAT](INFO): DAT read: 16:45:12.2849 LVL= 30096, 16113, 27634, 30883, AGC= 63, IDX= 504,-0.08, 2.731,-1.175,-2.702,-2.395, PHS=-1.056, 1.265,-0.351, RAW= 312.8,   1.4, CAL= 310.6,  -1.7, ROT= 199.4,   1.7

2025-08-22T16:45:11.602Z,1755881111.602 [DAT](INFO): got valid direction response:
 16:45:12.2849 LVL= 30096, 16113, 27634, 30883, AGC= 63, IDX= 504,-0.08, 2.731,-1.175,-2.702,-2.395, PHS=-1.056, 1.265,-0.351, RAW= 312.8,   1.4, CAL= 310.6,  -1.7, ROT= 199.4,   1.7

2025-08-22T16:45:11.602Z,1755881111.602 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T16:45:11.603Z,1755881111.603 [DAT](INFO): direction in FSK: [-0.942808,-0.332015,-0.029666]
2025-08-22T16:45:11.603Z,1755881111.603 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:11.607Z,1755881111.607 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.131091
2025-08-22T16:45:11.770Z,1755881111.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.507317 s,
      deltaX: 0.100000 m,
      approachRate: 0.197116 m/s,
      rangeRepo size: 4

2025-08-22T16:45:11.772Z,1755881111.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.943706 m,
      bearing: 171.131387 deg,
      lat: 36.779434 deg,
      lon: -121.859675 deg,
      deltaT: 0.507317 s,
      deltaX: 0.099377 m,
      approachRate: 0.195887 m/s,
      posRepo size: 4

2025-08-22T16:45:11.837Z,1755881111.837 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.360893
2025-08-22T16:45:12.088Z,1755881112.088 [DAT](INFO): DAT read: Rx Time:16:45:12.7851 

2025-08-22T16:45:12.088Z,1755881112.088 [DAT](INFO): Rx dataTimestamp_ set to:1755881112.087881
2025-08-22T16:45:12.091Z,1755881112.091 [DAT](INFO): DAT read: Bearing 312.5, -19.3 (Local)

2025-08-22T16:45:12.091Z,1755881112.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5, -19.3 (Local)

2025-08-22T16:45:12.094Z,1755881112.094 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed -0.4

2025-08-22T16:45:12.099Z,1755881112.099 [DAT](INFO): DAT read: 16:45:12.7851 LVL= 30320, 16817, 24482, 29331, AGC= 64, IDX= 507,-0.41,-2.666,-0.259,-1.780,-1.492, PHS=-1.072, 1.278,-0.332, RAW= 312.1,   1.2, CAL= 310.0,  -1.9, ROT= 200.0,   1.9

2025-08-22T16:45:12.100Z,1755881112.100 [DAT](INFO): got valid direction response:
 16:45:12.7851 LVL= 30320, 16817, 24482, 29331, AGC= 64, IDX= 507,-0.41,-2.666,-0.259,-1.780,-1.492, PHS=-1.072, 1.278,-0.332, RAW= 312.1,   1.2, CAL= 310.0,  -1.9, ROT= 200.0,   1.9

2025-08-22T16:45:12.100Z,1755881112.100 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T16:45:12.101Z,1755881112.101 [DAT](INFO): direction in FSK: [-0.939176,-0.341832,-0.033155]
2025-08-22T16:45:12.101Z,1755881112.101 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:12.105Z,1755881112.105 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.629133
2025-08-22T16:45:12.269Z,1755881112.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.500146 s,
      deltaX: 0.300000 m,
      approachRate: 0.599825 m/s,
      rangeRepo size: 4

2025-08-22T16:45:12.275Z,1755881112.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.241829 m,
      bearing: 171.708079 deg,
      lat: 36.779434 deg,
      lon: -121.859677 deg,
      deltaT: 0.500146 s,
      deltaX: 0.298123 m,
      approachRate: 0.596073 m/s,
      posRepo size: 4

2025-08-22T16:45:12.340Z,1755881112.340 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.863837
2025-08-22T16:45:12.591Z,1755881112.591 [DAT](INFO): DAT read: Rx Time:16:45:13.2852 

2025-08-22T16:45:12.591Z,1755881112.591 [DAT](INFO): Rx dataTimestamp_ set to:1755881112.591186
2025-08-22T16:45:12.593Z,1755881112.593 [DAT](INFO): DAT read: Bearing 313.5, -19.9 (Local)

2025-08-22T16:45:12.593Z,1755881112.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5, -19.9 (Local)

2025-08-22T16:45:12.595Z,1755881112.595 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed -0.2

2025-08-22T16:45:12.600Z,1755881112.600 [DAT](INFO): DAT read: 16:45:13.2852 LVL= 28256, 17217, 25634, 28883, AGC= 63, IDX= 507, 0.25, 2.992,-0.895,-2.378,-2.142, PHS=-1.047, 1.293,-0.280, RAW= 311.2,   0.3, CAL= 309.3,  -2.9, ROT= 200.7,   2.9

2025-08-22T16:45:12.601Z,1755881112.601 [DAT](INFO): got valid direction response:
 16:45:13.2852 LVL= 28256, 17217, 25634, 28883, AGC= 63, IDX= 507, 0.25, 2.992,-0.895,-2.378,-2.142, PHS=-1.047, 1.293,-0.280, RAW= 311.2,   0.3, CAL= 309.3,  -2.9, ROT= 200.7,   2.9

2025-08-22T16:45:12.601Z,1755881112.601 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T16:45:12.602Z,1755881112.602 [DAT](INFO): direction in FSK: [-0.934246,-0.353022,-0.050593]
2025-08-22T16:45:12.602Z,1755881112.602 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:12.606Z,1755881112.606 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.129715
2025-08-22T16:45:12.708Z,1755881112.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503305 s,
      deltaX: 0.200000 m,
      approachRate: 0.397373 m/s,
      rangeRepo size: 4

2025-08-22T16:45:12.722Z,1755881112.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.440578 m,
      bearing: 172.373700 deg,
      lat: 36.779434 deg,
      lon: -121.859680 deg,
      deltaT: 0.503305 s,
      deltaX: 0.198749 m,
      approachRate: 0.394887 m/s,
      posRepo size: 4

2025-08-22T16:45:12.847Z,1755881112.847 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.369083
2025-08-22T16:45:13.075Z,1755881113.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:13.096Z,1755881113.096 [DAT](INFO): DAT read: Rx Time:16:45:13.7855 

2025-08-22T16:45:13.097Z,1755881113.097 [DAT](INFO): Rx dataTimestamp_ set to:1755881113.096589
2025-08-22T16:45:13.098Z,1755881113.098 [DAT](INFO): DAT read: Bearing 314.0, -20.2 (Local)

2025-08-22T16:45:13.099Z,1755881113.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0, -20.2 (Local)

2025-08-22T16:45:13.101Z,1755881113.101 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.7

2025-08-22T16:45:13.115Z,1755881113.115 [DAT](INFO): DAT read: 16:45:13.7855 LVL= 29872, 17585, 25906, 31347, AGC= 63, IDX= 510, 0.04,-2.764,-0.356,-1.830,-1.618, PHS=-1.043, 1.308,-0.256, RAW= 310.8,  -0.1, CAL= 309.0,  -3.3, ROT= 201.0,   3.3

2025-08-22T16:45:13.116Z,1755881113.116 [DAT](INFO): got valid direction response:
 16:45:13.7855 LVL= 29872, 17585, 25906, 31347, AGC= 63, IDX= 510, 0.04,-2.764,-0.356,-1.830,-1.618, PHS=-1.043, 1.308,-0.256, RAW= 310.8,  -0.1, CAL= 309.0,  -3.3, ROT= 201.0,   3.3

2025-08-22T16:45:13.117Z,1755881113.117 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T16:45:13.127Z,1755881113.127 [DAT](INFO): direction in FSK: [-0.932032,-0.357774,-0.057564]
2025-08-22T16:45:13.128Z,1755881113.128 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:13.150Z,1755881113.150 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.674110
2025-08-22T16:45:13.347Z,1755881113.347 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.871061
2025-08-22T16:45:13.532Z,1755881113.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.505403 s,
      deltaX: 0.400000 m,
      approachRate: 0.791447 m/s,
      rangeRepo size: 4

2025-08-22T16:45:13.540Z,1755881113.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.838049 m,
      bearing: 172.543736 deg,
      lat: 36.779433 deg,
      lon: -121.859683 deg,
      deltaT: 0.505403 s,
      deltaX: 0.397471 m,
      approachRate: 0.786445 m/s,
      posRepo size: 4

2025-08-22T16:45:13.600Z,1755881113.600 [DAT](INFO): DAT read: Rx Time:16:45:14.2855 

2025-08-22T16:45:13.601Z,1755881113.601 [DAT](INFO): Rx dataTimestamp_ set to:1755881113.600555
2025-08-22T16:45:13.603Z,1755881113.603 [DAT](INFO): DAT read: Bearing 314.2, -20.4 (Local)

2025-08-22T16:45:13.603Z,1755881113.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.2, -20.4 (Local)

2025-08-22T16:45:13.607Z,1755881113.607 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed -0.6

2025-08-22T16:45:13.613Z,1755881113.613 [DAT](INFO): DAT read: 16:45:14.2855 LVL= 28128, 19697, 24466, 29843, AGC= 64, IDX= 511,-0.21, 1.063,-2.773, 2.020, 2.222, PHS=-1.057, 1.334,-0.245, RAW= 310.5,  -0.3, CAL= 308.7,  -3.6, ROT= 201.3,   3.6

2025-08-22T16:45:13.614Z,1755881113.614 [DAT](INFO): got valid direction response:
 16:45:14.2855 LVL= 28128, 19697, 24466, 29843, AGC= 64, IDX= 511,-0.21, 1.063,-2.773, 2.020, 2.222, PHS=-1.057, 1.334,-0.245, RAW= 310.5,  -0.3, CAL= 308.7,  -3.6, ROT= 201.3,   3.6

2025-08-22T16:45:13.614Z,1755881113.614 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T16:45:13.615Z,1755881113.615 [DAT](INFO): direction in FSK: [-0.929853,-0.362535,-0.062791]
2025-08-22T16:45:13.616Z,1755881113.616 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:13.646Z,1755881113.646 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.165318
2025-08-22T16:45:13.853Z,1755881113.853 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.376423
2025-08-22T16:45:13.978Z,1755881113.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503966 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:13.980Z,1755881113.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.838065 m,
      bearing: 172.832765 deg,
      lat: 36.779433 deg,
      lon: -121.859685 deg,
      deltaT: 0.503966 s,
      deltaX: 0.000016 m,
      approachRate: 0.000032 m/s,
      posRepo size: 4

2025-08-22T16:45:14.103Z,1755881114.103 [DAT](INFO): DAT read: Rx Time:16:45:14.7858 

2025-08-22T16:45:14.103Z,1755881114.103 [DAT](INFO): Rx dataTimestamp_ set to:1755881114.102927
2025-08-22T16:45:14.104Z,1755881114.104 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.4

2025-08-22T16:45:14.105Z,1755881114.105 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-22T16:45:14.112Z,1755881114.112 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.636459
2025-08-22T16:45:14.295Z,1755881114.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.502372 s,
      deltaX: 0.500000 m,
      approachRate: 0.995278 m/s,
      rangeRepo size: 4

2025-08-22T16:45:14.355Z,1755881114.355 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.878874
2025-08-22T16:45:14.607Z,1755881114.607 [DAT](INFO): DAT read: Rx Time:16:45:15.2859 

2025-08-22T16:45:14.608Z,1755881114.608 [DAT](INFO): Rx dataTimestamp_ set to:1755881114.607254
2025-08-22T16:45:14.609Z,1755881114.609 [DAT](INFO): DAT read: Bearing 313.8, -21.5 (Local)

2025-08-22T16:45:14.609Z,1755881114.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8, -21.5 (Local)

2025-08-22T16:45:14.611Z,1755881114.611 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed -0.4

2025-08-22T16:45:14.616Z,1755881114.616 [DAT](INFO): DAT read: 16:45:15.2859 LVL= 20944, 18801, 19698, 18419, AGC= 67, IDX=   2, 0.13, 2.287,-1.582,-3.008,-2.828, PHS=-1.066, 1.291,-0.224, RAW= 309.4,  -0.0, CAL= 307.6,  -3.4, ROT= 202.4,   3.4

2025-08-22T16:45:14.617Z,1755881114.617 [DAT](INFO): got valid direction response:
 16:45:15.2859 LVL= 20944, 18801, 19698, 18419, AGC= 67, IDX=   2, 0.13, 2.287,-1.582,-3.008,-2.828, PHS=-1.066, 1.291,-0.224, RAW= 309.4,  -0.0, CAL= 307.6,  -3.4, ROT= 202.4,   3.4

2025-08-22T16:45:14.617Z,1755881114.617 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T16:45:14.618Z,1755881114.618 [DAT](INFO): direction in FSK: [-0.922919,-0.380400,-0.059306]
2025-08-22T16:45:14.618Z,1755881114.618 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:14.622Z,1755881114.622 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.146070
2025-08-22T16:45:14.748Z,1755881114.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504327 s,
      deltaX: 0.100000 m,
      approachRate: 0.198285 m/s,
      rangeRepo size: 4

2025-08-22T16:45:14.763Z,1755881114.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.434312 m,
      bearing: 173.877588 deg,
      lat: 36.779433 deg,
      lon: -121.859688 deg,
      deltaT: 1.006699 s,
      deltaX: 0.596247 m,
      approachRate: 0.592279 m/s,
      posRepo size: 4

2025-08-22T16:45:14.864Z,1755881114.864 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.386850
2025-08-22T16:45:15.111Z,1755881115.111 [DAT](INFO): DAT read: Rx Time:16:45:15.7861 

2025-08-22T16:45:15.112Z,1755881115.112 [DAT](INFO): Rx dataTimestamp_ set to:1755881115.111268
2025-08-22T16:45:15.113Z,1755881115.113 [DAT](INFO): DAT read: Bearing 313.2, -21.4 (Local)

2025-08-22T16:45:15.113Z,1755881115.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2, -21.4 (Local)

2025-08-22T16:45:15.115Z,1755881115.115 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.6

2025-08-22T16:45:15.120Z,1755881115.120 [DAT](INFO): DAT read: 16:45:15.7861 LVL= 32368, 19425, 31986, 32755, AGC= 66, IDX= 500,-0.07, 1.518,-2.312, 2.511, 2.719, PHS=-1.099, 1.298,-0.251, RAW= 309.6,   0.5, CAL= 307.7,  -2.8, ROT= 202.3,   2.8

2025-08-22T16:45:15.121Z,1755881115.121 [DAT](INFO): got valid direction response:
 16:45:15.7861 LVL= 32368, 19425, 31986, 32755, AGC= 66, IDX= 500,-0.07, 1.518,-2.312, 2.511, 2.719, PHS=-1.099, 1.298,-0.251, RAW= 309.6,   0.5, CAL= 307.7,  -2.8, ROT= 202.3,   2.8

2025-08-22T16:45:15.121Z,1755881115.121 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T16:45:15.122Z,1755881115.122 [DAT](INFO): direction in FSK: [-0.924105,-0.379003,-0.048850]
2025-08-22T16:45:15.122Z,1755881115.122 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:15.126Z,1755881115.126 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.650063
2025-08-22T16:45:15.150Z,1755881115.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504014 s,
      deltaX: 0.300000 m,
      approachRate: 0.595222 m/s,
      rangeRepo size: 4

2025-08-22T16:45:15.152Z,1755881115.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.732468 m,
      bearing: 173.763692 deg,
      lat: 36.779432 deg,
      lon: -121.859690 deg,
      deltaT: 0.504014 s,
      deltaX: 0.298156 m,
      approachRate: 0.591563 m/s,
      posRepo size: 4

2025-08-22T16:45:15.363Z,1755881115.363 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.886646
2025-08-22T16:45:15.560Z,1755881115.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:15.616Z,1755881115.616 [DAT](INFO): DAT read: Rx Time:16:45:16.2862 

2025-08-22T16:45:15.617Z,1755881115.617 [DAT](INFO): Rx dataTimestamp_ set to:1755881115.616260
2025-08-22T16:45:15.619Z,1755881115.619 [DAT](INFO): DAT read: Bearing 313.0, -20.4 (Local)

2025-08-22T16:45:15.619Z,1755881115.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0, -20.4 (Local)

2025-08-22T16:45:15.622Z,1755881115.622 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.4

2025-08-22T16:45:15.628Z,1755881115.628 [DAT](INFO): DAT read: 16:45:16.2862 LVL= 32160, 20705, 30338, 32755, AGC= 66, IDX= 501,-0.26,-0.231, 2.240, 0.733, 0.967, PHS=-1.096, 1.318,-0.278, RAW= 310.5,   0.5, CAL= 308.6,  -2.7, ROT= 201.4,   2.7

2025-08-22T16:45:15.629Z,1755881115.629 [DAT](INFO): got valid direction response:
 16:45:16.2862 LVL= 32160, 20705, 30338, 32755, AGC= 66, IDX= 501,-0.26,-0.231, 2.240, 0.733, 0.967, PHS=-1.096, 1.318,-0.278, RAW= 310.5,   0.5, CAL= 308.6,  -2.7, ROT= 201.4,   2.7

2025-08-22T16:45:15.629Z,1755881115.629 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T16:45:15.630Z,1755881115.630 [DAT](INFO): direction in FSK: [-0.930022,-0.364472,-0.047106]
2025-08-22T16:45:15.631Z,1755881115.631 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:15.639Z,1755881115.639 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.163258
2025-08-22T16:45:15.869Z,1755881115.869 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.392670
2025-08-22T16:45:16.046Z,1755881116.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504992 s,
      deltaX: 0.200000 m,
      approachRate: 0.396046 m/s,
      rangeRepo size: 4

2025-08-22T16:45:16.048Z,1755881116.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.931218 m,
      bearing: 172.775226 deg,
      lat: 36.779430 deg,
      lon: -121.859694 deg,
      deltaT: 0.504992 s,
      deltaX: 0.198750 m,
      approachRate: 0.393572 m/s,
      posRepo size: 4

2025-08-22T16:45:16.119Z,1755881116.119 [DAT](INFO): DAT read: Rx Time:16:45:16.7864 

2025-08-22T16:45:16.120Z,1755881116.120 [DAT](INFO): Rx dataTimestamp_ set to:1755881116.119590
2025-08-22T16:45:16.121Z,1755881116.121 [DAT](INFO): DAT read: Bearing 312.9, -19.3 (Local)

2025-08-22T16:45:16.122Z,1755881116.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.9, -19.3 (Local)

2025-08-22T16:45:16.124Z,1755881116.124 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed -0.4

2025-08-22T16:45:16.129Z,1755881116.129 [DAT](INFO): DAT read: 16:45:16.7864 LVL= 32752, 17825, 30866, 32755, AGC= 66, IDX= 503, 0.45, 1.981,-1.887, 2.886, 3.140, PHS=-1.056, 1.302,-0.298, RAW= 311.6,   0.5, CAL= 309.7,  -2.7, ROT= 200.3,   2.7

2025-08-22T16:45:16.130Z,1755881116.130 [DAT](INFO): got valid direction response:
 16:45:16.7864 LVL= 32752, 17825, 30866, 32755, AGC= 66, IDX= 503, 0.45, 1.981,-1.887, 2.886, 3.140, PHS=-1.056, 1.302,-0.298, RAW= 311.6,   0.5, CAL= 309.7,  -2.7, ROT= 200.3,   2.7

2025-08-22T16:45:16.130Z,1755881116.130 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T16:45:16.131Z,1755881116.131 [DAT](INFO): direction in FSK: [-0.936848,-0.346550,-0.047106]
2025-08-22T16:45:16.132Z,1755881116.132 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:16.136Z,1755881116.136 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.659637
2025-08-22T16:45:16.310Z,1755881116.310 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:45:16.371Z,1755881116.371 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.894691
2025-08-22T16:45:16.507Z,1755881116.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.503330 s,
      deltaX: 0.300000 m,
      approachRate: 0.596031 m/s,
      rangeRepo size: 4

2025-08-22T16:45:16.509Z,1755881116.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.229342 m,
      bearing: 171.621120 deg,
      lat: 36.779430 deg,
      lon: -121.859694 deg,
      deltaT: 0.503330 s,
      deltaX: 0.298124 m,
      approachRate: 0.592304 m/s,
      posRepo size: 4

2025-08-22T16:45:16.623Z,1755881116.623 [DAT](INFO): DAT read: Rx Time:16:45:17.2865 

2025-08-22T16:45:16.624Z,1755881116.624 [DAT](INFO): Rx dataTimestamp_ set to:1755881116.623638
2025-08-22T16:45:16.626Z,1755881116.626 [DAT](INFO): DAT read: Bearing 312.6, -18.0 (Local)

2025-08-22T16:45:16.626Z,1755881116.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6, -18.0 (Local)

2025-08-22T16:45:16.629Z,1755881116.629 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.4

2025-08-22T16:45:16.635Z,1755881116.635 [DAT](INFO): DAT read: 16:45:17.2865 LVL= 31776, 19617, 31282, 32755, AGC= 67, IDX= 504, 0.22, 1.321,-2.602, 2.161, 2.446, PHS=-1.023, 1.280,-0.329, RAW= 312.9,   0.7, CAL= 310.9,  -2.4, ROT= 199.1,   2.4

2025-08-22T16:45:16.636Z,1755881116.636 [DAT](INFO): got valid direction response:
 16:45:17.2865 LVL= 31776, 19617, 31282, 32755, AGC= 67, IDX= 504, 0.22, 1.321,-2.602, 2.161, 2.446, PHS=-1.023, 1.280,-0.329, RAW= 312.9,   0.7, CAL= 310.9,  -2.4, ROT= 199.1,   2.4

2025-08-22T16:45:16.636Z,1755881116.636 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:45:16.638Z,1755881116.638 [DAT](INFO): direction in FSK: [-0.944120,-0.326931,-0.041876]
2025-08-22T16:45:16.638Z,1755881116.638 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:16.642Z,1755881116.642 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.166122
2025-08-22T16:45:16.877Z,1755881116.877 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.400711
2025-08-22T16:45:17.004Z,1755881117.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.504048 s,
      deltaX: 0.099999 m,
      approachRate: 0.198393 m/s,
      rangeRepo size: 4

2025-08-22T16:45:17.010Z,1755881117.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.328700 m,
      bearing: 170.390333 deg,
      lat: 36.779430 deg,
      lon: -121.859694 deg,
      deltaT: 0.504048 s,
      deltaX: 0.099358 m,
      approachRate: 0.197119 m/s,
      posRepo size: 4

2025-08-22T16:45:17.128Z,1755881117.128 [DAT](INFO): DAT read: Rx Time:16:45:17.7868 

2025-08-22T16:45:17.128Z,1755881117.128 [DAT](INFO): Rx dataTimestamp_ set to:1755881117.127737
2025-08-22T16:45:17.129Z,1755881117.129 [DAT](INFO): DAT read: Bearing 312.8, -16.2 (Local)

2025-08-22T16:45:17.130Z,1755881117.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8, -16.2 (Local)

2025-08-22T16:45:17.132Z,1755881117.132 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed -0.4

2025-08-22T16:45:17.136Z,1755881117.136 [DAT](INFO): DAT read: 16:45:17.7868 LVL= 32752, 19425, 31378, 32755, AGC= 67, IDX= 507, 0.06, 2.412,-1.574,-3.110,-2.802, PHS=-0.967, 1.273,-0.352, RAW= 314.6,   0.5, CAL= 312.7,  -2.6, ROT= 197.3,   2.6

2025-08-22T16:45:17.137Z,1755881117.137 [DAT](INFO): got valid direction response:
 16:45:17.7868 LVL= 32752, 19425, 31378, 32755, AGC= 67, IDX= 507, 0.06, 2.412,-1.574,-3.110,-2.802, PHS=-0.967, 1.273,-0.352, RAW= 314.6,   0.5, CAL= 312.7,  -2.6, ROT= 197.3,   2.6

2025-08-22T16:45:17.138Z,1755881117.138 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:45:17.144Z,1755881117.144 [DAT](INFO): direction in FSK: [-0.953778,-0.297069,-0.045363]
2025-08-22T16:45:17.144Z,1755881117.144 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:17.148Z,1755881117.148 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.671610
2025-08-22T16:45:17.314Z,1755881117.314 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:45:17.371Z,1755881117.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504099 s,
      deltaX: 0.500000 m,
      approachRate: 0.991869 m/s,
      rangeRepo size: 4

2025-08-22T16:45:17.374Z,1755881117.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.825573 m,
      bearing: 168.525648 deg,
      lat: 36.779429 deg,
      lon: -121.859693 deg,
      deltaT: 0.504099 s,
      deltaX: 0.496873 m,
      approachRate: 0.985665 m/s,
      posRepo size: 4

2025-08-22T16:45:17.387Z,1755881117.387 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.910624
2025-08-22T16:45:17.639Z,1755881117.639 [DAT](INFO): DAT read: Rx Time:16:45:18.2869 

2025-08-22T16:45:17.640Z,1755881117.640 [DAT](INFO): Rx dataTimestamp_ set to:1755881117.639233
2025-08-22T16:45:17.641Z,1755881117.641 [DAT](INFO): DAT read: Bearing 313.5, -13.8 (Local)

2025-08-22T16:45:17.641Z,1755881117.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5, -13.8 (Local)

2025-08-22T16:45:17.643Z,1755881117.643 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.5

2025-08-22T16:45:17.648Z,1755881117.648 [DAT](INFO): DAT read: 16:45:18.2869 LVL= 32752, 20209, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.884, 1.415,-0.203, 0.138, PHS=-0.920, 1.322,-0.385, RAW= 316.8,  -0.2, CAL= 315.2,  -3.3, ROT= 194.8,   3.3

2025-08-22T16:45:17.649Z,1755881117.649 [DAT](INFO): got valid direction response:
 16:45:18.2869 LVL= 32752, 20209, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.884, 1.415,-0.203, 0.138, PHS=-0.920, 1.322,-0.385, RAW= 316.8,  -0.2, CAL= 315.2,  -3.3, ROT= 194.8,   3.3

2025-08-22T16:45:17.649Z,1755881117.649 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:45:17.650Z,1755881117.650 [DAT](INFO): direction in FSK: [-0.965220,-0.255022,-0.057564]
2025-08-22T16:45:17.650Z,1755881117.650 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:17.654Z,1755881117.654 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.177803
2025-08-22T16:45:17.836Z,1755881117.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.511496 s,
      deltaX: 0.100000 m,
      approachRate: 0.195506 m/s,
      rangeRepo size: 4

2025-08-22T16:45:17.847Z,1755881117.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.924932 m,
      bearing: 165.972396 deg,
      lat: 36.779430 deg,
      lon: -121.859692 deg,
      deltaT: 0.511496 s,
      deltaX: 0.099360 m,
      approachRate: 0.194253 m/s,
      posRepo size: 4

2025-08-22T16:45:17.898Z,1755881117.898 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.420752
2025-08-22T16:45:18.143Z,1755881118.143 [DAT](INFO): DAT read: Rx Time:16:45:18.7872 

2025-08-22T16:45:18.144Z,1755881118.144 [DAT](INFO): Rx dataTimestamp_ set to:1755881118.143307
2025-08-22T16:45:18.145Z,1755881118.145 [DAT](INFO): DAT read: Bearing 313.1, -12.2 (Local)

2025-08-22T16:45:18.145Z,1755881118.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1, -12.2 (Local)

2025-08-22T16:45:18.147Z,1755881118.147 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-08-22T16:45:18.152Z,1755881118.152 [DAT](INFO): DAT read: 16:45:18.7872 LVL= 31584, 23281, 32754, 32755, AGC= 67, IDX= 511,-0.19,-0.560, 1.731, 0.063, 0.452, PHS=-0.910, 1.324,-0.434, RAW= 318.3,   0.2, CAL= 316.7,  -2.9, ROT= 193.3,   2.9

2025-08-22T16:45:18.153Z,1755881118.153 [DAT](INFO): got valid direction response:
 16:45:18.7872 LVL= 31584, 23281, 32754, 32755, AGC= 67, IDX= 511,-0.19,-0.560, 1.731, 0.063, 0.452, PHS=-0.910, 1.324,-0.434, RAW= 318.3,   0.2, CAL= 316.7,  -2.9, ROT= 193.3,   2.9

2025-08-22T16:45:18.161Z,1755881118.161 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T16:45:18.163Z,1755881118.163 [DAT](INFO): direction in FSK: [-0.971933,-0.229755,-0.050593]
2025-08-22T16:45:18.163Z,1755881118.163 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:18.192Z,1755881118.192 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.716208
2025-08-22T16:45:18.311Z,1755881118.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504074 s,
      deltaX: 0.500000 m,
      approachRate: 0.991918 m/s,
      rangeRepo size: 4

2025-08-22T16:45:18.313Z,1755881118.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.421804 m,
      bearing: 164.475567 deg,
      lat: 36.779429 deg,
      lon: -121.859688 deg,
      deltaT: 0.504074 s,
      deltaX: 0.496872 m,
      approachRate: 0.985712 m/s,
      posRepo size: 4

2025-08-22T16:45:18.397Z,1755881118.397 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.920444
2025-08-22T16:45:18.647Z,1755881118.647 [DAT](INFO): DAT read: Rx Time:16:45:19.2872 

2025-08-22T16:45:18.647Z,1755881118.647 [DAT](INFO): Rx dataTimestamp_ set to:1755881118.646973
2025-08-22T16:45:18.648Z,1755881118.648 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.5

2025-08-22T16:45:18.649Z,1755881118.649 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-22T16:45:18.650Z,1755881118.650 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.174053
2025-08-22T16:45:18.677Z,1755881118.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:18.686Z,1755881118.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503666 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:18.902Z,1755881118.902 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.425262
2025-08-22T16:45:19.151Z,1755881119.151 [DAT](INFO): DAT read: Rx Time:16:45:19.7873 

2025-08-22T16:45:19.152Z,1755881119.152 [DAT](INFO): Rx dataTimestamp_ set to:1755881119.151441
2025-08-22T16:45:19.154Z,1755881119.154 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.4

2025-08-22T16:45:19.155Z,1755881119.155 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-22T16:45:19.156Z,1755881119.156 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.680050
2025-08-22T16:45:19.404Z,1755881119.404 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.927597
2025-08-22T16:45:19.522Z,1755881119.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:19.655Z,1755881119.655 [DAT](INFO): DAT read: Rx Time:16:45:20.2874 

2025-08-22T16:45:19.655Z,1755881119.655 [DAT](INFO): Rx dataTimestamp_ set to:1755881119.655201
2025-08-22T16:45:19.657Z,1755881119.657 [DAT](INFO): DAT read: Bearing 313.7,  -7.8 (Local)

2025-08-22T16:45:19.657Z,1755881119.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,  -7.8 (Local)

2025-08-22T16:45:19.659Z,1755881119.659 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.4

2025-08-22T16:45:19.664Z,1755881119.664 [DAT](INFO): DAT read: 16:45:20.2874 LVL= 24864, 21073, 28050, 28179, AGC= 71, IDX=   2, 0.05,-0.949, 1.211,-0.504,-0.060, PHS=-0.787, 1.315,-0.488, RAW= 322.5,  -0.4, CAL= 321.1,  -3.5, ROT= 188.9,   3.5

2025-08-22T16:45:19.665Z,1755881119.665 [DAT](INFO): got valid direction response:
 16:45:20.2874 LVL= 24864, 21073, 28050, 28179, AGC= 71, IDX=   2, 0.05,-0.949, 1.211,-0.504,-0.060, PHS=-0.787, 1.315,-0.488, RAW= 322.5,  -0.4, CAL= 321.1,  -3.5, ROT= 188.9,   3.5

2025-08-22T16:45:19.666Z,1755881119.666 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:45:19.667Z,1755881119.667 [DAT](INFO): direction in FSK: [-0.986117,-0.154422,-0.061049]
2025-08-22T16:45:19.667Z,1755881119.667 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:19.671Z,1755881119.671 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.194542
2025-08-22T16:45:19.895Z,1755881119.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503760 s,
      deltaX: 0.100000 m,
      approachRate: 0.198508 m/s,
      rangeRepo size: 4

2025-08-22T16:45:19.912Z,1755881119.912 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.434927
2025-08-22T16:45:19.905Z,1755881119.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.521152 m,
      bearing: 160.016520 deg,
      lat: 36.779430 deg,
      lon: -121.859684 deg,
      deltaT: 1.511894 s,
      deltaX: 0.099348 m,
      approachRate: 0.065711 m/s,
      posRepo size: 4

2025-08-22T16:45:20.160Z,1755881120.160 [DAT](INFO): DAT read: Rx Time:16:45:20.7876 

2025-08-22T16:45:20.160Z,1755881120.160 [DAT](INFO): Rx dataTimestamp_ set to:1755881120.160218
2025-08-22T16:45:20.162Z,1755881120.162 [DAT](INFO): DAT read: Bearing 313.7,  -6.7 (Local)

2025-08-22T16:45:20.163Z,1755881120.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,  -6.7 (Local)

2025-08-22T16:45:20.166Z,1755881120.166 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.4

2025-08-22T16:45:20.172Z,1755881120.172 [DAT](INFO): DAT read: 16:45:20.7876 LVL= 31216, 18673, 32754, 32755, AGC= 66, IDX= 501,-0.19,-0.595, 1.561,-0.193, 0.278, PHS=-0.771, 1.328,-0.515, RAW= 323.6,  -0.4, CAL= 322.3,  -3.4, ROT= 187.7,   3.4

2025-08-22T16:45:20.173Z,1755881120.173 [DAT](INFO): got valid direction response:
 16:45:20.7876 LVL= 31216, 18673, 32754, 32755, AGC= 66, IDX= 501,-0.19,-0.595, 1.561,-0.193, 0.278, PHS=-0.771, 1.328,-0.515, RAW= 323.6,  -0.4, CAL= 322.3,  -3.4, ROT= 187.7,   3.4

2025-08-22T16:45:20.177Z,1755881120.177 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:45:20.178Z,1755881120.178 [DAT](INFO): direction in FSK: [-0.989239,-0.133750,-0.059306]
2025-08-22T16:45:20.178Z,1755881120.178 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:20.185Z,1755881120.185 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.708708
2025-08-22T16:45:20.402Z,1755881120.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.505017 s,
      deltaX: 0.500000 m,
      approachRate: 0.990066 m/s,
      rangeRepo size: 4

2025-08-22T16:45:20.412Z,1755881120.412 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.935593
2025-08-22T16:45:20.412Z,1755881120.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.018024 m,
      bearing: 158.811795 deg,
      lat: 36.779430 deg,
      lon: -121.859681 deg,
      deltaT: 0.505017 s,
      deltaX: 0.496872 m,
      approachRate: 0.983872 m/s,
      posRepo size: 4

2025-08-22T16:45:20.663Z,1755881120.663 [DAT](INFO): DAT read: Rx Time:16:45:21.2876 

2025-08-22T16:45:20.664Z,1755881120.664 [DAT](INFO): Rx dataTimestamp_ set to:1755881120.663553
2025-08-22T16:45:20.665Z,1755881120.665 [DAT](INFO): DAT read: Bearing 314.1,  -6.0 (Local)

2025-08-22T16:45:20.665Z,1755881120.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  -6.0 (Local)

2025-08-22T16:45:20.667Z,1755881120.667 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.4

2025-08-22T16:45:20.672Z,1755881120.672 [DAT](INFO): DAT read: 16:45:21.2876 LVL= 28176, 17297, 26850, 29907, AGC= 66, IDX= 501, 0.45,-0.641, 1.494,-0.266, 0.206, PHS=-0.745, 1.333,-0.516, RAW= 324.2,  -0.7, CAL= 323.0,  -3.8, ROT= 187.0,   3.8

2025-08-22T16:45:20.673Z,1755881120.673 [DAT](INFO): got valid direction response:
 16:45:21.2876 LVL= 28176, 17297, 26850, 29907, AGC= 66, IDX= 501, 0.45,-0.641, 1.494,-0.266, 0.206, PHS=-0.745, 1.333,-0.516, RAW= 324.2,  -0.7, CAL= 323.0,  -3.8, ROT= 187.0,   3.8

2025-08-22T16:45:20.686Z,1755881120.686 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:45:20.691Z,1755881120.691 [DAT](INFO): direction in FSK: [-0.990364,-0.121602,-0.066274]
2025-08-22T16:45:20.692Z,1755881120.692 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:20.735Z,1755881120.735 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.258635
2025-08-22T16:45:20.894Z,1755881120.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503335 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:20.897Z,1755881120.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.018006 m,
      bearing: 158.098700 deg,
      lat: 36.779433 deg,
      lon: -121.859675 deg,
      deltaT: 0.503335 s,
      deltaX: -0.000018 m,
      approachRate: -0.000036 m/s,
      posRepo size: 4

2025-08-22T16:45:20.919Z,1755881120.919 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.442091
2025-08-22T16:45:21.168Z,1755881121.168 [DAT](INFO): DAT read: Rx Time:16:45:21.7879 

2025-08-22T16:45:21.169Z,1755881121.169 [DAT](INFO): Rx dataTimestamp_ set to:1755881121.168253
2025-08-22T16:45:21.170Z,1755881121.170 [DAT](INFO): DAT read: Bearing 314.0,  -5.6 (Local)

2025-08-22T16:45:21.171Z,1755881121.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  -5.6 (Local)

2025-08-22T16:45:21.174Z,1755881121.174 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.4

2025-08-22T16:45:21.180Z,1755881121.180 [DAT](INFO): DAT read: 16:45:21.7879 LVL= 27568, 20465, 31426, 31587, AGC= 66, IDX= 504, 0.15, 0.920, 3.017, 1.274, 1.749, PHS=-0.727, 1.313,-0.519, RAW= 324.7,  -0.7, CAL= 323.4,  -3.7, ROT= 186.6,   3.7

2025-08-22T16:45:21.182Z,1755881121.182 [DAT](INFO): got valid direction response:
 16:45:21.7879 LVL= 27568, 20465, 31426, 31587, AGC= 66, IDX= 504, 0.15, 0.920, 3.017, 1.274, 1.749, PHS=-0.727, 1.313,-0.519, RAW= 324.7,  -0.7, CAL= 323.4,  -3.7, ROT= 186.6,   3.7

2025-08-22T16:45:21.182Z,1755881121.182 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:45:21.184Z,1755881121.184 [DAT](INFO): direction in FSK: [-0.991302,-0.114698,-0.064532]
2025-08-22T16:45:21.184Z,1755881121.184 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:21.191Z,1755881121.191 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=24.714478
2025-08-22T16:45:21.402Z,1755881121.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.504700 s,
      deltaX: 0.400000 m,
      approachRate: 0.792549 m/s,
      rangeRepo size: 4

2025-08-22T16:45:21.410Z,1755881121.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.415502 m,
      bearing: 157.698392 deg,
      lat: 36.779434 deg,
      lon: -121.859672 deg,
      deltaT: 0.504700 s,
      deltaX: 0.397495 m,
      approachRate: 0.787587 m/s,
      posRepo size: 4

2025-08-22T16:45:21.419Z,1755881121.419 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=24.942707
2025-08-22T16:45:21.671Z,1755881121.671 [DAT](INFO): DAT read: Rx Time:16:45:22.2880 

2025-08-22T16:45:21.672Z,1755881121.672 [DAT](INFO): Rx dataTimestamp_ set to:1755881121.671324
2025-08-22T16:45:21.673Z,1755881121.673 [DAT](INFO): DAT read: Bearing 314.4,  -4.9 (Local)

2025-08-22T16:45:21.673Z,1755881121.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  -4.9 (Local)

2025-08-22T16:45:21.675Z,1755881121.675 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.4

2025-08-22T16:45:21.680Z,1755881121.680 [DAT](INFO): DAT read: 16:45:22.2880 LVL= 30512, 20049, 32754, 32755, AGC= 66, IDX= 505,-0.04,-1.878, 0.235,-1.548,-1.063, PHS=-0.714, 1.343,-0.529, RAW= 325.3,  -1.0, CAL= 324.2,  -4.0, ROT= 185.8,   4.0

2025-08-22T16:45:21.681Z,1755881121.681 [DAT](INFO): got valid direction response:
 16:45:22.2880 LVL= 30512, 20049, 32754, 32755, AGC= 66, IDX= 505,-0.04,-1.878, 0.235,-1.548,-1.063, PHS=-0.714, 1.343,-0.529, RAW= 325.3,  -1.0, CAL= 324.2,  -4.0, ROT= 185.8,   4.0

2025-08-22T16:45:21.681Z,1755881121.681 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:45:21.690Z,1755881121.690 [DAT](INFO): direction in FSK: [-0.992457,-0.100810,-0.069756]
2025-08-22T16:45:21.690Z,1755881121.690 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:21.694Z,1755881121.694 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=25.218075
2025-08-22T16:45:21.814Z,1755881121.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503071 s,
      deltaX: 0.200000 m,
      approachRate: 0.397558 m/s,
      rangeRepo size: 4

2025-08-22T16:45:21.816Z,1755881121.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.614213 m,
      bearing: 156.880205 deg,
      lat: 36.779435 deg,
      lon: -121.859672 deg,
      deltaT: 0.503071 s,
      deltaX: 0.198711 m,
      approachRate: 0.394997 m/s,
      posRepo size: 4

2025-08-22T16:45:21.923Z,1755881121.923 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=25.447500
2025-08-22T16:45:22.146Z,1755881122.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:22.176Z,1755881122.176 [DAT](INFO): DAT read: Rx Time:16:45:22.7883 

2025-08-22T16:45:22.177Z,1755881122.177 [DAT](INFO): Rx dataTimestamp_ set to:1755881122.176073
2025-08-22T16:45:22.178Z,1755881122.178 [DAT](INFO): DAT read: Bearing 314.6,  -4.5 (Local)

2025-08-22T16:45:22.179Z,1755881122.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  -4.5 (Local)

2025-08-22T16:45:22.182Z,1755881122.182 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.4

2025-08-22T16:45:22.188Z,1755881122.188 [DAT](INFO): DAT read: 16:45:22.7883 LVL= 30640, 17585, 32754, 32755, AGC= 65, IDX= 508,-0.25,-0.909, 1.185,-0.593,-0.110, PHS=-0.696, 1.340,-0.526, RAW= 325.7,  -1.2, CAL= 324.6,  -4.2, ROT= 185.4,   4.2

2025-08-22T16:45:22.190Z,1755881122.190 [DAT](INFO): got valid direction response:
 16:45:22.7883 LVL= 30640, 17585, 32754, 32755, AGC= 65, IDX= 508,-0.25,-0.909, 1.185,-0.593,-0.110, PHS=-0.696, 1.340,-0.526, RAW= 325.7,  -1.2, CAL= 324.6,  -4.2, ROT= 185.4,   4.2

2025-08-22T16:45:22.190Z,1755881122.190 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:45:22.191Z,1755881122.191 [DAT](INFO): direction in FSK: [-0.992888,-0.093855,-0.073238]
2025-08-22T16:45:22.192Z,1755881122.192 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:22.197Z,1755881122.197 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=25.720825
2025-08-22T16:45:22.427Z,1755881122.427 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=25.950785
2025-08-22T16:45:22.578Z,1755881122.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504749 s,
      deltaX: 0.400001 m,
      approachRate: 0.792474 m/s,
      rangeRepo size: 4

2025-08-22T16:45:22.580Z,1755881122.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.011709 m,
      bearing: 156.441634 deg,
      lat: 36.779435 deg,
      lon: -121.859671 deg,
      deltaT: 0.504749 s,
      deltaX: 0.397496 m,
      approachRate: 0.787513 m/s,
      posRepo size: 4

2025-08-22T16:45:22.680Z,1755881122.680 [DAT](INFO): DAT read: Rx Time:16:45:23.2883 

2025-08-22T16:45:22.681Z,1755881122.681 [DAT](INFO): Rx dataTimestamp_ set to:1755881122.680778
2025-08-22T16:45:22.683Z,1755881122.683 [DAT](INFO): DAT read: Bearing 315.3,  -4.7 (Local)

2025-08-22T16:45:22.683Z,1755881122.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,  -4.7 (Local)

2025-08-22T16:45:22.687Z,1755881122.687 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.4

2025-08-22T16:45:22.693Z,1755881122.693 [DAT](INFO): DAT read: 16:45:23.2883 LVL= 31712, 18929, 32754, 32755, AGC= 67, IDX= 508, 0.40,-0.788, 1.319,-0.462,-0.002, PHS=-0.683, 1.367,-0.504, RAW= 325.5,  -1.9, CAL= 324.4,  -4.9, ROT= 185.6,   4.9

2025-08-22T16:45:22.706Z,1755881122.706 [DAT](INFO): got valid direction response:
 16:45:23.2883 LVL= 31712, 18929, 32754, 32755, AGC= 67, IDX= 508, 0.40,-0.788, 1.319,-0.462,-0.002, PHS=-0.683, 1.367,-0.504, RAW= 325.5,  -1.9, CAL= 324.4,  -4.9, ROT= 185.6,   4.9

2025-08-22T16:45:22.706Z,1755881122.706 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T16:45:22.707Z,1755881122.707 [DAT](INFO): direction in FSK: [-0.991590,-0.097226,-0.085417]
2025-08-22T16:45:22.708Z,1755881122.708 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:22.712Z,1755881122.712 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=26.235828
2025-08-22T16:45:22.933Z,1755881122.933 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=26.456610
2025-08-22T16:45:23.058Z,1755881123.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504705 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:23.060Z,1755881123.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.011587 m,
      bearing: 156.617170 deg,
      lat: 36.779435 deg,
      lon: -121.859671 deg,
      deltaT: 0.504705 s,
      deltaX: -0.000122 m,
      approachRate: -0.000242 m/s,
      posRepo size: 4

2025-08-22T16:45:23.184Z,1755881123.184 [DAT](INFO): DAT read: Rx Time:16:45:23.7885 

2025-08-22T16:45:23.185Z,1755881123.185 [DAT](INFO): Rx dataTimestamp_ set to:1755881123.184293
2025-08-22T16:45:23.187Z,1755881123.187 [DAT](INFO): DAT read: Bearing 315.4,  -4.5 (Local)

2025-08-22T16:45:23.187Z,1755881123.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,  -4.5 (Local)

2025-08-22T16:45:23.190Z,1755881123.190 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.4

2025-08-22T16:45:23.195Z,1755881123.195 [DAT](INFO): DAT read: 16:45:23.7885 LVL= 28320, 18145, 30290, 32755, AGC= 66, IDX= 510, 0.15,-0.702, 1.375,-0.387, 0.068, PHS=-0.667, 1.352,-0.499, RAW= 325.7,  -1.9, CAL= 324.7,  -5.0, ROT= 185.3,   5.0

2025-08-22T16:45:23.196Z,1755881123.196 [DAT](INFO): got valid direction response:
 16:45:23.7885 LVL= 28320, 18145, 30290, 32755, AGC= 66, IDX= 510, 0.15,-0.702, 1.375,-0.387, 0.068, PHS=-0.667, 1.352,-0.499, RAW= 325.7,  -1.9, CAL= 324.7,  -5.0, ROT= 185.3,   5.0

2025-08-22T16:45:23.196Z,1755881123.196 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T16:45:23.197Z,1755881123.197 [DAT](INFO): direction in FSK: [-0.991936,-0.092019,-0.087156]
2025-08-22T16:45:23.198Z,1755881123.198 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:23.201Z,1755881123.201 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=26.725052
2025-08-22T16:45:23.435Z,1755881123.435 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=26.958895
2025-08-22T16:45:23.558Z,1755881123.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503515 s,
      deltaX: 0.299999 m,
      approachRate: 0.595810 m/s,
      rangeRepo size: 4

2025-08-22T16:45:23.560Z,1755881123.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.309706 m,
      bearing: 156.322163 deg,
      lat: 36.779435 deg,
      lon: -121.859671 deg,
      deltaT: 0.503515 s,
      deltaX: 0.298119 m,
      approachRate: 0.592075 m/s,
      posRepo size: 4

2025-08-22T16:45:23.687Z,1755881123.687 [DAT](INFO): DAT read: Rx Time:16:45:24.2886 

2025-08-22T16:45:23.688Z,1755881123.688 [DAT](INFO): Rx dataTimestamp_ set to:1755881123.687303
2025-08-22T16:45:23.689Z,1755881123.689 [DAT](INFO): DAT read: Bearing 315.4,  -4.3 (Local)

2025-08-22T16:45:23.689Z,1755881123.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,  -4.3 (Local)

2025-08-22T16:45:23.691Z,1755881123.691 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.6

2025-08-22T16:45:23.696Z,1755881123.696 [DAT](INFO): DAT read: 16:45:24.2886 LVL= 30000, 18305, 32754, 32755, AGC= 66, IDX= 511,-0.05,-3.062,-0.983,-2.755,-2.294, PHS=-0.665, 1.356,-0.505, RAW= 325.9,  -1.9, CAL= 324.9,  -5.0, ROT= 185.1,   5.0

2025-08-22T16:45:23.697Z,1755881123.697 [DAT](INFO): got valid direction response:
 16:45:24.2886 LVL= 30000, 18305, 32754, 32755, AGC= 66, IDX= 511,-0.05,-3.062,-0.983,-2.755,-2.294, PHS=-0.665, 1.356,-0.505, RAW= 325.9,  -1.9, CAL= 324.9,  -5.0, ROT= 185.1,   5.0

2025-08-22T16:45:23.697Z,1755881123.697 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T16:45:23.720Z,1755881123.720 [DAT](INFO): direction in FSK: [-0.992251,-0.088556,-0.087156]
2025-08-22T16:45:23.720Z,1755881123.720 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:23.724Z,1755881123.724 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=27.247986
2025-08-22T16:45:23.980Z,1755881123.980 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=27.503531
2025-08-22T16:45:24.052Z,1755881124.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503010 s,
      deltaX: 0.200001 m,
      approachRate: 0.397608 m/s,
      rangeRepo size: 4

2025-08-22T16:45:24.054Z,1755881124.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.508476 m,
      bearing: 156.113200 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 0.503010 s,
      deltaX: 0.198771 m,
      approachRate: 0.395162 m/s,
      posRepo size: 4

2025-08-22T16:45:24.194Z,1755881124.194 [DAT](INFO): DAT read: VL= 24144, 20625, 22082, 23987, AGC= 70, IDX=   2,-0.27,-1.469, 0.626,-1.165,-0.694, PHS=-0.673, 1.365,-0.516, RAW= 326.0,  -1.8, CAL= 325.0,  -4.8, ROT= 185.0,   4.8

2025-08-22T16:45:24.195Z,1755881124.195 [DAT](INFO): Local DAT time set to VL= 24144, 20625, 22082, 23987, AGC= 70, IDX=   2,-0.27,-1.469, 0.626,-1.165,-0.694, PHS=-0.673, 1.365,-0.516, RAW= 326.0,  -1.8, CAL= 325.0,  -4.8, ROT= 185.0,   4.8

2025-08-22T16:45:24.195Z,1755881124.195 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=27.719156
2025-08-22T16:45:24.401Z,1755881124.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:45:24.443Z,1755881124.443 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=27.966738
2025-08-22T16:45:24.696Z,1755881124.696 [DAT](INFO): DAT read: Rx Time:16:45:25.2889 

2025-08-22T16:45:24.696Z,1755881124.696 [DAT](INFO): Rx dataTimestamp_ set to:1755881124.695871
2025-08-22T16:45:24.698Z,1755881124.698 [DAT](INFO): DAT read: Bearing 315.6,  -3.4 (Local)

2025-08-22T16:45:24.698Z,1755881124.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,  -3.4 (Local)

2025-08-22T16:45:24.700Z,1755881124.700 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.6

2025-08-22T16:45:24.705Z,1755881124.705 [DAT](INFO): DAT read: 16:45:25.2889 LVL= 30256, 21281, 32754, 32755, AGC= 67, IDX= 498, 0.44,-1.276, 0.785,-1.004,-0.532, PHS=-0.642, 1.362,-0.516, RAW= 326.8,  -2.1, CAL= 325.8,  -5.1, ROT= 184.2,   5.1

2025-08-22T16:45:24.712Z,1755881124.712 [DAT](INFO): got valid direction response:
 16:45:25.2889 LVL= 30256, 21281, 32754, 32755, AGC= 67, IDX= 498, 0.44,-1.276, 0.785,-1.004,-0.532, PHS=-0.642, 1.362,-0.516, RAW= 326.8,  -2.1, CAL= 325.8,  -5.1, ROT= 184.2,   5.1

2025-08-22T16:45:24.713Z,1755881124.713 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T16:45:24.714Z,1755881124.714 [DAT](INFO): direction in FSK: [-0.993366,-0.072948,-0.088894]
2025-08-22T16:45:24.714Z,1755881124.714 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:24.718Z,1755881124.718 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=28.242056
2025-08-22T16:45:24.854Z,1755881124.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 1.008568 s,
      deltaX: 0.400000 m,
      approachRate: 0.396602 m/s,
      rangeRepo size: 4

2025-08-22T16:45:24.856Z,1755881124.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.905933 m,
      bearing: 155.201567 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 1.008568 s,
      deltaX: 0.397457 m,
      approachRate: 0.394081 m/s,
      posRepo size: 4

2025-08-22T16:45:24.950Z,1755881124.950 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=28.473427
2025-08-22T16:45:25.199Z,1755881125.199 [DAT](INFO): DAT read: Rx Time:16:45:25.7892 

2025-08-22T16:45:25.199Z,1755881125.199 [DAT](INFO): Rx dataTimestamp_ set to:1755881125.199168
2025-08-22T16:45:25.201Z,1755881125.201 [DAT](INFO): DAT read: Bearing 315.6,  -3.1 (Local)

2025-08-22T16:45:25.201Z,1755881125.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,  -3.1 (Local)

2025-08-22T16:45:25.203Z,1755881125.203 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.4

2025-08-22T16:45:25.208Z,1755881125.208 [DAT](INFO): DAT read: 16:45:25.7892 LVL= 32096, 19889, 32754, 32755, AGC= 68, IDX= 501, 0.25, 0.106, 2.173, 0.367, 0.850, PHS=-0.641, 1.369,-0.527, RAW= 327.1,  -2.1, CAL= 326.1,  -5.1, ROT= 183.9,   5.1

2025-08-22T16:45:25.209Z,1755881125.209 [DAT](INFO): got valid direction response:
 16:45:25.7892 LVL= 32096, 19889, 32754, 32755, AGC= 68, IDX= 501, 0.25, 0.106, 2.173, 0.367, 0.850, PHS=-0.641, 1.369,-0.527, RAW= 327.1,  -2.1, CAL= 326.1,  -5.1, ROT= 183.9,   5.1

2025-08-22T16:45:25.209Z,1755881125.209 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T16:45:25.210Z,1755881125.210 [DAT](INFO): direction in FSK: [-0.993735,-0.067746,-0.088894]
2025-08-22T16:45:25.210Z,1755881125.210 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:25.214Z,1755881125.214 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=28.737698
2025-08-22T16:45:25.315Z,1755881125.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503297 s,
      deltaX: 0.500000 m,
      approachRate: 0.993449 m/s,
      rangeRepo size: 4

2025-08-22T16:45:25.317Z,1755881125.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.402799 m,
      bearing: 154.892154 deg,
      lat: 36.779436 deg,
      lon: -121.859671 deg,
      deltaT: 0.503297 s,
      deltaX: 0.496865 m,
      approachRate: 0.987221 m/s,
      posRepo size: 4

2025-08-22T16:45:25.322Z,1755881125.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 15.50 m. Rolling out.
2025-08-22T16:45:25.322Z,1755881125.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-22T16:45:25.347Z,1755881125.347 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T16:45:25.347Z,1755881125.347 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T16:45:25.350Z,1755881125.350 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:45:25.455Z,1755881125.455 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=28.978043
2025-08-22T16:45:25.703Z,1755881125.703 [DAT](INFO): DAT read: Rx Time:16:45:26.2893 

2025-08-22T16:45:25.704Z,1755881125.704 [DAT](INFO): Rx dataTimestamp_ set to:1755881125.703410
2025-08-22T16:45:25.705Z,1755881125.705 [DAT](INFO): DAT read: Bearing 315.9,  -2.1 (Local)

2025-08-22T16:45:25.705Z,1755881125.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9,  -2.1 (Local)

2025-08-22T16:45:25.707Z,1755881125.707 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.4

2025-08-22T16:45:25.712Z,1755881125.712 [DAT](INFO): DAT read: 16:45:26.2893 LVL= 29920, 19361, 32754, 32755, AGC= 67, IDX= 502, 0.11,-0.672, 1.357,-0.449, 0.038, PHS=-0.607, 1.365,-0.530, RAW= 328.0,  -2.4, CAL= 327.1,  -5.4, ROT= 182.9,   5.4

2025-08-22T16:45:25.713Z,1755881125.713 [DAT](INFO): got valid direction response:
 16:45:26.2893 LVL= 29920, 19361, 32754, 32755, AGC= 67, IDX= 502, 0.11,-0.672, 1.357,-0.449, 0.038, PHS=-0.607, 1.365,-0.530, RAW= 328.0,  -2.4, CAL= 327.1,  -5.4, ROT= 182.9,   5.4

2025-08-22T16:45:25.730Z,1755881125.730 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T16:45:25.731Z,1755881125.731 [DAT](INFO): direction in FSK: [-0.994287,-0.050368,-0.094108]
2025-08-22T16:45:25.731Z,1755881125.731 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:25.735Z,1755881125.735 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=29.259089
2025-08-22T16:45:25.739Z,1755881125.739 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-22T16:45:25.739Z,1755881125.739 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T16:45:25.740Z,1755881125.740 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-22T16:45:25.741Z,1755881125.741 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 15.500000 m (mode  5.000000 count ).
2025-08-22T16:45:25.741Z,1755881125.741 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-22T16:45:25.741Z,1755881125.741 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-22T16:45:25.756Z,1755881125.756 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-22T16:45:25.763Z,1755881125.763 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T16:45:25.764Z,1755881125.764 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-22T16:45:25.774Z,1755881125.774 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  15.500000 m (mode  5.000000 count ).
2025-08-22T16:45:25.774Z,1755881125.774 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-22T16:45:25.775Z,1755881125.775 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-22T16:45:25.798Z,1755881125.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504242 s,
      deltaX: 0.100000 m,
      approachRate: 0.198318 m/s,
      rangeRepo size: 4

2025-08-22T16:45:25.800Z,1755881125.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.502172 m,
      bearing: 153.883322 deg,
      lat: 36.779436 deg,
      lon: -121.859670 deg,
      deltaT: 0.504242 s,
      deltaX: 0.099373 m,
      approachRate: 0.197074 m/s,
      posRepo size: 4

2025-08-22T16:45:25.800Z,1755881125.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T16:45:25.811Z,1755881125.811 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T16:45:25.811Z,1755881125.811 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T16:45:25.811Z,1755881125.811 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T16:45:25.811Z,1755881125.811 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T16:45:25.959Z,1755881125.959 [DAT](INFO): DAT read: Rx Time:16:45:26.7895 

2025-08-22T16:45:25.960Z,1755881125.960 [DAT](INFO): Rx dataTimestamp_ set to:1755881125.959273
2025-08-22T16:45:25.964Z,1755881125.964 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=29.486868
2025-08-22T16:45:26.207Z,1755881126.207 [DAT](INFO): DAT read: Bearing 315.7,  -1.8 (Local)

2025-08-22T16:45:26.208Z,1755881126.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7,  -1.8 (Local)

2025-08-22T16:45:26.210Z,1755881126.210 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.4

2025-08-22T16:45:26.214Z,1755881126.214 [DAT](INFO): DAT read: 16:45:26.7895 LVL= 24560, 20881, 29378, 30323, AGC= 63, IDX= 504, 0.05,-1.412, 0.550,-1.203,-0.722, PHS=-0.588, 1.317,-0.525, RAW= 328.3,  -2.2, CAL= 327.4,  -5.2, ROT= 182.6,   5.2

2025-08-22T16:45:26.215Z,1755881126.215 [DAT](INFO): got valid direction response:
 16:45:26.7895 LVL= 24560, 20881, 29378, 30323, AGC= 63, IDX= 504, 0.05,-1.412, 0.550,-1.203,-0.722, PHS=-0.588, 1.317,-0.525, RAW= 328.3,  -2.2, CAL= 327.4,  -5.2, ROT= 182.6,   5.2

2025-08-22T16:45:26.216Z,1755881126.216 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T16:45:26.217Z,1755881126.217 [DAT](INFO): direction in FSK: [-0.994859,-0.045177,-0.090633]
2025-08-22T16:45:26.217Z,1755881126.217 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:26.220Z,1755881126.220 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=29.744400
2025-08-22T16:45:26.297Z,1755881126.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-22T16:45:26.297Z,1755881126.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-22T16:45:26.306Z,1755881126.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-22T16:45:26.306Z,1755881126.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-22T16:45:26.325Z,1755881126.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.502611 s,
      deltaX: 0.299999 m,
      approachRate: 0.596882 m/s,
      rangeRepo size: 4

2025-08-22T16:45:26.331Z,1755881126.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800285 m,
      bearing: 153.678812 deg,
      lat: 36.779436 deg,
      lon: -121.859669 deg,
      deltaT: 0.502611 s,
      deltaX: 0.298114 m,
      approachRate: 0.593130 m/s,
      posRepo size: 4

2025-08-22T16:45:26.332Z,1755881126.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T16:45:26.462Z,1755881126.462 [DAT](INFO): DAT read: Rx Time:16:45:27.2896 

2025-08-22T16:45:26.464Z,1755881126.464 [DAT](INFO): Rx dataTimestamp_ set to:1755881126.462898
2025-08-22T16:45:26.467Z,1755881126.467 [DAT](INFO): DAT read: Bearing 314.8,  -1.4 (Local)

2025-08-22T16:45:26.468Z,1755881126.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8,  -1.4 (Local)

2025-08-22T16:45:26.471Z,1755881126.471 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=29.994522
2025-08-22T16:45:26.625Z,1755881126.625 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-22T16:45:26.625Z,1755881126.625 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-22T16:45:26.634Z,1755881126.634 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-22T16:45:26.634Z,1755881126.634 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-22T16:45:26.636Z,1755881126.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T16:45:26.712Z,1755881126.712 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.5

2025-08-22T16:45:26.717Z,1755881126.717 [DAT](INFO): DAT read: 16:45:27.2896 LVL= 22304, 21841, 24994, 23187, AGC= 63, IDX= 505,-0.05, 2.343,-2.026, 2.531, 3.039, PHS=-0.595, 1.263,-0.553, RAW= 328.9,  -1.3, CAL= 327.9,  -4.2, ROT= 182.1,   4.2

2025-08-22T16:45:26.718Z,1755881126.718 [DAT](INFO): got valid direction response:
 16:45:27.2896 LVL= 22304, 21841, 24994, 23187, AGC= 63, IDX= 505,-0.05, 2.343,-2.026, 2.531, 3.039, PHS=-0.595, 1.263,-0.553, RAW= 328.9,  -1.3, CAL= 327.9,  -4.2, ROT= 182.1,   4.2

2025-08-22T16:45:26.718Z,1755881126.718 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T16:45:26.719Z,1755881126.719 [DAT](INFO): direction in FSK: [-0.996645,-0.036545,-0.073238]
2025-08-22T16:45:26.720Z,1755881126.720 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:26.729Z,1755881126.729 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=30.252523
2025-08-22T16:45:26.966Z,1755881126.966 [DAT](INFO): DAT read: Rx Time:16:45:27.7899 

2025-08-22T16:45:26.967Z,1755881126.967 [DAT](INFO): Rx dataTimestamp_ set to:1755881126.966614
2025-08-22T16:45:26.970Z,1755881126.970 [DAT](INFO): DAT read: Bearing 315.5,  -0.0 (Local)

2025-08-22T16:45:26.972Z,1755881126.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5,  -0.0 (Local)

2025-08-22T16:45:26.974Z,1755881126.974 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=30.497303
2025-08-22T16:45:27.178Z,1755881127.178 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-22T16:45:27.179Z,1755881127.179 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T16:45:27.179Z,1755881127.179 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-22T16:45:27.179Z,1755881127.179 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T16:45:27.180Z,1755881127.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-22T16:45:27.180Z,1755881127.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T16:45:27.180Z,1755881127.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-22T16:45:27.180Z,1755881127.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T16:45:27.191Z,1755881127.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.504364 s,
      deltaX: 0.200001 m,
      approachRate: 0.396541 m/s,
      rangeRepo size: 4

2025-08-22T16:45:27.193Z,1755881127.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.998994 m,
      bearing: 153.182733 deg,
      lat: 36.779436 deg,
      lon: -121.859667 deg,
      deltaT: 0.504364 s,
      deltaX: 0.198709 m,
      approachRate: 0.393978 m/s,
      posRepo size: 4

2025-08-22T16:45:27.193Z,1755881127.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T16:45:27.230Z,1755881127.230 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed -0.4

2025-08-22T16:45:27.236Z,1755881127.236 [DAT](INFO): DAT read: 16:45:27.7899 LVL= 23984, 19777, 30194, 29939, AGC= 63, IDX= 508,-0.15,-2.992,-1.119,-2.854,-2.345, PHS=-0.545, 1.271,-0.553, RAW= 330.2,  -1.9, CAL= 329.4,  -4.9, ROT= 180.6,   4.9

2025-08-22T16:45:27.237Z,1755881127.237 [DAT](INFO): got valid direction response:
 16:45:27.7899 LVL= 23984, 19777, 30194, 29939, AGC= 63, IDX= 508,-0.15,-2.992,-1.119,-2.854,-2.345, PHS=-0.545, 1.271,-0.553, RAW= 330.2,  -1.9, CAL= 329.4,  -4.9, ROT= 180.6,   4.9

2025-08-22T16:45:27.238Z,1755881127.238 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T16:45:27.239Z,1755881127.239 [DAT](INFO): direction in FSK: [-0.996291,-0.010434,-0.085417]
2025-08-22T16:45:27.240Z,1755881127.240 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:27.253Z,1755881127.253 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=30.777014
2025-08-22T16:45:27.483Z,1755881127.483 [DAT](INFO): DAT read: Rx Time:16:45:28.2900 

2025-08-22T16:45:27.484Z,1755881127.484 [DAT](INFO): Rx dataTimestamp_ set to:1755881127.483320
2025-08-22T16:45:27.488Z,1755881127.488 [DAT](INFO): DAT read: Bearing 315.9,   0.9 (Local)

2025-08-22T16:45:27.489Z,1755881127.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9,   0.9 (Local)

2025-08-22T16:45:27.499Z,1755881127.499 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.4

2025-08-22T16:45:27.501Z,1755881127.501 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-22T16:45:27.512Z,1755881127.512 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=31.036362
2025-08-22T16:45:27.526Z,1755881127.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.772935 s,
      deltaX: 0.600000 m,
      approachRate: 0.776262 m/s,
      rangeRepo size: 4

2025-08-22T16:45:27.528Z,1755881127.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.396484 m,
      bearing: 151.674457 deg,
      lat: 36.779436 deg,
      lon: -121.859667 deg,
      deltaT: 0.516520 s,
      deltaX: 0.397491 m,
      approachRate: 0.769555 m/s,
      posRepo size: 4

2025-08-22T16:45:27.528Z,1755881127.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-22T16:45:27.735Z,1755881127.735 [DAT](INFO): DAT read: 16:45:28.2900 LVL= 29168, 20017, 31634, 32755, AGC= 64, IDX= 509,-0.36, 2.009,-2.311, 2.110, 2.657, PHS=-0.545, 1.361,-0.591, RAW= 331.2,  -2.4, CAL= 330.4,  -5.3, ROT= 179.6,   5.3

2025-08-22T16:45:27.736Z,1755881127.736 [DAT](INFO): got valid direction response:
 16:45:28.2900 LVL= 29168, 20017, 31634, 32755, AGC= 64, IDX= 509,-0.36, 2.009,-2.311, 2.110, 2.657, PHS=-0.545, 1.361,-0.591, RAW= 331.2,  -2.4, CAL= 330.4,  -5.3, ROT= 179.6,   5.3

2025-08-22T16:45:27.737Z,1755881127.737 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-08-22T16:45:27.738Z,1755881127.738 [DAT](INFO): direction in FSK: [-0.995700,0.006951,-0.092371]
2025-08-22T16:45:27.741Z,1755881127.741 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=31.265078
2025-08-22T16:45:27.931Z,1755881127.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-22T16:45:27.986Z,1755881127.986 [DAT](INFO): DAT read: Rx Time:16:45:28.7902 

2025-08-22T16:45:27.988Z,1755881127.988 [DAT](INFO): Rx dataTimestamp_ set to:1755881127.986903
2025-08-22T16:45:27.992Z,1755881127.992 [DAT](INFO): DAT read: Bearing 317.1,   2.3 (Local)

2025-08-22T16:45:27.993Z,1755881127.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.1,   2.3 (Local)

2025-08-22T16:45:28.003Z,1755881128.003 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.4

2025-08-22T16:45:28.014Z,1755881128.014 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-22T16:45:28.015Z,1755881128.015 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=31.538652
2025-08-22T16:45:28.238Z,1755881128.238 [DAT](INFO): DAT read: 16:45:28.7902 LVL= 26448, 19825, 26786, 28195, AGC= 65, IDX= 511, 0.30,-1.078, 0.915,-1.037,-0.479, PHS=-0.497, 1.439,-0.603, RAW= 332.6,  -3.4, CAL= 332.0,  -6.4, ROT= 178.0,   6.4

2025-08-22T16:45:28.239Z,1755881128.239 [DAT](INFO): got valid direction response:
 16:45:28.7902 LVL= 26448, 19825, 26786, 28195, AGC= 65, IDX= 511, 0.30,-1.078, 0.915,-1.037,-0.479, PHS=-0.497, 1.439,-0.603, RAW= 332.6,  -3.4, CAL= 332.0,  -6.4, ROT= 178.0,   6.4

2025-08-22T16:45:28.239Z,1755881128.239 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-08-22T16:45:28.240Z,1755881128.240 [DAT](INFO): direction in FSK: [-0.993163,0.034682,-0.111469]
2025-08-22T16:45:28.244Z,1755881128.244 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=31.767784
2025-08-22T16:45:28.405Z,1755881128.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503583 s,
      deltaX: 0.299999 m,
      approachRate: 0.595729 m/s,
      rangeRepo size: 4

2025-08-22T16:45:28.411Z,1755881128.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.893354 m,
      bearing: 149.067609 deg,
      lat: 36.779438 deg,
      lon: -121.859662 deg,
      deltaT: 0.759998 s,
      deltaX: 0.496870 m,
      approachRate: 0.653778 m/s,
      posRepo size: 4

2025-08-22T16:45:28.412Z,1755881128.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T16:45:28.488Z,1755881128.488 [DAT](INFO): DAT read: Rx Time:16:45:29.2903 

2025-08-22T16:45:28.488Z,1755881128.488 [DAT](INFO): Rx dataTimestamp_ set to:1755881128.488024
2025-08-22T16:45:28.490Z,1755881128.490 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.4

2025-08-22T16:45:28.491Z,1755881128.491 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-22T16:45:28.492Z,1755881128.492 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=32.016220
2025-08-22T16:45:28.739Z,1755881128.739 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=32.262718
2025-08-22T16:45:28.744Z,1755881128.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.501121 s,
      deltaX: 0.100000 m,
      approachRate: 0.199553 m/s,
      rangeRepo size: 4

2025-08-22T16:45:28.744Z,1755881128.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T16:45:28.994Z,1755881128.994 [DAT](INFO): DAT read: Rx Time:16:45:29.7906 

2025-08-22T16:45:28.996Z,1755881128.996 [DAT](INFO): Rx dataTimestamp_ set to:1755881128.994998
2025-08-22T16:45:28.000Z,1755881129.000 [DAT](INFO): DAT read: Bearing 316.2,   4.0 (Local)

2025-08-22T16:45:29.001Z,1755881129.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,   4.0 (Local)

2025-08-22T16:45:29.008Z,1755881129.008 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.4

2025-08-22T16:45:29.011Z,1755881129.011 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-08-22T16:45:29.013Z,1755881129.013 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=32.536877
2025-08-22T16:45:29.237Z,1755881129.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.506974 s,
      deltaX: 0.500000 m,
      approachRate: 0.986244 m/s,
      rangeRepo size: 4

2025-08-22T16:45:29.246Z,1755881129.246 [DAT](INFO): DAT read: 16:45:29.7906 LVL= 29616, 29073, 28402, 28403, AGC= 64, IDX=   3,-0.35,-2.224,-0.377,-2.242,-1.655, PHS=-0.467, 1.323,-0.631, RAW= 334.3,  -2.4, CAL= 333.7,  -5.4, ROT= 176.3,   5.4

2025-08-22T16:45:29.247Z,1755881129.247 [DAT](INFO): got valid direction response:
 16:45:29.7906 LVL= 29616, 29073, 28402, 28403, AGC= 64, IDX=   3,-0.35,-2.224,-0.377,-2.242,-1.655, PHS=-0.467, 1.323,-0.631, RAW= 334.3,  -2.4, CAL= 333.7,  -5.4, ROT= 176.3,   5.4

2025-08-22T16:45:29.247Z,1755881129.247 [DAT](INFO): #Rx 91: Read direction message, but no range.
2025-08-22T16:45:29.248Z,1755881129.248 [DAT](INFO): direction in FSK: [-0.993487,0.064246,-0.094108]
2025-08-22T16:45:29.252Z,1755881129.252 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=32.775909
2025-08-22T16:45:29.253Z,1755881129.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T16:45:29.499Z,1755881129.499 [DAT](INFO): DAT read: Rx Time:16:45:30.2906 

2025-08-22T16:45:29.500Z,1755881129.500 [DAT](INFO): Rx dataTimestamp_ set to:1755881129.499276
2025-08-22T16:45:29.504Z,1755881129.504 [DAT](INFO): DAT read: Bearing 317.4,   4.8 (Local)

2025-08-22T16:45:29.521Z,1755881129.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.4,   4.8 (Local)

2025-08-22T16:45:29.524Z,1755881129.524 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed -0.2

2025-08-22T16:45:29.528Z,1755881129.528 [DAT](INFO): DAT read: 16:45:30.2906 LVL= 22480, 18529, 23602, 23923, AGC= 64, IDX= 499, 0.10,-1.255, 0.624,-1.310,-0.727, PHS=-0.426, 1.396,-0.628, RAW= 335.2,  -3.6, CAL= 334.6,  -6.6, ROT= 175.4,   6.6

2025-08-22T16:45:29.529Z,1755881129.529 [DAT](INFO): got valid direction response:
 16:45:30.2906 LVL= 22480, 18529, 23602, 23923, AGC= 64, IDX= 499, 0.10,-1.255, 0.624,-1.310,-0.727, PHS=-0.426, 1.396,-0.628, RAW= 335.2,  -3.6, CAL= 334.6,  -6.6, ROT= 175.4,   6.6

2025-08-22T16:45:29.550Z,1755881129.550 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T16:45:29.551Z,1755881129.551 [DAT](INFO): direction in FSK: [-0.990173,0.079668,-0.114937]
2025-08-22T16:45:29.552Z,1755881129.552 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:29.573Z,1755881129.573 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=33.096779
2025-08-22T16:45:29.612Z,1755881129.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504278 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:29.627Z,1755881129.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.489574 m,
      bearing: 146.503922 deg,
      lat: 36.779439 deg,
      lon: -121.859660 deg,
      deltaT: 1.512373 s,
      deltaX: 0.596220 m,
      approachRate: 0.394228 m/s,
      posRepo size: 4

2025-08-22T16:45:29.627Z,1755881129.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T16:45:29.747Z,1755881129.747 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=33.271160
2025-08-22T16:45:29.988Z,1755881129.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T16:45:30.005Z,1755881130.005 [DAT](INFO): DAT read: Rx Time:16:45:30.7907 

2025-08-22T16:45:30.008Z,1755881130.008 [DAT](INFO): Rx dataTimestamp_ set to:1755881130.006842
2025-08-22T16:45:30.012Z,1755881130.012 [DAT](INFO): DAT read: Bearing 317.5,   4.9 (Local)

2025-08-22T16:45:30.013Z,1755881130.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.5,   4.9 (Local)

2025-08-22T16:45:30.019Z,1755881130.019 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.4

2025-08-22T16:45:30.032Z,1755881130.032 [DAT](INFO): DAT read: 16:45:30.7907 LVL= 18064, 24657, 19442, 23971, AGC= 61, IDX= 501,-0.34,-2.527,-0.608,-2.592,-1.995, PHS=-0.430, 1.432,-0.641, RAW= 335.3,  -3.7, CAL= 334.8,  -6.7, ROT= 175.2,   6.7

2025-08-22T16:45:30.033Z,1755881130.033 [DAT](INFO): got valid direction response:
 16:45:30.7907 LVL= 18064, 24657, 19442, 23971, AGC= 61, IDX= 501,-0.34,-2.527,-0.608,-2.592,-1.995, PHS=-0.430, 1.432,-0.641, RAW= 335.3,  -3.7, CAL= 334.8,  -6.7, ROT= 175.2,   6.7

2025-08-22T16:45:30.033Z,1755881130.033 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T16:45:30.042Z,1755881130.042 [DAT](INFO): direction in FSK: [-0.989687,0.083106,-0.116671]
2025-08-22T16:45:30.042Z,1755881130.042 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:30.071Z,1755881130.071 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=33.594517
2025-08-22T16:45:30.251Z,1755881130.251 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=33.774731
2025-08-22T16:45:30.418Z,1755881130.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.507566 s,
      deltaX: 0.100000 m,
      approachRate: 0.197019 m/s,
      rangeRepo size: 4

2025-08-22T16:45:30.420Z,1755881130.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.588945 m,
      bearing: 146.299221 deg,
      lat: 36.779440 deg,
      lon: -121.859655 deg,
      deltaT: 0.507566 s,
      deltaX: 0.099371 m,
      approachRate: 0.195779 m/s,
      posRepo size: 4

2025-08-22T16:45:30.421Z,1755881130.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T16:45:30.507Z,1755881130.507 [DAT](INFO): DAT read: Rx Time:16:45:31.2908 

2025-08-22T16:45:30.509Z,1755881130.509 [DAT](INFO): Rx dataTimestamp_ set to:1755881130.507832
2025-08-22T16:45:30.513Z,1755881130.513 [DAT](INFO): DAT read: Bearing 316.9,   5.6 (Local)

2025-08-22T16:45:30.514Z,1755881130.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.9,   5.6 (Local)

2025-08-22T16:45:30.516Z,1755881130.516 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.4

2025-08-22T16:45:30.533Z,1755881130.533 [DAT](INFO): DAT read: 16:45:31.2908 LVL= 22768, 21809, 31858, 29171, AGC= 63, IDX= 501, 0.06,-2.000,-0.159,-2.083,-1.476, PHS=-0.423, 1.362,-0.651, RAW= 335.9,  -3.1, CAL= 335.4,  -6.0, ROT= 174.6,   6.0

2025-08-22T16:45:30.550Z,1755881130.550 [DAT](INFO): got valid direction response:
 16:45:31.2908 LVL= 22768, 21809, 31858, 29171, AGC= 63, IDX= 501, 0.06,-2.000,-0.159,-2.083,-1.476, PHS=-0.423, 1.362,-0.651, RAW= 335.9,  -3.1, CAL= 335.4,  -6.0, ROT= 174.6,   6.0

2025-08-22T16:45:30.551Z,1755881130.551 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T16:45:30.552Z,1755881130.552 [DAT](INFO): direction in FSK: [-0.990108,0.093593,-0.104528]
2025-08-22T16:45:30.552Z,1755881130.552 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:30.560Z,1755881130.560 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=34.083939
2025-08-22T16:45:30.758Z,1755881130.758 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=34.281860
2025-08-22T16:45:30.818Z,1755881130.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.500990 s,
      deltaX: 0.199999 m,
      approachRate: 0.399207 m/s,
      rangeRepo size: 4

2025-08-22T16:45:30.820Z,1755881130.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.787689 m,
      bearing: 145.747827 deg,
      lat: 36.779443 deg,
      lon: -121.859650 deg,
      deltaT: 0.500990 s,
      deltaX: 0.198744 m,
      approachRate: 0.396702 m/s,
      posRepo size: 4

2025-08-22T16:45:30.820Z,1755881130.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T16:45:31.011Z,1755881131.011 [DAT](INFO): DAT read: Rx Time:16:45:31.7910 

2025-08-22T16:45:31.012Z,1755881131.012 [DAT](INFO): Rx dataTimestamp_ set to:1755881131.011483
2025-08-22T16:45:31.014Z,1755881131.014 [DAT](INFO): DAT read: Bearing 316.6,   6.0 (Local)

2025-08-22T16:45:31.014Z,1755881131.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.6,   6.0 (Local)

2025-08-22T16:45:31.016Z,1755881131.016 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.3

2025-08-22T16:45:31.021Z,1755881131.021 [DAT](INFO): DAT read: 16:45:31.7910 LVL= 23616, 21761, 27442, 28307, AGC= 64, IDX= 504,-0.44,-2.398,-0.546,-2.494,-1.868, PHS=-0.428, 1.367,-0.670, RAW= 336.3,  -2.8, CAL= 335.7,  -5.8, ROT= 174.3,   5.8

2025-08-22T16:45:31.043Z,1755881131.043 [DAT](INFO): got valid direction response:
 16:45:31.7910 LVL= 23616, 21761, 27442, 28307, AGC= 64, IDX= 504,-0.44,-2.398,-0.546,-2.494,-1.868, PHS=-0.428, 1.367,-0.670, RAW= 336.3,  -2.8, CAL= 335.7,  -5.8, ROT= 174.3,   5.8

2025-08-22T16:45:31.043Z,1755881131.043 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T16:45:31.045Z,1755881131.045 [DAT](INFO): direction in FSK: [-0.989962,0.098811,-0.101056]
2025-08-22T16:45:31.045Z,1755881131.045 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:31.128Z,1755881131.128 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=34.652023
2025-08-22T16:45:31.259Z,1755881131.259 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=34.782619
2025-08-22T16:45:31.274Z,1755881131.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.503651 s,
      deltaX: 0.300001 m,
      approachRate: 0.595653 m/s,
      rangeRepo size: 4

2025-08-22T16:45:31.276Z,1755881131.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.085817 m,
      bearing: 145.305223 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.503651 s,
      deltaX: 0.298128 m,
      approachRate: 0.591934 m/s,
      posRepo size: 4

2025-08-22T16:45:31.277Z,1755881131.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m.
2025-08-22T16:45:31.514Z,1755881131.514 [DAT](INFO): DAT read: Rx Time:16:45:32.2911 

2025-08-22T16:45:31.514Z,1755881131.514 [DAT](INFO): Rx dataTimestamp_ set to:1755881131.513790
2025-08-22T16:45:31.515Z,1755881131.515 [DAT](INFO): DAT read: Bearing 316.8,   5.5 (Local)

2025-08-22T16:45:31.516Z,1755881131.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8,   5.5 (Local)

2025-08-22T16:45:31.518Z,1755881131.518 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.3

2025-08-22T16:45:31.522Z,1755881131.522 [DAT](INFO): DAT read: 16:45:32.2911 LVL= 29584, 22833, 28066, 32755, AGC= 65, IDX= 504,-0.12, 2.658,-1.758, 2.576,-3.092, PHS=-0.430, 1.380,-0.659, RAW= 335.9,  -3.0, CAL= 335.3,  -6.0, ROT= 174.7,   6.0

2025-08-22T16:45:31.523Z,1755881131.523 [DAT](INFO): got valid direction response:
 16:45:32.2911 LVL= 29584, 22833, 28066, 32755, AGC= 65, IDX= 504,-0.12, 2.658,-1.758, 2.576,-3.092, PHS=-0.430, 1.380,-0.659, RAW= 335.9,  -3.0, CAL= 335.3,  -6.0, ROT= 174.7,   6.0

2025-08-22T16:45:31.523Z,1755881131.523 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T16:45:31.524Z,1755881131.524 [DAT](INFO): direction in FSK: [-0.990270,0.091865,-0.104528]
2025-08-22T16:45:31.525Z,1755881131.525 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:31.528Z,1755881131.528 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=35.052319
2025-08-22T16:45:31.643Z,1755881131.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.502307 s,
      deltaX: 0.099998 m,
      approachRate: 0.199078 m/s,
      rangeRepo size: 4

2025-08-22T16:45:31.650Z,1755881131.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.185190 m,
      bearing: 145.585019 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.502307 s,
      deltaX: 0.099373 m,
      approachRate: 0.197833 m/s,
      posRepo size: 4

2025-08-22T16:45:31.651Z,1755881131.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T16:45:31.763Z,1755881131.763 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=35.286716
2025-08-22T16:45:32.015Z,1755881132.015 [DAT](INFO): DAT read: Rx Time:16:45:32.7913 

2025-08-22T16:45:32.016Z,1755881132.016 [DAT](INFO): Rx dataTimestamp_ set to:1755881132.015349
2025-08-22T16:45:32.017Z,1755881132.017 [DAT](INFO): DAT read: Bearing 317.2,   5.2 (Local)

2025-08-22T16:45:32.017Z,1755881132.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.2,   5.2 (Local)

2025-08-22T16:45:32.019Z,1755881132.019 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.4

2025-08-22T16:45:32.024Z,1755881132.024 [DAT](INFO): DAT read: 16:45:32.7913 LVL= 28640, 16305, 27458, 31507, AGC= 68, IDX= 506, 0.10,-0.123, 1.765,-0.196, 0.402, PHS=-0.423, 1.408,-0.643, RAW= 335.6,  -3.5, CAL= 335.0,  -6.5, ROT= 175.0,   6.5

2025-08-22T16:45:32.025Z,1755881132.025 [DAT](INFO): got valid direction response:
 16:45:32.7913 LVL= 28640, 16305, 27458, 31507, AGC= 68, IDX= 506, 0.10,-0.123, 1.765,-0.196, 0.402, PHS=-0.423, 1.408,-0.643, RAW= 335.6,  -3.5, CAL= 335.0,  -6.5, ROT= 175.0,   6.5

2025-08-22T16:45:32.033Z,1755881132.033 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T16:45:32.034Z,1755881132.034 [DAT](INFO): direction in FSK: [-0.989791,0.086595,-0.113203]
2025-08-22T16:45:32.035Z,1755881132.035 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:32.038Z,1755881132.038 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=35.562309
2025-08-22T16:45:32.114Z,1755881132.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.501559 s,
      deltaX: 0.300001 m,
      approachRate: 0.598137 m/s,
      rangeRepo size: 4

2025-08-22T16:45:32.125Z,1755881132.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.483276 m,
      bearing: 145.757590 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.501559 s,
      deltaX: 0.298086 m,
      approachRate: 0.594319 m/s,
      posRepo size: 4

2025-08-22T16:45:32.127Z,1755881132.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:45:32.268Z,1755881132.268 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=35.791214
2025-08-22T16:45:32.470Z,1755881132.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:45:32.519Z,1755881132.519 [DAT](INFO): DAT read: Rx Time:16:45:33.2913 

2025-08-22T16:45:32.520Z,1755881132.520 [DAT](INFO): Rx dataTimestamp_ set to:1755881132.519405
2025-08-22T16:45:32.521Z,1755881132.521 [DAT](INFO): DAT read: Bearing 316.7,   5.1 (Local)

2025-08-22T16:45:32.521Z,1755881132.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7,   5.1 (Local)

2025-08-22T16:45:32.523Z,1755881132.523 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.4

2025-08-22T16:45:32.528Z,1755881132.528 [DAT](INFO): DAT read: 16:45:33.2913 LVL= 32752, 21713, 32754, 32755, AGC= 71, IDX= 506, 0.32,-0.662, 1.210,-0.728,-0.129, PHS=-0.430, 1.384,-0.643, RAW= 335.5,  -3.3, CAL= 334.9,  -6.2, ROT= 175.1,   6.2

2025-08-22T16:45:32.529Z,1755881132.529 [DAT](INFO): got valid direction response:
 16:45:33.2913 LVL= 32752, 21713, 32754, 32755, AGC= 71, IDX= 506, 0.32,-0.662, 1.210,-0.728,-0.129, PHS=-0.430, 1.384,-0.643, RAW= 335.5,  -3.3, CAL= 334.9,  -6.2, ROT= 175.1,   6.2

2025-08-22T16:45:32.529Z,1755881132.529 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T16:45:32.530Z,1755881132.530 [DAT](INFO): direction in FSK: [-0.990518,0.084917,-0.107999]
2025-08-22T16:45:32.531Z,1755881132.531 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:32.538Z,1755881132.538 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=36.062344
2025-08-22T16:45:32.771Z,1755881132.771 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=36.294540
2025-08-22T16:45:32.871Z,1755881132.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:32.879Z,1755881132.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.483288 m,
      bearing: 145.697504 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.504056 s,
      deltaX: 0.000011 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-08-22T16:45:32.880Z,1755881132.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T16:45:33.023Z,1755881133.023 [DAT](INFO): DAT read: Rx Time:16:45:33.7916 

2025-08-22T16:45:33.024Z,1755881133.024 [DAT](INFO): Rx dataTimestamp_ set to:1755881133.023368
2025-08-22T16:45:33.025Z,1755881133.025 [DAT](INFO): DAT read: Bearing 316.6,   5.2 (Local)

2025-08-22T16:45:33.025Z,1755881133.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.6,   5.2 (Local)

2025-08-22T16:45:33.027Z,1755881133.027 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.3

2025-08-22T16:45:33.032Z,1755881133.032 [DAT](INFO): DAT read: 16:45:33.7916 LVL= 32032, 19569, 32754, 32755, AGC= 69, IDX= 509,-0.36,-0.530, 1.341,-0.603, 0.003, PHS=-0.432, 1.383,-0.650, RAW= 335.6,  -3.2, CAL= 335.0,  -6.1, ROT= 175.0,   6.1

2025-08-22T16:45:33.033Z,1755881133.033 [DAT](INFO): got valid direction response:
 16:45:33.7916 LVL= 32032, 19569, 32754, 32755, AGC= 69, IDX= 509,-0.36,-0.530, 1.341,-0.603, 0.003, PHS=-0.432, 1.383,-0.650, RAW= 335.6,  -3.2, CAL= 335.0,  -6.1, ROT= 175.0,   6.1

2025-08-22T16:45:33.033Z,1755881133.033 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T16:45:33.034Z,1755881133.034 [DAT](INFO): direction in FSK: [-0.990554,0.086662,-0.106264]
2025-08-22T16:45:33.035Z,1755881133.035 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:33.039Z,1755881133.039 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=36.562992
2025-08-22T16:45:33.275Z,1755881133.275 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=36.798740
2025-08-22T16:45:33.278Z,1755881133.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503963 s,
      deltaX: 0.299999 m,
      approachRate: 0.595280 m/s,
      rangeRepo size: 4

2025-08-22T16:45:33.280Z,1755881133.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.781404 m,
      bearing: 145.605941 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.503963 s,
      deltaX: 0.298117 m,
      approachRate: 0.591545 m/s,
      posRepo size: 4

2025-08-22T16:45:33.280Z,1755881133.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T16:45:33.527Z,1755881133.527 [DAT](INFO): DAT read: Rx Time:16:45:34.2916 

2025-08-22T16:45:33.528Z,1755881133.528 [DAT](INFO): Rx dataTimestamp_ set to:1755881133.527280
2025-08-22T16:45:33.529Z,1755881133.529 [DAT](INFO): DAT read: Bearing 316.6,   5.7 (Local)

2025-08-22T16:45:33.529Z,1755881133.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.6,   5.7 (Local)

2025-08-22T16:45:33.531Z,1755881133.531 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.4

2025-08-22T16:45:33.536Z,1755881133.536 [DAT](INFO): DAT read: 16:45:34.2916 LVL= 32624, 19873, 32754, 32755, AGC= 69, IDX= 509,-0.09,-1.493, 0.374,-1.583,-0.970, PHS=-0.421, 1.389,-0.657, RAW= 336.1,  -3.2, CAL= 335.5,  -6.2, ROT= 174.5,   6.2

2025-08-22T16:45:33.537Z,1755881133.537 [DAT](INFO): got valid direction response:
 16:45:34.2916 LVL= 32624, 19873, 32754, 32755, AGC= 69, IDX= 509,-0.09,-1.493, 0.374,-1.583,-0.970, PHS=-0.421, 1.389,-0.657, RAW= 336.1,  -3.2, CAL= 335.5,  -6.2, ROT= 174.5,   6.2

2025-08-22T16:45:33.537Z,1755881133.537 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T16:45:33.538Z,1755881133.538 [DAT](INFO): direction in FSK: [-0.989574,0.095285,-0.107999]
2025-08-22T16:45:33.538Z,1755881133.538 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:33.542Z,1755881133.542 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=37.066128
2025-08-22T16:45:33.672Z,1755881133.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.503912 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:33.679Z,1755881133.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.781404 m,
      bearing: 144.978966 deg,
      lat: 36.779445 deg,
      lon: -121.859648 deg,
      deltaT: 0.503912 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:33.679Z,1755881133.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T16:45:33.779Z,1755881133.779 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=37.302834
2025-08-22T16:45:34.031Z,1755881134.031 [DAT](INFO): DAT read: Rx Time:16:45:34.7916 

2025-08-22T16:45:34.032Z,1755881134.032 [DAT](INFO): Rx dataTimestamp_ set to:1755881134.031365
2025-08-22T16:45:34.033Z,1755881134.033 [DAT](INFO): DAT read: Bearing 317.0,   5.6 (Local)

2025-08-22T16:45:34.033Z,1755881134.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.0,   5.6 (Local)

2025-08-22T16:45:34.035Z,1755881134.035 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.4

2025-08-22T16:45:34.040Z,1755881134.040 [DAT](INFO): DAT read: 16:45:34.7916 LVL= 27376, 19281, 31138, 32755, AGC= 69, IDX= 510, 0.08, 0.002, 1.859,-0.088, 0.508, PHS=-0.404, 1.396,-0.640, RAW= 336.1,  -3.7, CAL= 335.6,  -6.7, ROT= 174.4,   6.7

2025-08-22T16:45:34.041Z,1755881134.041 [DAT](INFO): got valid direction response:
 16:45:34.7916 LVL= 27376, 19281, 31138, 32755, AGC= 69, IDX= 510, 0.08, 0.002, 1.859,-0.088, 0.508, PHS=-0.404, 1.396,-0.640, RAW= 336.1,  -3.7, CAL= 335.6,  -6.7, ROT= 174.4,   6.7

2025-08-22T16:45:34.041Z,1755881134.041 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T16:45:34.042Z,1755881134.042 [DAT](INFO): direction in FSK: [-0.988431,0.096917,-0.116671]
2025-08-22T16:45:34.042Z,1755881134.042 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:34.046Z,1755881134.046 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=37.570019
2025-08-22T16:45:34.092Z,1755881134.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504085 s,
      deltaX: 0.200001 m,
      approachRate: 0.396760 m/s,
      rangeRepo size: 4

2025-08-22T16:45:34.106Z,1755881134.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.980198 m,
      bearing: 144.799516 deg,
      lat: 36.779446 deg,
      lon: -121.859648 deg,
      deltaT: 0.504085 s,
      deltaX: 0.198793 m,
      approachRate: 0.394365 m/s,
      posRepo size: 4

2025-08-22T16:45:34.106Z,1755881134.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-08-22T16:45:34.283Z,1755881134.283 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=37.806854
2025-08-22T16:45:34.532Z,1755881134.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-08-22T16:45:34.535Z,1755881134.535 [DAT](INFO): DAT read: Rx Time:16:45:35.2916 

2025-08-22T16:45:34.536Z,1755881134.536 [DAT](INFO): Rx dataTimestamp_ set to:1755881134.535396
2025-08-22T16:45:34.537Z,1755881134.537 [DAT](INFO): DAT read: Bearing 316.8,   5.7 (Local)

2025-08-22T16:45:34.537Z,1755881134.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8,   5.7 (Local)

2025-08-22T16:45:34.539Z,1755881134.539 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.4

2025-08-22T16:45:34.544Z,1755881134.544 [DAT](INFO): DAT read: 16:45:35.2916 LVL= 31600, 21137, 32754, 32755, AGC= 70, IDX= 510, 0.30,-0.632, 1.214,-0.727,-0.126, PHS=-0.404, 1.385,-0.646, RAW= 336.3,  -3.5, CAL= 335.7,  -6.5, ROT= 174.3,   6.5

2025-08-22T16:45:34.545Z,1755881134.545 [DAT](INFO): got valid direction response:
 16:45:35.2916 LVL= 31600, 21137, 32754, 32755, AGC= 70, IDX= 510, 0.30,-0.632, 1.214,-0.727,-0.126, PHS=-0.404, 1.385,-0.646, RAW= 336.3,  -3.5, CAL= 335.7,  -6.5, ROT= 174.3,   6.5

2025-08-22T16:45:34.545Z,1755881134.545 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T16:45:34.546Z,1755881134.546 [DAT](INFO): direction in FSK: [-0.988659,0.098681,-0.113203]
2025-08-22T16:45:34.547Z,1755881134.547 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:34.554Z,1755881134.554 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=38.078331
2025-08-22T16:45:34.787Z,1755881134.787 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=38.310608
2025-08-22T16:45:34.893Z,1755881134.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504031 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:34.899Z,1755881134.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.980179 m,
      bearing: 144.624097 deg,
      lat: 36.779447 deg,
      lon: -121.859649 deg,
      deltaT: 0.504031 s,
      deltaX: -0.000019 m,
      approachRate: -0.000038 m/s,
      posRepo size: 4

2025-08-22T16:45:34.899Z,1755881134.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-08-22T16:45:35.039Z,1755881135.039 [DAT](INFO): DAT read: Rx Time:16:45:35.7918 

2025-08-22T16:45:35.040Z,1755881135.040 [DAT](INFO): Rx dataTimestamp_ set to:1755881135.039368
2025-08-22T16:45:35.041Z,1755881135.041 [DAT](INFO): DAT read: Bearing 314.2,   3.5 (Local)

2025-08-22T16:45:35.041Z,1755881135.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.2,   3.5 (Local)

2025-08-22T16:45:35.043Z,1755881135.043 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.4

2025-08-22T16:45:35.048Z,1755881135.048 [DAT](INFO): DAT read: 16:45:35.7918 LVL= 31904, 22849, 32754, 32755, AGC= 69, IDX= 513,-0.42, 2.855,-2.059, 2.889,-2.954, PHS=-0.372, 0.940,-0.485, RAW= 334.1,  -1.2, CAL= 333.3,  -4.1, ROT= 176.7,   4.1

2025-08-22T16:45:35.049Z,1755881135.049 [DAT](INFO): got valid direction response:
 16:45:35.7918 LVL= 31904, 22849, 32754, 32755, AGC= 69, IDX= 513,-0.42, 2.855,-2.059, 2.889,-2.954, PHS=-0.372, 0.940,-0.485, RAW= 334.1,  -1.2, CAL= 333.3,  -4.1, ROT= 176.7,   4.1

2025-08-22T16:45:35.049Z,1755881135.049 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T16:45:35.050Z,1755881135.050 [DAT](INFO): direction in FSK: [-0.995787,0.057417,-0.071497]
2025-08-22T16:45:35.051Z,1755881135.051 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:35.054Z,1755881135.054 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=38.578526
2025-08-22T16:45:35.286Z,1755881135.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503972 s,
      deltaX: 0.299999 m,
      approachRate: 0.595270 m/s,
      rangeRepo size: 4

2025-08-22T16:45:35.288Z,1755881135.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.278297 m,
      bearing: 147.156176 deg,
      lat: 36.779447 deg,
      lon: -121.859649 deg,
      deltaT: 0.503972 s,
      deltaX: 0.298119 m,
      approachRate: 0.591538 m/s,
      posRepo size: 4

2025-08-22T16:45:35.289Z,1755881135.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-08-22T16:45:35.291Z,1755881135.291 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=38.814686
2025-08-22T16:45:35.543Z,1755881135.543 [DAT](INFO): DAT read: Rx Time:16:45:36.2919 

2025-08-22T16:45:35.544Z,1755881135.544 [DAT](INFO): Rx dataTimestamp_ set to:1755881135.543301
2025-08-22T16:45:35.545Z,1755881135.545 [DAT](INFO): DAT read: Bearing 308.8,   6.4 (Local)

2025-08-22T16:45:35.545Z,1755881135.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8,   6.4 (Local)

2025-08-22T16:45:35.547Z,1755881135.547 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.3

2025-08-22T16:45:35.565Z,1755881135.565 [DAT](INFO): DAT read: 16:45:36.2919 LVL= 32752, 20913, 32754, 32755, AGC= 69, IDX= 513,-0.16, 0.668, 2.237, 0.601, 1.302, PHS=-0.532, 0.980,-0.745, RAW= 336.5,   3.7, CAL= 335.8,   1.3, ROT= 174.2,  -1.3

2025-08-22T16:45:35.578Z,1755881135.578 [DAT](INFO): got valid direction response:
 16:45:36.2919 LVL= 32752, 20913, 32754, 32755, AGC= 69, IDX= 513,-0.16, 0.668, 2.237, 0.601, 1.302, PHS=-0.532, 0.980,-0.745, RAW= 336.5,   3.7, CAL= 335.8,   1.3, ROT= 174.2,  -1.3

2025-08-22T16:45:35.579Z,1755881135.579 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T16:45:35.580Z,1755881135.580 [DAT](INFO): direction in FSK: [-0.994625,0.101030,0.022687]
2025-08-22T16:45:35.580Z,1755881135.580 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:35.592Z,1755881135.592 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=39.115738
2025-08-22T16:45:35.687Z,1755881135.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503933 s,
      deltaX: 0.100000 m,
      approachRate: 0.198440 m/s,
      rangeRepo size: 4

2025-08-22T16:45:35.694Z,1755881135.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.377670 m,
      bearing: 145.092668 deg,
      lat: 36.779447 deg,
      lon: -121.859649 deg,
      deltaT: 0.503933 s,
      deltaX: 0.099373 m,
      approachRate: 0.197195 m/s,
      posRepo size: 4

2025-08-22T16:45:35.694Z,1755881135.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-08-22T16:45:35.796Z,1755881135.796 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=39.319550
2025-08-22T16:45:36.047Z,1755881136.047 [DAT](INFO): DAT read: Rx Time:16:45:36.7921 

2025-08-22T16:45:36.048Z,1755881136.048 [DAT](INFO): Rx dataTimestamp_ set to:1755881136.047422
2025-08-22T16:45:36.049Z,1755881136.049 [DAT](INFO): DAT read: Bearing 316.4,   5.8 (Local)

2025-08-22T16:45:36.049Z,1755881136.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4,   5.8 (Local)

2025-08-22T16:45:36.051Z,1755881136.051 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.3

2025-08-22T16:45:36.056Z,1755881136.056 [DAT](INFO): DAT read: 16:45:36.7921 LVL= 25664, 23025, 25122, 25411, AGC= 72, IDX=   3,-0.00,-0.635, 1.207,-0.738,-0.127, PHS=-0.407, 1.378,-0.656, RAW= 336.4,  -3.3, CAL= 335.9,  -6.3, ROT= 174.1,   6.3

2025-08-22T16:45:36.057Z,1755881136.057 [DAT](INFO): got valid direction response:
 16:45:36.7921 LVL= 25664, 23025, 25122, 25411, AGC= 72, IDX=   3,-0.00,-0.635, 1.207,-0.738,-0.127, PHS=-0.407, 1.378,-0.656, RAW= 336.4,  -3.3, CAL= 335.9,  -6.3, ROT= 174.1,   6.3

2025-08-22T16:45:36.057Z,1755881136.057 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T16:45:36.058Z,1755881136.058 [DAT](INFO): direction in FSK: [-0.988696,0.102172,-0.109734]
2025-08-22T16:45:36.058Z,1755881136.058 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:36.063Z,1755881136.063 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=39.586662
2025-08-22T16:45:36.212Z,1755881136.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504121 s,
      deltaX: 0.299999 m,
      approachRate: 0.595094 m/s,
      rangeRepo size: 4

2025-08-22T16:45:36.218Z,1755881136.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.675718 m,
      bearing: 144.337396 deg,
      lat: 36.779447 deg,
      lon: -121.859649 deg,
      deltaT: 0.504121 s,
      deltaX: 0.298048 m,
      approachRate: 0.591223 m/s,
      posRepo size: 4

2025-08-22T16:45:36.218Z,1755881136.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-08-22T16:45:36.299Z,1755881136.299 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=39.822868
2025-08-22T16:45:36.542Z,1755881136.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-08-22T16:45:36.551Z,1755881136.551 [DAT](INFO): DAT read: Rx Time:16:45:37.2921 

2025-08-22T16:45:36.552Z,1755881136.552 [DAT](INFO): Rx dataTimestamp_ set to:1755881136.551369
2025-08-22T16:45:36.553Z,1755881136.553 [DAT](INFO): DAT read: Bearing 316.5,   6.5 (Local)

2025-08-22T16:45:36.553Z,1755881136.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.5,   6.5 (Local)

2025-08-22T16:45:36.563Z,1755881136.563 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.4

2025-08-22T16:45:36.568Z,1755881136.568 [DAT](INFO): DAT read: 16:45:37.2921 LVL= 32752, 20129, 32754, 32755, AGC= 70, IDX= 499, 0.17,-1.019, 0.811,-1.150,-0.527, PHS=-0.390, 1.384,-0.667, RAW= 337.2,  -3.4, CAL= 336.6,  -6.4, ROT= 173.4,   6.4

2025-08-22T16:45:36.569Z,1755881136.569 [DAT](INFO): got valid direction response:
 16:45:37.2921 LVL= 32752, 20129, 32754, 32755, AGC= 70, IDX= 499, 0.17,-1.019, 0.811,-1.150,-0.527, PHS=-0.390, 1.384,-0.667, RAW= 337.2,  -3.4, CAL= 336.6,  -6.4, ROT= 173.4,   6.4

2025-08-22T16:45:36.569Z,1755881136.569 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T16:45:36.570Z,1755881136.570 [DAT](INFO): direction in FSK: [-0.987182,0.114221,-0.111469]
2025-08-22T16:45:36.571Z,1755881136.571 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:36.586Z,1755881136.586 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=40.110409
2025-08-22T16:45:36.803Z,1755881136.803 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=40.326553
2025-08-22T16:45:36.932Z,1755881136.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.503947 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:36.938Z,1755881136.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.675709 m,
      bearing: 143.570689 deg,
      lat: 36.779447 deg,
      lon: -121.859649 deg,
      deltaT: 0.503947 s,
      deltaX: -0.000010 m,
      approachRate: -0.000019 m/s,
      posRepo size: 4

2025-08-22T16:45:36.939Z,1755881136.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m.
2025-08-22T16:45:37.056Z,1755881137.056 [DAT](INFO): DAT read: Rx Time:16:45:37.7923 

2025-08-22T16:45:37.057Z,1755881137.057 [DAT](INFO): Rx dataTimestamp_ set to:1755881137.056478
2025-08-22T16:45:37.059Z,1755881137.059 [DAT](INFO): DAT read: Bearing 316.4,   6.6 (Local)

2025-08-22T16:45:37.059Z,1755881137.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4,   6.6 (Local)

2025-08-22T16:45:37.062Z,1755881137.062 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.3

2025-08-22T16:45:37.066Z,1755881137.066 [DAT](INFO): DAT read: 16:45:37.7923 LVL= 26832, 16705, 30450, 32243, AGC= 69, IDX= 501, 0.39,-0.686, 1.148,-0.825,-0.194, PHS=-0.390, 1.387,-0.675, RAW= 337.3,  -3.4, CAL= 336.8,  -6.3, ROT= 173.2,   6.3

2025-08-22T16:45:37.067Z,1755881137.067 [DAT](INFO): got valid direction response:
 16:45:37.7923 LVL= 26832, 16705, 30450, 32243, AGC= 69, IDX= 501, 0.39,-0.686, 1.148,-0.825,-0.194, PHS=-0.390, 1.387,-0.675, RAW= 337.3,  -3.4, CAL= 336.8,  -6.3, ROT= 173.2,   6.3

2025-08-22T16:45:37.068Z,1755881137.068 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:45:37.069Z,1755881137.069 [DAT](INFO): direction in FSK: [-0.986969,0.117689,-0.109734]
2025-08-22T16:45:37.069Z,1755881137.069 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:37.087Z,1755881137.087 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=40.610901
2025-08-22T16:45:37.307Z,1755881137.307 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=40.830666
2025-08-22T16:45:37.322Z,1755881137.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.505109 s,
      deltaX: 0.300001 m,
      approachRate: 0.593933 m/s,
      rangeRepo size: 4

2025-08-22T16:45:37.324Z,1755881137.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.973825 m,
      bearing: 143.341173 deg,
      lat: 36.779447 deg,
      lon: -121.859646 deg,
      deltaT: 0.505109 s,
      deltaX: 0.298117 m,
      approachRate: 0.590203 m/s,
      posRepo size: 4

2025-08-22T16:45:37.325Z,1755881137.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:45:37.561Z,1755881137.561 [DAT](INFO): DAT read: Rx Time:16:45:38.2923 

2025-08-22T16:45:37.563Z,1755881137.563 [DAT](INFO): Rx dataTimestamp_ set to:1755881137.562109
2025-08-22T16:45:37.566Z,1755881137.566 [DAT](INFO): DAT read: Bearing 316.0,   6.7 (Local)

2025-08-22T16:45:37.567Z,1755881137.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.0,   6.7 (Local)

2025-08-22T16:45:37.569Z,1755881137.569 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.2

2025-08-22T16:45:37.573Z,1755881137.573 [DAT](INFO): DAT read: 16:45:38.2923 LVL= 29232, 18257, 28370, 32755, AGC= 69, IDX= 502,-0.39,-2.996,-1.170,-3.139,-2.497, PHS=-0.397, 1.372,-0.685, RAW= 337.5,  -3.0, CAL= 336.9,  -6.0, ROT= 173.1,   6.0

2025-08-22T16:45:37.574Z,1755881137.574 [DAT](INFO): got valid direction response:
 16:45:38.2923 LVL= 29232, 18257, 28370, 32755, AGC= 69, IDX= 502,-0.39,-2.996,-1.170,-3.139,-2.497, PHS=-0.397, 1.372,-0.685, RAW= 337.5,  -3.0, CAL= 336.9,  -6.0, ROT= 173.1,   6.0

2025-08-22T16:45:37.575Z,1755881137.575 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:45:37.576Z,1755881137.576 [DAT](INFO): direction in FSK: [-0.987319,0.119479,-0.104528]
2025-08-22T16:45:37.576Z,1755881137.576 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:37.582Z,1755881137.582 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=41.105873
2025-08-22T16:45:37.711Z,1755881137.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.505631 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:37.718Z,1755881137.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.973825 m,
      bearing: 143.240897 deg,
      lat: 36.779449 deg,
      lon: -121.859646 deg,
      deltaT: 0.505631 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:37.718Z,1755881137.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m.
2025-08-22T16:45:37.811Z,1755881137.811 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=41.334770
2025-08-22T16:45:38.063Z,1755881138.063 [DAT](INFO): DAT read: Rx Time:16:45:38.7925 

2025-08-22T16:45:38.063Z,1755881138.063 [DAT](INFO): Rx dataTimestamp_ set to:1755881138.063175
2025-08-22T16:45:38.065Z,1755881138.065 [DAT](INFO): DAT read: Bearing 315.9,   6.9 (Local)

2025-08-22T16:45:38.065Z,1755881138.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9,   6.9 (Local)

2025-08-22T16:45:38.067Z,1755881138.067 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.3

2025-08-22T16:45:38.072Z,1755881138.072 [DAT](INFO): DAT read: 16:45:38.7925 LVL= 29296, 17505, 31058, 32755, AGC= 69, IDX= 503,-0.20, 2.502,-1.965, 2.348, 2.997, PHS=-0.392, 1.367,-0.692, RAW= 337.7,  -3.0, CAL= 337.2,  -5.9, ROT= 172.8,   5.9

2025-08-22T16:45:38.073Z,1755881138.073 [DAT](INFO): got valid direction response:
 16:45:38.7925 LVL= 29296, 17505, 31058, 32755, AGC= 69, IDX= 503,-0.20, 2.502,-1.965, 2.348, 2.997, PHS=-0.392, 1.367,-0.692, RAW= 337.7,  -3.0, CAL= 337.2,  -5.9, ROT= 172.8,   5.9

2025-08-22T16:45:38.073Z,1755881138.073 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T16:45:38.074Z,1755881138.074 [DAT](INFO): direction in FSK: [-0.986859,0.124669,-0.102793]
2025-08-22T16:45:38.074Z,1755881138.074 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:38.078Z,1755881138.078 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=41.601746
2025-08-22T16:45:38.223Z,1755881138.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.501066 s,
      deltaX: 0.299999 m,
      approachRate: 0.598722 m/s,
      rangeRepo size: 4

2025-08-22T16:45:38.238Z,1755881138.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.271933 m,
      bearing: 142.921005 deg,
      lat: 36.779449 deg,
      lon: -121.859645 deg,
      deltaT: 0.501066 s,
      deltaX: 0.298107 m,
      approachRate: 0.594946 m/s,
      posRepo size: 4

2025-08-22T16:45:38.238Z,1755881138.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T16:45:38.315Z,1755881138.315 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=41.838844
2025-08-22T16:45:38.567Z,1755881138.567 [DAT](INFO): DAT read: Rx Time:16:45:39.2925 

2025-08-22T16:45:38.568Z,1755881138.568 [DAT](INFO): Rx dataTimestamp_ set to:1755881138.567430
2025-08-22T16:45:38.569Z,1755881138.569 [DAT](INFO): DAT read: Bearing 315.4,   7.1 (Local)

2025-08-22T16:45:38.569Z,1755881138.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,   7.1 (Local)

2025-08-22T16:45:38.571Z,1755881138.571 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.4

2025-08-22T16:45:38.576Z,1755881138.576 [DAT](INFO): DAT read: 16:45:39.2925 LVL= 27824, 16577, 31330, 32755, AGC= 69, IDX= 503,-0.12, 0.920, 2.734, 0.753, 1.424, PHS=-0.402, 1.355,-0.715, RAW= 338.1,  -2.5, CAL= 337.5,  -5.4, ROT= 172.5,   5.4

2025-08-22T16:45:38.577Z,1755881138.577 [DAT](INFO): got valid direction response:
 16:45:39.2925 LVL= 27824, 16577, 31330, 32755, AGC= 69, IDX= 503,-0.12, 0.920, 2.734, 0.753, 1.424, PHS=-0.402, 1.355,-0.715, RAW= 338.1,  -2.5, CAL= 337.5,  -5.4, ROT= 172.5,   5.4

2025-08-22T16:45:38.577Z,1755881138.577 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T16:45:38.578Z,1755881138.578 [DAT](INFO): direction in FSK: [-0.987045,0.129947,-0.094108]
2025-08-22T16:45:38.579Z,1755881138.579 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:38.587Z,1755881138.587 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=42.110905
2025-08-22T16:45:38.624Z,1755881138.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.504255 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:38.630Z,1755881138.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.271933 m,
      bearing: 142.668565 deg,
      lat: 36.779450 deg,
      lon: -121.859644 deg,
      deltaT: 0.504255 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:38.631Z,1755881138.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T16:45:38.819Z,1755881138.819 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=42.342674
2025-08-22T16:45:38.929Z,1755881138.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T16:45:39.071Z,1755881139.071 [DAT](INFO): DAT read: Rx Time:16:45:39.7927 

2025-08-22T16:45:39.072Z,1755881139.072 [DAT](INFO): Rx dataTimestamp_ set to:1755881139.071279
2025-08-22T16:45:39.073Z,1755881139.073 [DAT](INFO): DAT read: Bearing 315.7,   7.0 (Local)

2025-08-22T16:45:39.073Z,1755881139.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7,   7.0 (Local)

2025-08-22T16:45:39.075Z,1755881139.075 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.3

2025-08-22T16:45:39.080Z,1755881139.080 [DAT](INFO): DAT read: 16:45:39.7927 LVL= 23536, 14897, 28610, 29171, AGC= 68, IDX= 505,-0.06, 2.910,-1.563, 2.742,-2.882, PHS=-0.389, 1.365,-0.702, RAW= 338.1,  -2.9, CAL= 337.6,  -5.8, ROT= 172.4,   5.8

2025-08-22T16:45:39.081Z,1755881139.081 [DAT](INFO): got valid direction response:
 16:45:39.7927 LVL= 23536, 14897, 28610, 29171, AGC= 68, IDX= 505,-0.06, 2.910,-1.563, 2.742,-2.882, PHS=-0.389, 1.365,-0.702, RAW= 338.1,  -2.9, CAL= 337.6,  -5.8, ROT= 172.4,   5.8

2025-08-22T16:45:39.081Z,1755881139.081 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T16:45:39.083Z,1755881139.083 [DAT](INFO): direction in FSK: [-0.986141,0.131579,-0.101056]
2025-08-22T16:45:39.083Z,1755881139.083 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:39.087Z,1755881139.087 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=42.610798
2025-08-22T16:45:39.323Z,1755881139.323 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=42.846668
2025-08-22T16:45:39.351Z,1755881139.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.503849 s,
      deltaX: 0.300001 m,
      approachRate: 0.595419 m/s,
      rangeRepo size: 4

2025-08-22T16:45:39.382Z,1755881139.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.570065 m,
      bearing: 142.341479 deg,
      lat: 36.779450 deg,
      lon: -121.859643 deg,
      deltaT: 0.503849 s,
      deltaX: 0.298132 m,
      approachRate: 0.591709 m/s,
      posRepo size: 4

2025-08-22T16:45:39.383Z,1755881139.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-22T16:45:39.575Z,1755881139.575 [DAT](INFO): DAT read: Rx Time:16:45:40.2926 

2025-08-22T16:45:39.576Z,1755881139.576 [DAT](INFO): Rx dataTimestamp_ set to:1755881139.575514
2025-08-22T16:45:39.577Z,1755881139.577 [DAT](INFO): DAT read: Bearing 315.6,   7.5 (Local)

2025-08-22T16:45:39.577Z,1755881139.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,   7.5 (Local)

2025-08-22T16:45:39.579Z,1755881139.579 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.3

2025-08-22T16:45:39.597Z,1755881139.597 [DAT](INFO): DAT read: 16:45:40.2926 LVL= 25440, 17889, 29426, 31667, AGC= 69, IDX= 505,-0.04, 1.508 1.322, 1.992, PHS=-0.382, 1.354,-0.714, RAW= 338.6,  -2.7, CAL= 338.1,  -5.7, ROT= 171.9,   5.7

2025-08-22T16:45:39.629Z,1755881139.629 [DAT](INFO): unknown deviceResponse_: 16:45:40.2926 LVL= 25440, 17889, 29426, 31667, AGC= 69, IDX= 505,-0.04, 1.508 1.322, 1.992, PHS=-0.382, 1.354,-0.714, RAW= 338.6,  -2.7, CAL= 338.1,  -5.7, ROT= 171.9,   5.7

2025-08-22T16:45:39.634Z,1755881139.634 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-22T16:45:39.635Z,1755881139.635 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=43.158691
2025-08-22T16:45:39.724Z,1755881139.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.504235 s,
      deltaX: -0.100000 m,
      approachRate: -0.198321 m/s,
      rangeRepo size: 4

2025-08-22T16:45:39.724Z,1755881139.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-22T16:45:39.827Z,1755881139.827 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=43.350643
2025-08-22T16:45:40.079Z,1755881140.079 [DAT](INFO): DAT read: Rx Time:16:45:40.7928 

2025-08-22T16:45:40.080Z,1755881140.080 [DAT](INFO): Rx dataTimestamp_ set to:1755881140.079302
2025-08-22T16:45:40.081Z,1755881140.081 [DAT](INFO): DAT read: Bearing 315.4,   7.3 (Local)

2025-08-22T16:45:40.081Z,1755881140.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,   7.3 (Local)

2025-08-22T16:45:40.084Z,1755881140.084 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-08-22T16:45:40.088Z,1755881140.088 [DAT](INFO): DAT read: 16:45:40.7928 LVL= 28000, 15857, 32754, 32755, AGC= 69, IDX= 507,-0.04, 2.808,-1.679, 2.626,-2.986, PHS=-0.387, 1.352,-0.715, RAW= 338.5,  -2.6, CAL= 338.0,  -5.6, ROT= 172.0,   5.6

2025-08-22T16:45:40.089Z,1755881140.089 [DAT](INFO): got valid direction response:
 16:45:40.7928 LVL= 28000, 15857, 32754, 32755, AGC= 69, IDX= 507,-0.04, 2.808,-1.679, 2.626,-2.986, PHS=-0.387, 1.352,-0.715, RAW= 338.5,  -2.6, CAL= 338.0,  -5.6, ROT= 172.0,   5.6

2025-08-22T16:45:40.089Z,1755881140.089 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T16:45:40.090Z,1755881140.090 [DAT](INFO): direction in FSK: [-0.985542,0.138509,-0.097583]
2025-08-22T16:45:40.091Z,1755881140.091 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:40.118Z,1755881140.118 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=43.642509
2025-08-22T16:45:40.263Z,1755881140.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503788 s,
      deltaX: 0.299999 m,
      approachRate: 0.595487 m/s,
      rangeRepo size: 4

2025-08-22T16:45:40.271Z,1755881140.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.768831 m,
      bearing: 141.852924 deg,
      lat: 36.779451 deg,
      lon: -121.859643 deg,
      deltaT: 1.008023 s,
      deltaX: 0.198767 m,
      approachRate: 0.197185 m/s,
      posRepo size: 4

2025-08-22T16:45:40.271Z,1755881140.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-08-22T16:45:40.331Z,1755881140.331 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=43.855362
2025-08-22T16:45:40.575Z,1755881140.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-08-22T16:45:40.583Z,1755881140.583 [DAT](INFO): DAT read: Rx Time:16:45:41.2928 

2025-08-22T16:45:40.584Z,1755881140.584 [DAT](INFO): Rx dataTimestamp_ set to:1755881140.583391
2025-08-22T16:45:40.585Z,1755881140.585 [DAT](INFO): DAT read: Bearing 315.2,   7.3 (Local)

2025-08-22T16:45:40.585Z,1755881140.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2,   7.3 (Local)

2025-08-22T16:45:40.587Z,1755881140.587 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.3

2025-08-22T16:45:40.592Z,1755881140.592 [DAT](INFO): DAT read: 16:45:41.2928 LVL= 26864, 18673, 30322, 32755, AGC= 69, IDX= 507,-0.06, 1.451,-3.009, 1.257, 1.947, PHS=-0.394, 1.373,-0.734, RAW= 338.6,  -2.5, CAL= 338.1,  -5.5, ROT= 171.9,   5.5

2025-08-22T16:45:40.593Z,1755881140.593 [DAT](INFO): got valid direction response:
 16:45:41.2928 LVL= 26864, 18673, 30322, 32755, AGC= 69, IDX= 507,-0.06, 1.451,-3.009, 1.257, 1.947, PHS=-0.394, 1.373,-0.734, RAW= 338.6,  -2.5, CAL= 338.1,  -5.5, ROT= 171.9,   5.5

2025-08-22T16:45:40.594Z,1755881140.594 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T16:45:40.595Z,1755881140.595 [DAT](INFO): direction in FSK: [-0.985466,0.140253,-0.095846]
2025-08-22T16:45:40.595Z,1755881140.595 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:40.599Z,1755881140.599 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=44.122643
2025-08-22T16:45:40.835Z,1755881140.835 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=44.358601
2025-08-22T16:45:41.038Z,1755881141.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.504089 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:41.040Z,1755881141.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.768818 m,
      bearing: 141.717921 deg,
      lat: 36.779451 deg,
      lon: -121.859642 deg,
      deltaT: 0.504089 s,
      deltaX: -0.000013 m,
      approachRate: -0.000026 m/s,
      posRepo size: 4

2025-08-22T16:45:41.040Z,1755881141.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m.
2025-08-22T16:45:41.088Z,1755881141.088 [DAT](INFO): DAT read: Rx Time:16:45:41.7930 

2025-08-22T16:45:41.088Z,1755881141.088 [DAT](INFO): Rx dataTimestamp_ set to:1755881141.087851
2025-08-22T16:45:41.090Z,1755881141.090 [DAT](INFO): DAT read: Bearing 315.1,   7.0 (Local)

2025-08-22T16:45:41.091Z,1755881141.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1,   7.0 (Local)

2025-08-22T16:45:41.094Z,1755881141.094 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.4

2025-08-22T16:45:41.099Z,1755881141.099 [DAT](INFO): DAT read: 16:45:41.7930 LVL= 32752, 23969, 32754, 32755, AGC= 70, IDX= 509,-0.07, 2.935,-1.517, 2.754,-2.843, PHS=-0.403, 1.371,-0.730, RAW= 338.3,  -2.5, CAL= 337.8,  -5.4, ROT= 172.2,   5.4

2025-08-22T16:45:41.100Z,1755881141.100 [DAT](INFO): got valid direction response:
 16:45:41.7930 LVL= 32752, 23969, 32754, 32755, AGC= 70, IDX= 509,-0.07, 2.935,-1.517, 2.754,-2.843, PHS=-0.403, 1.371,-0.730, RAW= 338.3,  -2.5, CAL= 337.8,  -5.4, ROT= 172.2,   5.4

2025-08-22T16:45:41.101Z,1755881141.101 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T16:45:41.102Z,1755881141.102 [DAT](INFO): direction in FSK: [-0.986351,0.135113,-0.094108]
2025-08-22T16:45:41.102Z,1755881141.102 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:41.106Z,1755881141.106 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=44.629627
2025-08-22T16:45:41.339Z,1755881141.339 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=44.862606
2025-08-22T16:45:41.439Z,1755881141.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.504460 s,
      deltaX: 0.300001 m,
      approachRate: 0.594698 m/s,
      rangeRepo size: 4

2025-08-22T16:45:41.445Z,1755881141.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.066936 m,
      bearing: 141.947152 deg,
      lat: 36.779451 deg,
      lon: -121.859642 deg,
      deltaT: 0.504460 s,
      deltaX: 0.298119 m,
      approachRate: 0.590966 m/s,
      posRepo size: 4

2025-08-22T16:45:41.446Z,1755881141.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:45:41.596Z,1755881141.596 [DAT](INFO): DAT read: Rx Time:16:45:42.2930 

2025-08-22T16:45:41.596Z,1755881141.596 [DAT](INFO): Rx dataTimestamp_ set to:1755881141.595784
2025-08-22T16:45:41.598Z,1755881141.598 [DAT](INFO): DAT read: Bearing 314.7,   7.4 (Local)

2025-08-22T16:45:41.598Z,1755881141.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7,   7.4 (Local)

2025-08-22T16:45:41.600Z,1755881141.600 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.3

2025-08-22T16:45:41.604Z,1755881141.604 [DAT](INFO): DAT read: 16:45:42.2930 LVL= 29104, 19425, 30098, 32019, AGC= 69, IDX= 509,-0.19, 2.527,-1.970, 2.336, 3.028, PHS=-0.399, 1.330,-0.736, RAW= 338.7,  -2.1, CAL= 338.2,  -5.0, ROT= 171.8,   5.0

2025-08-22T16:45:41.606Z,1755881141.606 [DAT](INFO): got valid direction response:
 16:45:42.2930 LVL= 29104, 19425, 30098, 32019, AGC= 69, IDX= 509,-0.19, 2.527,-1.970, 2.336, 3.028, PHS=-0.399, 1.330,-0.736, RAW= 338.7,  -2.1, CAL= 338.2,  -5.0, ROT= 171.8,   5.0

2025-08-22T16:45:41.606Z,1755881141.606 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:45:41.607Z,1755881141.607 [DAT](INFO): direction in FSK: [-0.986010,0.142086,-0.087156]
2025-08-22T16:45:41.607Z,1755881141.607 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:41.613Z,1755881141.613 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=45.137302
2025-08-22T16:45:41.776Z,1755881141.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.507933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:41.782Z,1755881141.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.066936 m,
      bearing: 141.527090 deg,
      lat: 36.779452 deg,
      lon: -121.859641 deg,
      deltaT: 0.507933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:41.783Z,1755881141.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:45:41.848Z,1755881141.848 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=45.372078
2025-08-22T16:45:42.099Z,1755881142.099 [DAT](INFO): DAT read: Rx Time:16:45:42.7930 

2025-08-22T16:45:42.100Z,1755881142.100 [DAT](INFO): Rx dataTimestamp_ set to:1755881142.099467
2025-08-22T16:45:42.101Z,1755881142.101 [DAT](INFO): DAT read: Bearing 315.0,   7.3 (Local)

2025-08-22T16:45:42.101Z,1755881142.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0,   7.3 (Local)

2025-08-22T16:45:42.103Z,1755881142.103 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.3

2025-08-22T16:45:42.108Z,1755881142.108 [DAT](INFO): DAT read: 16:45:42.7930 LVL= 30816, 18497, 32754, 32755, AGC= 69, IDX= 510,-0.27, 2.523,-1.942, 2.326, 3.022, PHS=-0.396, 1.365,-0.740, RAW= 338.7,  -2.4, CAL= 338.2,  -5.3, ROT= 171.8,   5.3

2025-08-22T16:45:42.109Z,1755881142.109 [DAT](INFO): got valid direction response:
 16:45:42.7930 LVL= 30816, 18497, 32754, 32755, AGC= 69, IDX= 510,-0.27, 2.523,-1.942, 2.326, 3.022, PHS=-0.396, 1.365,-0.740, RAW= 338.7,  -2.4, CAL= 338.2,  -5.3, ROT= 171.8,   5.3

2025-08-22T16:45:42.109Z,1755881142.109 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T16:45:42.110Z,1755881142.110 [DAT](INFO): direction in FSK: [-0.985545,0.142019,-0.092371]
2025-08-22T16:45:42.110Z,1755881142.110 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:42.114Z,1755881142.114 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=45.638268
2025-08-22T16:45:42.303Z,1755881142.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503683 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:42.305Z,1755881142.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.067036 m,
      bearing: 141.426975 deg,
      lat: 36.779452 deg,
      lon: -121.859642 deg,
      deltaT: 0.503683 s,
      deltaX: 0.000099 m,
      approachRate: 0.000197 m/s,
      posRepo size: 4

2025-08-22T16:45:42.310Z,1755881142.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:45:42.353Z,1755881142.353 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=45.876083
2025-08-22T16:45:42.595Z,1755881142.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:45:42.603Z,1755881142.603 [DAT](INFO): DAT read: Rx Time:16:45:43.2930 

2025-08-22T16:45:42.604Z,1755881142.604 [DAT](INFO): Rx dataTimestamp_ set to:1755881142.603369
2025-08-22T16:45:42.605Z,1755881142.605 [DAT](INFO): DAT read: Bearing 315.3,   7.9 (Local)

2025-08-22T16:45:42.605Z,1755881142.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,   7.9 (Local)

2025-08-22T16:45:42.607Z,1755881142.607 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.2

2025-08-22T16:45:42.612Z,1755881142.612 [DAT](INFO): DAT read: 16:45:43.2930 LVL= 30832, 19233, 32754, 32755, AGC= 70, IDX= 510,-0.47, 2.515,-1.980, 2.298, 2.990, PHS=-0.373, 1.359,-0.736, RAW= 339.3,  -2.6, CAL= 338.9,  -5.5, ROT= 171.1,   5.5

2025-08-22T16:45:42.613Z,1755881142.613 [DAT](INFO): got valid direction response:
 16:45:43.2930 LVL= 30832, 19233, 32754, 32755, AGC= 70, IDX= 510,-0.47, 2.515,-1.980, 2.298, 2.990, PHS=-0.373, 1.359,-0.736, RAW= 339.3,  -2.6, CAL= 338.9,  -5.5, ROT= 171.1,   5.5

2025-08-22T16:45:42.613Z,1755881142.613 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T16:45:42.614Z,1755881142.614 [DAT](INFO): direction in FSK: [-0.983412,0.153998,-0.095846]
2025-08-22T16:45:42.615Z,1755881142.615 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:42.631Z,1755881142.631 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=46.154556
2025-08-22T16:45:42.856Z,1755881142.856 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=46.379555
2025-08-22T16:45:43.051Z,1755881143.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503902 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:43.053Z,1755881143.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.067055 m,
      bearing: 140.656644 deg,
      lat: 36.779453 deg,
      lon: -121.859642 deg,
      deltaT: 0.503902 s,
      deltaX: 0.000019 m,
      approachRate: 0.000038 m/s,
      posRepo size: 4

2025-08-22T16:45:43.053Z,1755881143.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:45:43.107Z,1755881143.107 [DAT](INFO): DAT read: Rx Time:16:45:43.7932 

2025-08-22T16:45:43.108Z,1755881143.108 [DAT](INFO): Rx dataTimestamp_ set to:1755881143.107615
2025-08-22T16:45:43.109Z,1755881143.109 [DAT](INFO): DAT read: Bearing 315.6,   8.0 (Local)

2025-08-22T16:45:43.110Z,1755881143.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,   8.0 (Local)

2025-08-22T16:45:43.112Z,1755881143.112 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.2

2025-08-22T16:45:43.117Z,1755881143.117 [DAT](INFO): DAT read: 16:45:43.7932 LVL= 32752, 22049, 32754, 32755, AGC= 70, IDX= 511, 0.39,-1.485, 0.323,-1.709,-1.013, PHS=-0.370, 1.381,-0.740, RAW= 339.4,  -2.8, CAL= 339.0,  -5.7, ROT= 171.0,   5.7

2025-08-22T16:45:43.118Z,1755881143.118 [DAT](INFO): got valid direction response:
 16:45:43.7932 LVL= 32752, 22049, 32754, 32755, AGC= 70, IDX= 511, 0.39,-1.485, 0.323,-1.709,-1.013, PHS=-0.370, 1.381,-0.740, RAW= 339.4,  -2.8, CAL= 339.0,  -5.7, ROT= 171.0,   5.7

2025-08-22T16:45:43.119Z,1755881143.119 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T16:45:43.120Z,1755881143.120 [DAT](INFO): direction in FSK: [-0.982805,0.155661,-0.099320]
2025-08-22T16:45:43.121Z,1755881143.121 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:43.127Z,1755881143.127 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=46.650780
2025-08-22T16:45:43.359Z,1755881143.359 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=46.882935
2025-08-22T16:45:43.449Z,1755881143.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.504246 s,
      deltaX: 0.299999 m,
      approachRate: 0.594946 m/s,
      rangeRepo size: 4

2025-08-22T16:45:43.462Z,1755881143.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.365173 m,
      bearing: 140.530865 deg,
      lat: 36.779453 deg,
      lon: -121.859641 deg,
      deltaT: 0.504246 s,
      deltaX: 0.298119 m,
      approachRate: 0.591217 m/s,
      posRepo size: 4

2025-08-22T16:45:43.464Z,1755881143.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-08-22T16:45:43.612Z,1755881143.612 [DAT](INFO): DAT read: Rx Time:16:45:44.2932 

2025-08-22T16:45:43.612Z,1755881143.612 [DAT](INFO): Rx dataTimestamp_ set to:1755881143.611698
2025-08-22T16:45:43.613Z,1755881143.613 [DAT](INFO): DAT read: Bearing 315.8,   8.7 (Local)

2025-08-22T16:45:43.614Z,1755881143.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.8,   8.7 (Local)

2025-08-22T16:45:43.616Z,1755881143.616 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.3

2025-08-22T16:45:43.620Z,1755881143.620 [DAT](INFO): DAT read: 16:45:44.2932 LVL= 31872, 20209, 32754, 32755, AGC= 69, IDX= 511, 0.31,-2.221,-0.431,-2.475,-1.770, PHS=-0.349, 1.384,-0.749, RAW= 340.2,  -3.0, CAL= 339.7,  -5.9, ROT= 170.3,   5.9

2025-08-22T16:45:43.622Z,1755881143.622 [DAT](INFO): got valid direction response:
 16:45:44.2932 LVL= 31872, 20209, 32754, 32755, AGC= 69, IDX= 511, 0.31,-2.221,-0.431,-2.475,-1.770, PHS=-0.349, 1.384,-0.749, RAW= 340.2,  -3.0, CAL= 339.7,  -5.9, ROT= 170.3,   5.9

2025-08-22T16:45:43.622Z,1755881143.622 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T16:45:43.623Z,1755881143.623 [DAT](INFO): direction in FSK: [-0.980482,0.167597,-0.102793]
2025-08-22T16:45:43.623Z,1755881143.623 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:43.627Z,1755881143.627 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:45:43.627Z,1755881143.627 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:45:43.627Z,1755881143.627 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:43.832Z,1755881143.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.504083 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:43.835Z,1755881143.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.365173 m,
      bearing: 139.797758 deg,
      lat: 36.779455 deg,
      lon: -121.859641 deg,
      deltaT: 0.504083 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:43.835Z,1755881143.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-08-22T16:45:43.863Z,1755881143.863 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:43.864Z,1755881143.864 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:43.864Z,1755881143.864 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:44.115Z,1755881144.115 [DAT](INFO): DAT read: Rx Time:16:45:44.7934 

2025-08-22T16:45:44.116Z,1755881144.116 [DAT](INFO): Rx dataTimestamp_ set to:1755881144.115272
2025-08-22T16:45:44.117Z,1755881144.117 [DAT](INFO): DAT read: Bearing 322.1,  19.9 (Local)

2025-08-22T16:45:44.117Z,1755881144.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1,  19.9 (Local)

2025-08-22T16:45:44.119Z,1755881144.119 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.2

2025-08-22T16:45:44.124Z,1755881144.124 [DAT](INFO): DAT read: 16:45:44.7934 LVL= 32112, 24049, 32754, 32755, AGC= 70, IDX= 513, 0.22,-2.754,-1.519, 2.949,-2.704, PHS= 0.052, 1.229,-0.675, RAW= 352.2,  -7.3, CAL= 351.9, -10.3, ROT= 158.1,  10.3

2025-08-22T16:45:44.125Z,1755881144.125 [DAT](INFO): got valid direction response:
 16:45:44.7934 LVL= 32112, 24049, 32754, 32755, AGC= 70, IDX= 513, 0.22,-2.754,-1.519, 2.949,-2.704, PHS= 0.052, 1.229,-0.675, RAW= 352.2,  -7.3, CAL= 351.9, -10.3, ROT= 158.1,  10.3

2025-08-22T16:45:44.125Z,1755881144.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:44.126Z,1755881144.126 [DAT](INFO): direction in FSK: [-0.912884,0.366977,-0.178802]
2025-08-22T16:45:44.126Z,1755881144.126 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:44.130Z,1755881144.130 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:44.130Z,1755881144.130 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:44.263Z,1755881144.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.503574 s,
      deltaX: 0.299999 m,
      approachRate: 0.595740 m/s,
      rangeRepo size: 4

2025-08-22T16:45:44.278Z,1755881144.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.663256 m,
      bearing: 127.240179 deg,
      lat: 36.779456 deg,
      lon: -121.859640 deg,
      deltaT: 0.503574 s,
      deltaX: 0.298082 m,
      approachRate: 0.591934 m/s,
      posRepo size: 4

2025-08-22T16:45:44.280Z,1755881144.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:45:44.370Z,1755881144.370 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:44.371Z,1755881144.371 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:44.372Z,1755881144.372 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:44.619Z,1755881144.619 [DAT](INFO): DAT read: Rx Time:16:45:45.2934 

2025-08-22T16:45:44.619Z,1755881144.619 [DAT](INFO): Rx dataTimestamp_ set to:1755881144.619175
2025-08-22T16:45:44.621Z,1755881144.621 [DAT](INFO): DAT read: Bearing 170.3,   9.7 (Local)

2025-08-22T16:45:44.621Z,1755881144.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.3,   9.7 (Local)

2025-08-22T16:45:44.623Z,1755881144.623 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed -0.3

2025-08-22T16:45:44.628Z,1755881144.628 [DAT](INFO): DAT read: 16:45:45.2934 LVL= 31104, 23137, 32754, 32755, AGC= 70, IDX= 513, 0.17, 0.796,-1.273, 0.409, 1.030, PHS=-0.132,-2.258,-0.665, RAW= 136.1,  29.4, CAL= 142.6,  41.7, ROT=   7.4, -41.7

2025-08-22T16:45:44.629Z,1755881144.629 [DAT](INFO): got valid direction response:
 16:45:45.2934 LVL= 31104, 23137, 32754, 32755, AGC= 70, IDX= 513, 0.17, 0.796,-1.273, 0.409, 1.030, PHS=-0.132,-2.258,-0.665, RAW= 136.1,  29.4, CAL= 142.6,  41.7, ROT=   7.4, -41.7

2025-08-22T16:45:44.630Z,1755881144.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:44.630Z,1755881144.630 [DAT](INFO): direction in FSK: [0.740420,0.096164,0.665230]
2025-08-22T16:45:44.631Z,1755881144.631 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:44.634Z,1755881144.634 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:44.635Z,1755881144.635 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:44.739Z,1755881144.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.503903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:44.741Z,1755881144.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.663256 m,
      bearing: 331.941737 deg,
      lat: 36.779457 deg,
      lon: -121.859640 deg,
      deltaT: 0.503903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:44.746Z,1755881144.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:45:44.872Z,1755881144.872 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:44.872Z,1755881144.872 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:44.872Z,1755881144.872 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:45.059Z,1755881145.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m.
2025-08-22T16:45:45.124Z,1755881145.124 [DAT](INFO): DAT read: Rx Time:16:45:45.7936 

2025-08-22T16:45:45.124Z,1755881145.124 [DAT](INFO): Rx dataTimestamp_ set to:1755881145.123876
2025-08-22T16:45:45.126Z,1755881145.126 [DAT](INFO): DAT read: Bearing 315.1,   8.9 (Local)

2025-08-22T16:45:45.126Z,1755881145.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1,   8.9 (Local)

2025-08-22T16:45:45.128Z,1755881145.128 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.3

2025-08-22T16:45:45.132Z,1755881145.132 [DAT](INFO): DAT read: 16:45:45.7936 LVL= 26064, 25889, 27858, 25107, AGC= 72, IDX=   3, 0.12,-1.559, 0.196,-1.819,-1.100, PHS=-0.357, 1.340,-0.764, RAW= 340.5,  -2.3, CAL= 340.1,  -5.2, ROT= 169.9,   5.2

2025-08-22T16:45:45.133Z,1755881145.133 [DAT](INFO): got valid direction response:
 16:45:45.7936 LVL= 26064, 25889, 27858, 25107, AGC= 72, IDX=   3, 0.12,-1.559, 0.196,-1.819,-1.100, PHS=-0.357, 1.340,-0.764, RAW= 340.5,  -2.3, CAL= 340.1,  -5.2, ROT= 169.9,   5.2

2025-08-22T16:45:45.134Z,1755881145.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:45.135Z,1755881145.135 [DAT](INFO): direction in FSK: [-0.980451,0.174645,-0.090633]
2025-08-22T16:45:45.135Z,1755881145.135 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:45.138Z,1755881145.138 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:45.139Z,1755881145.139 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:45.374Z,1755881145.374 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:45.374Z,1755881145.374 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:45.375Z,1755881145.375 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:45.542Z,1755881145.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504701 s,
      deltaX: 0.300001 m,
      approachRate: 0.594414 m/s,
      rangeRepo size: 4

2025-08-22T16:45:45.544Z,1755881145.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.961317 m,
      bearing: 139.433624 deg,
      lat: 36.779457 deg,
      lon: -121.859638 deg,
      deltaT: 0.504701 s,
      deltaX: 0.298061 m,
      approachRate: 0.590570 m/s,
      posRepo size: 4

2025-08-22T16:45:45.545Z,1755881145.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-08-22T16:45:45.628Z,1755881145.628 [DAT](INFO): DAT read: Rx Time:16:45:46.2936 

2025-08-22T16:45:45.629Z,1755881145.629 [DAT](INFO): Rx dataTimestamp_ set to:1755881145.628595
2025-08-22T16:45:45.650Z,1755881145.650 [DAT](INFO): DAT read: Bearing 315.6,   9.6 (Local)

2025-08-22T16:45:45.651Z,1755881145.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.6,   9.6 (Local)

2025-08-22T16:45:45.653Z,1755881145.653 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed -0.2

2025-08-22T16:45:45.666Z,1755881145.666 [DAT](INFO): DAT read: 16:45:46.2936 LVL= 32752, 20273, 32754, 32755, AGC= 71, IDX= 499, 0.04,-2.893,-1.155, 3.100,-2.460, PHS=-0.331, 1.350,-0.768, RAW= 341.3,  -2.6, CAL= 340.8,  -5.6, ROT= 169.2,   5.6

2025-08-22T16:45:45.667Z,1755881145.667 [DAT](INFO): got valid direction response:
 16:45:46.2936 LVL= 32752, 20273, 32754, 32755, AGC= 71, IDX= 499, 0.04,-2.893,-1.155, 3.100,-2.460, PHS=-0.331, 1.350,-0.768, RAW= 341.3,  -2.6, CAL= 340.8,  -5.6, ROT= 169.2,   5.6

2025-08-22T16:45:45.667Z,1755881145.667 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:45.668Z,1755881145.668 [DAT](INFO): direction in FSK: [-0.977599,0.186487,-0.097583]
2025-08-22T16:45:45.669Z,1755881145.669 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:45.681Z,1755881145.681 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:45.686Z,1755881145.686 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:45.878Z,1755881145.878 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:45.879Z,1755881145.879 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:45.879Z,1755881145.879 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:45.900Z,1755881145.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504719 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:45.906Z,1755881145.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.961317 m,
      bearing: 138.682837 deg,
      lat: 36.779458 deg,
      lon: -121.859636 deg,
      deltaT: 0.504719 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:45.907Z,1755881145.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-08-22T16:45:46.131Z,1755881146.131 [DAT](INFO): DAT read: Rx Time:16:45:46.7939 

2025-08-22T16:45:46.132Z,1755881146.132 [DAT](INFO): Rx dataTimestamp_ set to:1755881146.131299
2025-08-22T16:45:46.133Z,1755881146.133 [DAT](INFO): DAT read: Bearing 315.2,   9.4 (Local)

2025-08-22T16:45:46.133Z,1755881146.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2,   9.4 (Local)

2025-08-22T16:45:46.135Z,1755881146.135 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.3

2025-08-22T16:45:46.140Z,1755881146.140 [DAT](INFO): DAT read: 16:45:46.7939 LVL= 30928, 20561, 32754, 32755, AGC= 71, IDX= 502,-0.04,-1.522, 0.232,-1.810,-1.074, PHS=-0.346, 1.350,-0.780, RAW= 341.1,  -2.3, CAL= 340.7,  -5.3, ROT= 169.3,   5.3

2025-08-22T16:45:46.141Z,1755881146.141 [DAT](INFO): got valid direction response:
 16:45:46.7939 LVL= 30928, 20561, 32754, 32755, AGC= 71, IDX= 502,-0.04,-1.522, 0.232,-1.810,-1.074, PHS=-0.346, 1.350,-0.780, RAW= 341.1,  -2.3, CAL= 340.7,  -5.3, ROT= 169.3,   5.3

2025-08-22T16:45:46.141Z,1755881146.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:46.143Z,1755881146.143 [DAT](INFO): direction in FSK: [-0.978412,0.184873,-0.092371]
2025-08-22T16:45:46.143Z,1755881146.143 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:46.149Z,1755881146.149 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:46.168Z,1755881146.168 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:46.335Z,1755881146.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.502704 s,
      deltaX: 0.400000 m,
      approachRate: 0.795696 m/s,
      rangeRepo size: 4

2025-08-22T16:45:46.353Z,1755881146.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.358849 m,
      bearing: 138.802295 deg,
      lat: 36.779458 deg,
      lon: -121.859634 deg,
      deltaT: 0.502704 s,
      deltaX: 0.397532 m,
      approachRate: 0.790786 m/s,
      posRepo size: 4

2025-08-22T16:45:46.358Z,1755881146.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:45:46.382Z,1755881146.382 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:46.383Z,1755881146.383 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:46.383Z,1755881146.383 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:46.635Z,1755881146.635 [DAT](INFO): DAT read: Rx Time:16:45:47.2939 

2025-08-22T16:45:46.636Z,1755881146.636 [DAT](INFO): Rx dataTimestamp_ set to:1755881146.635332
2025-08-22T16:45:46.637Z,1755881146.637 [DAT](INFO): DAT read: Bearing 314.9,   9.5 (Local)

2025-08-22T16:45:46.637Z,1755881146.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9,   9.5 (Local)

2025-08-22T16:45:46.639Z,1755881146.639 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.2

2025-08-22T16:45:46.644Z,1755881146.644 [DAT](INFO): DAT read: 16:45:47.2939 LVL= 32752, 22257, 32754, 32755, AGC= 71, IDX= 502,-0.11, 3.112,-1.425, 2.820,-2.718, PHS=-0.351, 1.338,-0.790, RAW= 341.3,  -2.1, CAL= 340.8,  -5.0, ROT= 169.2,   5.0

2025-08-22T16:45:46.645Z,1755881146.645 [DAT](INFO): got valid direction response:
 16:45:47.2939 LVL= 32752, 22257, 32754, 32755, AGC= 71, IDX= 502,-0.11, 3.112,-1.425, 2.820,-2.718, PHS=-0.351, 1.338,-0.790, RAW= 341.3,  -2.1, CAL= 340.8,  -5.0, ROT= 169.2,   5.0

2025-08-22T16:45:46.645Z,1755881146.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:46.647Z,1755881146.647 [DAT](INFO): direction in FSK: [-0.978549,0.186668,-0.087156]
2025-08-22T16:45:46.647Z,1755881146.647 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:46.650Z,1755881146.650 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:46.651Z,1755881146.651 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:46.792Z,1755881146.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504033 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:46.798Z,1755881146.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.358849 m,
      bearing: 138.683360 deg,
      lat: 36.779456 deg,
      lon: -121.859634 deg,
      deltaT: 0.504033 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:46.798Z,1755881146.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:45:46.886Z,1755881146.886 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:46.887Z,1755881146.887 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:46.887Z,1755881146.887 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:47.110Z,1755881147.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:45:47.139Z,1755881147.139 [DAT](INFO): DAT read: Rx Time:16:45:47.7939 

2025-08-22T16:45:47.140Z,1755881147.140 [DAT](INFO): Rx dataTimestamp_ set to:1755881147.139837
2025-08-22T16:45:47.142Z,1755881147.142 [DAT](INFO): DAT read: Bearing 315.0,   9.8 (Local)

2025-08-22T16:45:47.142Z,1755881147.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0,   9.8 (Local)

2025-08-22T16:45:47.145Z,1755881147.145 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.2

2025-08-22T16:45:47.151Z,1755881147.151 [DAT](INFO): DAT read: 16:45:47.7939 LVL= 25072, 15713, 29858, 30371, AGC= 69, IDX= 503,-0.17, 2.466,-2.108, 2.165, 2.905, PHS=-0.336, 1.315,-0.783, RAW= 341.7,  -2.1, CAL= 341.2,  -5.0, ROT= 168.8,   5.0

2025-08-22T16:45:47.153Z,1755881147.153 [DAT](INFO): got valid direction response:
 16:45:47.7939 LVL= 25072, 15713, 29858, 30371, AGC= 69, IDX= 503,-0.17, 2.466,-2.108, 2.165, 2.905, PHS=-0.336, 1.315,-0.783, RAW= 341.7,  -2.1, CAL= 341.2,  -5.0, ROT= 168.8,   5.0

2025-08-22T16:45:47.153Z,1755881147.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:47.155Z,1755881147.155 [DAT](INFO): direction in FSK: [-0.977222,0.193495,-0.087156]
2025-08-22T16:45:47.155Z,1755881147.155 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:47.160Z,1755881147.160 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:47.161Z,1755881147.161 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:47.390Z,1755881147.390 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:47.390Z,1755881147.390 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:47.391Z,1755881147.391 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:47.434Z,1755881147.434 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:45:47.577Z,1755881147.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504505 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:47.579Z,1755881147.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.358847 m,
      bearing: 138.240722 deg,
      lat: 36.779456 deg,
      lon: -121.859633 deg,
      deltaT: 0.504505 s,
      deltaX: -0.000002 m,
      approachRate: -0.000004 m/s,
      posRepo size: 4

2025-08-22T16:45:47.580Z,1755881147.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:45:47.644Z,1755881147.644 [DAT](INFO): DAT read: Rx Time:16:45:48.2939 

2025-08-22T16:45:47.644Z,1755881147.644 [DAT](INFO): Rx dataTimestamp_ set to:1755881147.643901
2025-08-22T16:45:47.646Z,1755881147.646 [DAT](INFO): DAT read: Bearing 315.1,   9.7 (Local)

2025-08-22T16:45:47.647Z,1755881147.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1,   9.7 (Local)

2025-08-22T16:45:47.655Z,1755881147.655 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed -0.4

2025-08-22T16:45:47.661Z,1755881147.661 [DAT](INFO): DAT read: 16:45:48.2939 LVL= 28304, 17313, 30882, 32755, AGC= 70, IDX= 503,-0.29, 0.847, 2.618, 0.531, 1.293, PHS=-0.344, 1.370,-0.806, RAW= 341.6,  -2.2, CAL= 341.2,  -5.2, ROT= 168.8,   5.2

2025-08-22T16:45:47.663Z,1755881147.663 [DAT](INFO): got valid direction response:
 16:45:48.2939 LVL= 28304, 17313, 30882, 32755, AGC= 70, IDX= 503,-0.29, 0.847, 2.618, 0.531, 1.293, PHS=-0.344, 1.370,-0.806, RAW= 341.6,  -2.2, CAL= 341.2,  -5.2, ROT= 168.8,   5.2

2025-08-22T16:45:47.663Z,1755881147.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:47.665Z,1755881147.665 [DAT](INFO): direction in FSK: [-0.976918,0.193435,-0.090633]
2025-08-22T16:45:47.665Z,1755881147.665 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:47.670Z,1755881147.670 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:47.671Z,1755881147.671 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:47.894Z,1755881147.894 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:47.894Z,1755881147.894 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:47.895Z,1755881147.895 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:48.020Z,1755881148.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504064 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:48.026Z,1755881148.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.358824 m,
      bearing: 138.217110 deg,
      lat: 36.779458 deg,
      lon: -121.859633 deg,
      deltaT: 0.504064 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-08-22T16:45:48.026Z,1755881148.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:45:48.147Z,1755881148.147 [DAT](INFO): DAT read: Rx Time:16:45:48.7941 

2025-08-22T16:45:48.148Z,1755881148.148 [DAT](INFO): Rx dataTimestamp_ set to:1755881148.147285
2025-08-22T16:45:48.149Z,1755881148.149 [DAT](INFO): DAT read: Bearing 315.2,  10.1 (Local)

2025-08-22T16:45:48.149Z,1755881148.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.2,  10.1 (Local)

2025-08-22T16:45:48.151Z,1755881148.151 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed -0.2

2025-08-22T16:45:48.157Z,1755881148.157 [DAT](INFO): DAT read: 16:45:48.7941 LVL= 31904, 20369, 32754, 32755, AGC= 71, IDX= 504, 0.47,-3.073,-1.371, 2.894,-2.649, PHS=-0.322, 1.323,-0.785, RAW= 342.1,  -2.3, CAL= 341.6,  -5.2, ROT= 168.4,   5.2

2025-08-22T16:45:48.159Z,1755881148.159 [DAT](INFO): got valid direction response:
 16:45:48.7941 LVL= 31904, 20369, 32754, 32755, AGC= 71, IDX= 504, 0.47,-3.073,-1.371, 2.894,-2.649, PHS=-0.322, 1.323,-0.785, RAW= 342.1,  -2.3, CAL= 341.6,  -5.2, ROT= 168.4,   5.2

2025-08-22T16:45:48.159Z,1755881148.159 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:48.161Z,1755881148.161 [DAT](INFO): direction in FSK: [-0.975544,0.200250,-0.090633]
2025-08-22T16:45:48.161Z,1755881148.161 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:48.166Z,1755881148.166 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:48.167Z,1755881148.167 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:48.390Z,1755881148.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.503384 s,
      deltaX: 0.299999 m,
      approachRate: 0.595965 m/s,
      rangeRepo size: 4

2025-08-22T16:45:48.392Z,1755881148.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.656940 m,
      bearing: 137.809753 deg,
      lat: 36.779458 deg,
      lon: -121.859633 deg,
      deltaT: 0.503384 s,
      deltaX: 0.298117 m,
      approachRate: 0.592225 m/s,
      posRepo size: 4

2025-08-22T16:45:48.393Z,1755881148.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T16:45:48.398Z,1755881148.398 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:48.399Z,1755881148.399 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:48.399Z,1755881148.399 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:48.438Z,1755881148.438 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:45:48.651Z,1755881148.651 [DAT](INFO): DAT read: Rx Time:16:45:49.2941 

2025-08-22T16:45:48.652Z,1755881148.652 [DAT](INFO): Rx dataTimestamp_ set to:1755881148.651234
2025-08-22T16:45:48.653Z,1755881148.653 [DAT](INFO): DAT read: Bearing 314.9,  10.3 (Local)

2025-08-22T16:45:48.653Z,1755881148.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9,  10.3 (Local)

2025-08-22T16:45:48.655Z,1755881148.655 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.0

2025-08-22T16:45:48.660Z,1755881148.660 [DAT](INFO): DAT read: 16:45:49.2941 LVL= 27120, 18225, 32738, 32755, AGC= 70, IDX= 504, 0.20, 2.050,-2.518, 1.717, 2.481, PHS=-0.329, 1.329,-0.808, RAW= 342.3,  -2.0, CAL= 341.9,  -4.9, ROT= 168.1,   4.9

2025-08-22T16:45:48.661Z,1755881148.661 [DAT](INFO): got valid direction response:
 16:45:49.2941 LVL= 27120, 18225, 32738, 32755, AGC= 70, IDX= 504, 0.20, 2.050,-2.518, 1.717, 2.481, PHS=-0.329, 1.329,-0.808, RAW= 342.3,  -2.0, CAL= 341.9,  -4.9, ROT= 168.1,   4.9

2025-08-22T16:45:48.661Z,1755881148.661 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:48.671Z,1755881148.671 [DAT](INFO): direction in FSK: [-0.974933,0.205450,-0.085417]
2025-08-22T16:45:48.671Z,1755881148.671 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:48.674Z,1755881148.674 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:48.675Z,1755881148.675 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:48.826Z,1755881148.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.503949 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:48.828Z,1755881148.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.656940 m,
      bearing: 137.531812 deg,
      lat: 36.779458 deg,
      lon: -121.859633 deg,
      deltaT: 0.503949 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:48.829Z,1755881148.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T16:45:48.903Z,1755881148.903 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:48.904Z,1755881148.904 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:48.904Z,1755881148.904 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:49.129Z,1755881149.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m.
2025-08-22T16:45:49.156Z,1755881149.156 [DAT](INFO): DAT read: Rx Time:16:45:49.7943 

2025-08-22T16:45:49.157Z,1755881149.157 [DAT](INFO): Rx dataTimestamp_ set to:1755881149.156110
2025-08-22T16:45:49.167Z,1755881149.167 [DAT](INFO): DAT read: Bearing 314.9,  10.4 (Local)

2025-08-22T16:45:49.167Z,1755881149.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9,  10.4 (Local)

2025-08-22T16:45:49.170Z,1755881149.170 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.0

2025-08-22T16:45:49.187Z,1755881149.187 [DAT](INFO): DAT read: 16:45:49.7943 LVL= 30416, 18241, 32754, 32755, AGC= 70, IDX= 506,-0.02, 2.234,-2.355, 1.903, 2.659, PHS=-0.323, 1.315,-0.800, RAW= 342.4,  -2.0, CAL= 342.0,  -5.0, ROT= 168.0,   5.0

2025-08-22T16:45:49.188Z,1755881149.188 [DAT](INFO): got valid direction response:
 16:45:49.7943 LVL= 30416, 18241, 32754, 32755, AGC= 70, IDX= 506,-0.02, 2.234,-2.355, 1.903, 2.659, PHS=-0.323, 1.315,-0.800, RAW= 342.4,  -2.0, CAL= 342.0,  -5.0, ROT= 168.0,   5.0

2025-08-22T16:45:49.189Z,1755881149.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:49.203Z,1755881149.203 [DAT](INFO): direction in FSK: [-0.974425,0.207120,-0.087156]
2025-08-22T16:45:49.203Z,1755881149.203 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:49.215Z,1755881149.215 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:49.215Z,1755881149.215 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:49.406Z,1755881149.406 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:49.406Z,1755881149.406 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:49.407Z,1755881149.407 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:49.568Z,1755881149.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504876 s,
      deltaX: 0.300001 m,
      approachRate: 0.594208 m/s,
      rangeRepo size: 4

2025-08-22T16:45:49.586Z,1755881149.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.955038 m,
      bearing: 137.388403 deg,
      lat: 36.779458 deg,
      lon: -121.859631 deg,
      deltaT: 0.504876 s,
      deltaX: 0.298098 m,
      approachRate: 0.590437 m/s,
      posRepo size: 4

2025-08-22T16:45:49.590Z,1755881149.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-08-22T16:45:49.659Z,1755881149.659 [DAT](INFO): DAT read: Rx Time:16:45:50.2942 

2025-08-22T16:45:49.660Z,1755881149.660 [DAT](INFO): Rx dataTimestamp_ set to:1755881149.659595
2025-08-22T16:45:49.661Z,1755881149.661 [DAT](INFO): DAT read: Bearing 314.5,  10.3 (Local)

2025-08-22T16:45:49.662Z,1755881149.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  10.3 (Local)

2025-08-22T16:45:49.664Z,1755881149.664 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.2

2025-08-22T16:45:49.668Z,1755881149.668 [DAT](INFO): DAT read: 16:45:50.2942 LVL= 30416, 18417, 32754, 32755, AGC= 70, IDX= 506,-0.36, 0.925, 2.658, 0.586, 1.373, PHS=-0.346, 1.330,-0.831, RAW= 342.3,  -1.6, CAL= 341.9,  -4.5, ROT= 168.1,   4.5

2025-08-22T16:45:49.669Z,1755881149.669 [DAT](INFO): got valid direction response:
 16:45:50.2942 LVL= 30416, 18417, 32754, 32755, AGC= 70, IDX= 506,-0.36, 0.925, 2.658, 0.586, 1.373, PHS=-0.346, 1.330,-0.831, RAW= 342.3,  -1.6, CAL= 341.9,  -4.5, ROT= 168.1,   4.5

2025-08-22T16:45:49.671Z,1755881149.671 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:49.672Z,1755881149.672 [DAT](INFO): direction in FSK: [-0.975493,0.205568,-0.078459]
2025-08-22T16:45:49.673Z,1755881149.673 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:49.676Z,1755881149.676 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:49.676Z,1755881149.676 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:49.910Z,1755881149.910 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:49.910Z,1755881149.910 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:49.911Z,1755881149.911 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:50.038Z,1755881150.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503485 s,
      deltaX: -0.100000 m,
      approachRate: -0.198616 m/s,
      rangeRepo size: 4

2025-08-22T16:45:50.040Z,1755881150.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.855633 m,
      bearing: 137.557401 deg,
      lat: 36.779459 deg,
      lon: -121.859631 deg,
      deltaT: 0.503485 s,
      deltaX: -0.099405 m,
      approachRate: -0.197434 m/s,
      posRepo size: 4

2025-08-22T16:45:50.041Z,1755881150.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-08-22T16:45:50.164Z,1755881150.164 [DAT](INFO): DAT read: Rx Time:16:45:50.7943 

2025-08-22T16:45:50.164Z,1755881150.164 [DAT](INFO): Rx dataTimestamp_ set to:1755881150.164213
2025-08-22T16:45:50.166Z,1755881150.166 [DAT](INFO): DAT read: Bearing 315.0,  10.5 (Local)

2025-08-22T16:45:50.167Z,1755881150.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0,  10.5 (Local)

2025-08-22T16:45:50.170Z,1755881150.170 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed -0.2

2025-08-22T16:45:50.176Z,1755881150.176 [DAT](INFO): DAT read: 16:45:50.7943 LVL= 29584, 20625, 32754, 32755, AGC= 71, IDX= 506, 0.24, 2.577,-1.992, 2.231, 3.003, PHS=-0.324, 1.333,-0.815, RAW= 342.6,  -2.0, CAL= 342.2,  -5.0, ROT= 167.8,   5.0

2025-08-22T16:45:50.178Z,1755881150.178 [DAT](INFO): got valid direction response:
 16:45:50.7943 LVL= 29584, 20625, 32754, 32755, AGC= 71, IDX= 506, 0.24, 2.577,-1.992, 2.231, 3.003, PHS=-0.324, 1.333,-0.815, RAW= 342.6,  -2.0, CAL= 342.2,  -5.0, ROT= 167.8,   5.0

2025-08-22T16:45:50.178Z,1755881150.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:50.180Z,1755881150.180 [DAT](INFO): direction in FSK: [-0.973697,0.210521,-0.087156]
2025-08-22T16:45:50.180Z,1755881150.180 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:50.185Z,1755881150.185 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:50.186Z,1755881150.186 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:50.416Z,1755881150.416 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:50.417Z,1755881150.417 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:50.418Z,1755881150.418 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:50.434Z,1755881150.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504618 s,
      deltaX: 0.100000 m,
      approachRate: 0.198170 m/s,
      rangeRepo size: 4

2025-08-22T16:45:50.436Z,1755881150.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.955006 m,
      bearing: 137.198002 deg,
      lat: 36.779459 deg,
      lon: -121.859631 deg,
      deltaT: 0.504618 s,
      deltaX: 0.099373 m,
      approachRate: 0.196927 m/s,
      posRepo size: 4

2025-08-22T16:45:50.437Z,1755881150.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-08-22T16:45:50.667Z,1755881150.667 [DAT](INFO): DAT read: Rx Time:16:45:51.2942 

2025-08-22T16:45:50.668Z,1755881150.668 [DAT](INFO): Rx dataTimestamp_ set to:1755881150.667303
2025-08-22T16:45:50.669Z,1755881150.669 [DAT](INFO): DAT read: Bearing 314.9,  10.1 (Local)

2025-08-22T16:45:50.669Z,1755881150.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.9,  10.1 (Local)

2025-08-22T16:45:50.671Z,1755881150.671 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed -0.2

2025-08-22T16:45:50.676Z,1755881150.676 [DAT](INFO): DAT read: 16:45:51.2942 LVL= 29664, 23025, 32754, 32755, AGC= 70, IDX= 506,-0.11, 0.058, 1.800,-0.277, 0.497, PHS=-0.337, 1.348,-0.818, RAW= 342.2,  -2.0, CAL= 341.8,  -4.9, ROT= 168.2,   4.9

2025-08-22T16:45:50.677Z,1755881150.677 [DAT](INFO): got valid direction response:
 16:45:51.2942 LVL= 29664, 23025, 32754, 32755, AGC= 70, IDX= 506,-0.11, 0.058, 1.800,-0.277, 0.497, PHS=-0.337, 1.348,-0.818, RAW= 342.2,  -2.0, CAL= 341.8,  -4.9, ROT= 168.2,   4.9

2025-08-22T16:45:50.677Z,1755881150.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:50.679Z,1755881150.679 [DAT](INFO): direction in FSK: [-0.975290,0.203749,-0.085417]
2025-08-22T16:45:50.679Z,1755881150.679 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:50.683Z,1755881150.683 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:50.683Z,1755881150.683 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:50.888Z,1755881150.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503090 s,
      deltaX: -0.100000 m,
      approachRate: -0.198772 m/s,
      rangeRepo size: 4

2025-08-22T16:45:50.894Z,1755881150.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.855633 m,
      bearing: 137.575410 deg,
      lat: 36.779459 deg,
      lon: -121.859631 deg,
      deltaT: 0.503090 s,
      deltaX: -0.099373 m,
      approachRate: -0.197525 m/s,
      posRepo size: 4

2025-08-22T16:45:50.895Z,1755881150.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m.
2025-08-22T16:45:50.918Z,1755881150.918 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:50.919Z,1755881150.919 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:50.919Z,1755881150.919 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:51.171Z,1755881151.171 [DAT](INFO): DAT read: Rx Time:16:45:51.7944 

2025-08-22T16:45:51.172Z,1755881151.172 [DAT](INFO): Rx dataTimestamp_ set to:1755881151.171652
2025-08-22T16:45:51.176Z,1755881151.176 [DAT](INFO): DAT read: Bearing 315.3,  10.7 (Local)

2025-08-22T16:45:51.178Z,1755881151.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,  10.7 (Local)

2025-08-22T16:45:51.181Z,1755881151.181 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.0

2025-08-22T16:45:51.191Z,1755881151.191 [DAT](INFO): DAT read: 16:45:51.7944 LVL= 31344, 21137, 32754, 32755, AGC= 71, IDX= 507, 0.36,-2.389,-0.685,-2.743,-1.978, PHS=-0.309, 1.338,-0.808, RAW= 342.8,  -2.3, CAL= 342.4,  -5.3, ROT= 167.6,   5.3

2025-08-22T16:45:51.192Z,1755881151.192 [DAT](INFO): got valid direction response:
 16:45:51.7944 LVL= 31344, 21137, 32754, 32755, AGC= 71, IDX= 507, 0.36,-2.389,-0.685,-2.743,-1.978, PHS=-0.309, 1.338,-0.808, RAW= 342.8,  -2.3, CAL= 342.4,  -5.3, ROT= 167.6,   5.3

2025-08-22T16:45:51.192Z,1755881151.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:51.193Z,1755881151.193 [DAT](INFO): direction in FSK: [-0.972497,0.213817,-0.092371]
2025-08-22T16:45:51.193Z,1755881151.193 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:51.197Z,1755881151.197 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:51.197Z,1755881151.197 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:51.272Z,1755881151.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.504349 s,
      deltaX: 0.299999 m,
      approachRate: 0.594825 m/s,
      rangeRepo size: 4

2025-08-22T16:45:51.278Z,1755881151.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.153709 m,
      bearing: 136.934623 deg,
      lat: 36.779460 deg,
      lon: -121.859630 deg,
      deltaT: 0.504349 s,
      deltaX: 0.298077 m,
      approachRate: 0.591013 m/s,
      posRepo size: 4

2025-08-22T16:45:51.279Z,1755881151.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m.
2025-08-22T16:45:51.422Z,1755881151.422 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:51.422Z,1755881151.422 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:51.423Z,1755881151.423 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:51.606Z,1755881151.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m.
2025-08-22T16:45:51.676Z,1755881151.676 [DAT](INFO): DAT read: Rx Time:16:45:52.2944 

2025-08-22T16:45:51.676Z,1755881151.676 [DAT](INFO): Rx dataTimestamp_ set to:1755881151.676153
2025-08-22T16:45:51.678Z,1755881151.678 [DAT](INFO): DAT read: Bearing 314.3,  10.6 (Local)

2025-08-22T16:45:51.679Z,1755881151.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3,  10.6 (Local)

2025-08-22T16:45:51.682Z,1755881151.682 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed -0.1

2025-08-22T16:45:51.688Z,1755881151.688 [DAT](INFO): DAT read: 16:45:52.2944 LVL= 32752, 22849, 32754, 32755, AGC= 71, IDX= 507,-0.03, 1.843,-2.728, 1.496, 2.288, PHS=-0.344, 1.312,-0.836, RAW= 342.6,  -1.4, CAL= 342.2,  -4.3, ROT= 167.8,   4.3

2025-08-22T16:45:51.691Z,1755881151.691 [DAT](INFO): got valid direction response:
 16:45:52.2944 LVL= 32752, 22849, 32754, 32755, AGC= 71, IDX= 507,-0.03, 1.843,-2.728, 1.496, 2.288, PHS=-0.344, 1.312,-0.836, RAW= 342.6,  -1.4, CAL= 342.2,  -4.3, ROT= 167.8,   4.3

2025-08-22T16:45:51.692Z,1755881151.692 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:51.693Z,1755881151.693 [DAT](INFO): direction in FSK: [-0.974665,0.210730,-0.074979]
2025-08-22T16:45:51.693Z,1755881151.693 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:51.696Z,1755881151.696 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:51.697Z,1755881151.697 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:51.926Z,1755881151.926 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:51.926Z,1755881151.926 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:51.927Z,1755881151.927 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:52.114Z,1755881152.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.504501 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:52.116Z,1755881152.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.153704 m,
      bearing: 137.210597 deg,
      lat: 36.779460 deg,
      lon: -121.859631 deg,
      deltaT: 0.504501 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-08-22T16:45:52.117Z,1755881152.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m.
2025-08-22T16:45:52.181Z,1755881152.181 [DAT](INFO): DAT read: Rx Time:16:45:52.7945 

2025-08-22T16:45:52.181Z,1755881152.181 [DAT](INFO): Rx dataTimestamp_ set to:1755881152.180863
2025-08-22T16:45:52.183Z,1755881152.183 [DAT](INFO): DAT read: Bearing 314.6,  11.0 (Local)

2025-08-22T16:45:52.184Z,1755881152.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  11.0 (Local)

2025-08-22T16:45:52.192Z,1755881152.192 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.0

2025-08-22T16:45:52.197Z,1755881152.197 [DAT](INFO): DAT read: 16:45:52.7945 LVL= 30192, 22001, 32754, 32755, AGC= 71, IDX= 509,-0.41, 2.903,-1.678, 2.535,-2.956, PHS=-0.323, 1.323,-0.836, RAW= 343.2,  -1.7, CAL= 342.7,  -4.6, ROT= 167.3,   4.6

2025-08-22T16:45:52.214Z,1755881152.214 [DAT](INFO): got valid direction response:
 16:45:52.7945 LVL= 30192, 22001, 32754, 32755, AGC= 71, IDX= 509,-0.41, 2.903,-1.678, 2.535,-2.956, PHS=-0.323, 1.323,-0.836, RAW= 343.2,  -1.7, CAL= 342.7,  -4.6, ROT= 167.3,   4.6

2025-08-22T16:45:52.215Z,1755881152.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:52.216Z,1755881152.216 [DAT](INFO): direction in FSK: [-0.972392,0.219138,-0.080199]
2025-08-22T16:45:52.216Z,1755881152.216 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:52.228Z,1755881152.227 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:52.228Z,1755881152.228 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:52.432Z,1755881152.432 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:52.433Z,1755881152.433 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:52.434Z,1755881152.434 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:52.524Z,1755881152.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504710 s,
      deltaX: 0.100000 m,
      approachRate: 0.198134 m/s,
      rangeRepo size: 4

2025-08-22T16:45:52.530Z,1755881152.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.253075 m,
      bearing: 136.698217 deg,
      lat: 36.779460 deg,
      lon: -121.859630 deg,
      deltaT: 0.504710 s,
      deltaX: 0.099371 m,
      approachRate: 0.196887 m/s,
      posRepo size: 4

2025-08-22T16:45:52.530Z,1755881152.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:45:52.683Z,1755881152.683 [DAT](INFO): DAT read: Rx Time:16:45:53.2945 

2025-08-22T16:45:52.684Z,1755881152.684 [DAT](INFO): Rx dataTimestamp_ set to:1755881152.683232
2025-08-22T16:45:52.685Z,1755881152.685 [DAT](INFO): DAT read: Bearing 315.3,  11.2 (Local)

2025-08-22T16:45:52.685Z,1755881152.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.3,  11.2 (Local)

2025-08-22T16:45:52.687Z,1755881152.687 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed -0.1

2025-08-22T16:45:52.692Z,1755881152.692 [DAT](INFO): DAT read: 16:45:53.2945 LVL= 32752, 20721, 32754, 32755, AGC= 71, IDX= 508, 0.16, 3.099,-1.487, 2.719,-2.784, PHS=-0.298, 1.342,-0.825, RAW= 343.5,  -2.3, CAL= 343.1,  -5.2, ROT= 166.9,   5.2

2025-08-22T16:45:52.693Z,1755881152.693 [DAT](INFO): got valid direction response:
 16:45:53.2945 LVL= 32752, 20721, 32754, 32755, AGC= 71, IDX= 508, 0.16, 3.099,-1.487, 2.719,-2.784, PHS=-0.298, 1.342,-0.825, RAW= 343.5,  -2.3, CAL= 343.1,  -5.2, ROT= 166.9,   5.2

2025-08-22T16:45:52.693Z,1755881152.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:52.694Z,1755881152.694 [DAT](INFO): direction in FSK: [-0.969967,0.225719,-0.090633]
2025-08-22T16:45:52.694Z,1755881152.694 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:52.698Z,1755881152.698 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:52.698Z,1755881152.698 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:52.905Z,1755881152.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.502369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:52.919Z,1755881152.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.253075 m,
      bearing: 136.250967 deg,
      lat: 36.779460 deg,
      lon: -121.859630 deg,
      deltaT: 0.502369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:52.919Z,1755881152.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m.
2025-08-22T16:45:52.934Z,1755881152.934 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:52.935Z,1755881152.935 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:52.935Z,1755881152.935 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:53.189Z,1755881153.189 [DAT](INFO): DAT read: Rx Time:16:45:53.7946 

2025-08-22T16:45:53.189Z,1755881153.189 [DAT](INFO): Rx dataTimestamp_ set to:1755881153.189023
2025-08-22T16:45:53.191Z,1755881153.191 [DAT](INFO): DAT read: Bearing 314.4,  10.6 (Local)

2025-08-22T16:45:53.191Z,1755881153.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  10.6 (Local)

2025-08-22T16:45:53.194Z,1755881153.194 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-08-22T16:45:53.198Z,1755881153.198 [DAT](INFO): DAT read: 16:45:53.7946 LVL= 32752, 21425, 32754, 32755, AGC= 70, IDX= 510,-0.13, 2.966,-1.601, 2.606,-2.880, PHS=-0.336, 1.324,-0.841, RAW= 342.9,  -1.5, CAL= 342.5,  -4.5, ROT= 167.5,   4.5

2025-08-22T16:45:53.199Z,1755881153.199 [DAT](INFO): got valid direction response:
 16:45:53.7946 LVL= 32752, 21425, 32754, 32755, AGC= 70, IDX= 510,-0.13, 2.966,-1.601, 2.606,-2.880, PHS=-0.336, 1.324,-0.841, RAW= 342.9,  -1.5, CAL= 342.5,  -4.5, ROT= 167.5,   4.5

2025-08-22T16:45:53.199Z,1755881153.199 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:53.200Z,1755881153.200 [DAT](INFO): direction in FSK: [-0.973286,0.215773,-0.078459]
2025-08-22T16:45:53.200Z,1755881153.200 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:53.216Z,1755881153.216 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:53.216Z,1755881153.216 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:53.285Z,1755881153.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.505791 s,
      deltaX: 0.200001 m,
      approachRate: 0.395422 m/s,
      rangeRepo size: 4

2025-08-22T16:45:53.291Z,1755881153.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.451754 m,
      bearing: 136.926597 deg,
      lat: 36.779460 deg,
      lon: -121.859630 deg,
      deltaT: 0.505791 s,
      deltaX: 0.198679 m,
      approachRate: 0.392808 m/s,
      posRepo size: 4

2025-08-22T16:45:53.291Z,1755881153.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-08-22T16:45:53.440Z,1755881153.440 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:53.441Z,1755881153.441 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:53.443Z,1755881153.443 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:53.668Z,1755881153.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-08-22T16:45:53.691Z,1755881153.691 [DAT](INFO): DAT read: Rx Time:16:45:54.2946 

2025-08-22T16:45:53.692Z,1755881153.692 [DAT](INFO): Rx dataTimestamp_ set to:1755881153.691369
2025-08-22T16:45:53.693Z,1755881153.693 [DAT](INFO): DAT read: Bearing 314.2,  11.4 (Local)

2025-08-22T16:45:53.693Z,1755881153.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.2,  11.4 (Local)

2025-08-22T16:45:53.696Z,1755881153.696 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.0

2025-08-22T16:45:53.700Z,1755881153.700 [DAT](INFO): DAT read: 16:45:54.2946 LVL= 31216, 18993, 32754, 32755, AGC= 71, IDX= 510,-0.50, 1.410, 3.084, 1.027, 1.836, PHS=-0.324, 1.292,-0.853, RAW= 343.7,  -1.2, CAL= 343.3,  -4.2, ROT= 166.7,   4.2

2025-08-22T16:45:53.702Z,1755881153.702 [DAT](INFO): got valid direction response:
 16:45:54.2946 LVL= 31216, 18993, 32754, 32755, AGC= 71, IDX= 510,-0.50, 1.410, 3.084, 1.027, 1.836, PHS=-0.324, 1.292,-0.853, RAW= 343.7,  -1.2, CAL= 343.3,  -4.2, ROT= 166.7,   4.2

2025-08-22T16:45:53.702Z,1755881153.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:53.703Z,1755881153.703 [DAT](INFO): direction in FSK: [-0.970565,0.229432,-0.073238]
2025-08-22T16:45:53.704Z,1755881153.704 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:53.707Z,1755881153.707 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:53.707Z,1755881153.707 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:53.942Z,1755881153.942 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:53.942Z,1755881153.942 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:53.943Z,1755881153.943 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:54.075Z,1755881154.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.502346 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:54.077Z,1755881154.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.451742 m,
      bearing: 136.191642 deg,
      lat: 36.779461 deg,
      lon: -121.859630 deg,
      deltaT: 0.502346 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-08-22T16:45:54.077Z,1755881154.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-08-22T16:45:54.195Z,1755881154.195 [DAT](INFO): DAT read: Rx Time:16:45:54.7947 

2025-08-22T16:45:54.196Z,1755881154.196 [DAT](INFO): Rx dataTimestamp_ set to:1755881154.195357
2025-08-22T16:45:54.197Z,1755881154.197 [DAT](INFO): DAT read: Bearing 314.0,  10.9 (Local)

2025-08-22T16:45:54.197Z,1755881154.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  10.9 (Local)

2025-08-22T16:45:54.199Z,1755881154.199 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.0

2025-08-22T16:45:54.205Z,1755881154.205 [DAT](INFO): DAT read: 16:45:54.7947 LVL= 32752, 24977, 32754, 32755, AGC= 70, IDX= 510, 0.12,-3.051,-1.355, 2.862,-2.607, PHS=-0.342, 1.297,-0.858, RAW= 343.3,  -1.0, CAL= 342.8,  -4.0, ROT= 167.2,   4.0

2025-08-22T16:45:54.207Z,1755881154.207 [DAT](INFO): got valid direction response:
 16:45:54.7947 LVL= 32752, 24977, 32754, 32755, AGC= 70, IDX= 510, 0.12,-3.051,-1.355, 2.862,-2.607, PHS=-0.342, 1.297,-0.858, RAW= 343.3,  -1.0, CAL= 342.8,  -4.0, ROT= 167.2,   4.0

2025-08-22T16:45:54.208Z,1755881154.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:54.209Z,1755881154.209 [DAT](INFO): direction in FSK: [-0.972774,0.221009,-0.069756]
2025-08-22T16:45:54.209Z,1755881154.209 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:54.214Z,1755881154.214 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:54.215Z,1755881154.215 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:54.449Z,1755881154.449 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:54.450Z,1755881154.450 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:54.452Z,1755881154.452 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:54.622Z,1755881154.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.503988 s,
      deltaX: 0.100000 m,
      approachRate: 0.198418 m/s,
      rangeRepo size: 4

2025-08-22T16:45:54.624Z,1755881154.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.551113 m,
      bearing: 136.712111 deg,
      lat: 36.779461 deg,
      lon: -121.859630 deg,
      deltaT: 0.503988 s,
      deltaX: 0.099371 m,
      approachRate: 0.197169 m/s,
      posRepo size: 4

2025-08-22T16:45:54.625Z,1755881154.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T16:45:54.701Z,1755881154.701 [DAT](INFO): DAT read: Rx Time:16:45:55.2946 

2025-08-22T16:45:54.702Z,1755881154.702 [DAT](INFO): Rx dataTimestamp_ set to:1755881154.701151
2025-08-22T16:45:54.703Z,1755881154.703 [DAT](INFO): DAT read: erig 13.8,  11.0 (Local)

2025-08-22T16:45:54.703Z,1755881154.703 [DAT](INFO): Local bearing/azimuth received:
 erig 13.8,  11.0 (Local)

2025-08-22T16:45:54.705Z,1755881154.705 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed -0.1

2025-08-22T16:45:54.711Z,1755881154.711 [DAT](INFO): DAT read: 16:45:55.2946 LVL= 32752, 21969, 32754, 32755, AGC= 70, IDX= 510,-0.13, 0.400, 2.098, 0.027, 0.849, PHS=-0.348, 1.294,-0.867, RAW= 343.3,  -0.8, CAL= 342.9,  -3.8, ROT= 167.1,   3.8

2025-08-22T16:45:54.712Z,1755881154.712 [DAT](INFO): got valid direction response:
 16:45:55.2946 LVL= 32752, 21969, 32754, 32755, AGC= 70, IDX= 510,-0.13, 0.400, 2.098, 0.027, 0.849, PHS=-0.348, 1.294,-0.867, RAW= 343.3,  -0.8, CAL= 342.9,  -3.8, ROT= 167.1,   3.8

2025-08-22T16:45:54.713Z,1755881154.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:54.715Z,1755881154.715 [DAT](INFO): direction in FSK: [-0.972618,0.222759,-0.066274]
2025-08-22T16:45:54.716Z,1755881154.716 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:54.735Z,1755881154.735 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:54.736Z,1755881154.736 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:54.954Z,1755881154.954 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:54.954Z,1755881154.954 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:54.955Z,1755881154.955 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:55.048Z,1755881155.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.505794 s,
      deltaX: -0.100000 m,
      approachRate: -0.197710 m/s,
      rangeRepo size: 4

2025-08-22T16:45:55.054Z,1755881155.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.451723 m,
      bearing: 136.626945 deg,
      lat: 36.779461 deg,
      lon: -121.859630 deg,
      deltaT: 0.505794 s,
      deltaX: -0.099390 m,
      approachRate: -0.196503 m/s,
      posRepo size: 4

2025-08-22T16:45:55.054Z,1755881155.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-08-22T16:45:55.206Z,1755881155.206 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:55.207Z,1755881155.207 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:55.207Z,1755881155.207 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:55.349Z,1755881155.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m.
2025-08-22T16:45:55.463Z,1755881155.463 [DAT](INFO): DAT read: 
Rx Time:16:45:56.2948 

2025-08-22T16:45:55.469Z,1755881155.469 [DAT](INFO): Rx dataTimestamp_ set to:1755881155.464285
2025-08-22T16:45:55.476Z,1755881155.476 [DAT](INFO): DAT read: Bearing 314.0,  10.8 (Local)

2025-08-22T16:45:55.483Z,1755881155.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  10.8 (Local)

2025-08-22T16:45:55.487Z,1755881155.487 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed -0.2

2025-08-22T16:45:55.512Z,1755881155.512 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:45:55.512Z,1755881155.512 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:55.513Z,1755881155.513 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:55.714Z,1755881155.714 [DAT](INFO): DAT read: 16:45:56.2948 LVL= 32752, 24785, 32754, 32755, AGC= 69, IDX= 511, 0.16, 1.530,-3.044, 1.159, 1.972, PHS=-0.340, 1.312,-0.857, RAW= 343.2,  -1.2, CAL= 342.7,  -4.1, ROT= 167.3,   4.1

2025-08-22T16:45:55.715Z,1755881155.715 [DAT](INFO): got valid direction response:
 16:45:56.2948 LVL= 32752, 24785, 32754, 32755, AGC= 69, IDX= 511, 0.16, 1.530,-3.044, 1.159, 1.972, PHS=-0.340, 1.312,-0.857, RAW= 343.2,  -1.2, CAL= 342.7,  -4.1, ROT= 167.3,   4.1

2025-08-22T16:45:55.715Z,1755881155.715 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:45:55.716Z,1755881155.716 [DAT](INFO): direction in FSK: [-0.973038,0.219283,-0.071497]
2025-08-22T16:45:55.720Z,1755881155.720 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:55.720Z,1755881155.720 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:55.720Z,1755881155.720 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:55.845Z,1755881155.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.763134 s,
      deltaX: 0.299999 m,
      approachRate: 0.393115 m/s,
      rangeRepo size: 4

2025-08-22T16:45:55.852Z,1755881155.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.749836 m,
      bearing: 136.686376 deg,
      lat: 36.779460 deg,
      lon: -121.859631 deg,
      deltaT: 0.763134 s,
      deltaX: 0.298113 m,
      approachRate: 0.390643 m/s,
      posRepo size: 4

2025-08-22T16:45:55.853Z,1755881155.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:45:55.966Z,1755881155.966 [DAT](INFO): DAT read: Rx Time:16:45:56.7949 

2025-08-22T16:45:55.967Z,1755881155.967 [DAT](INFO): Rx dataTimestamp_ set to:1755881155.966180
2025-08-22T16:45:55.968Z,1755881155.968 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed -0.2

2025-08-22T16:45:55.968Z,1755881155.968 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:45:55.969Z,1755881155.969 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:55.970Z,1755881155.970 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:56.141Z,1755881156.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.501895 s,
      deltaX: 0.100000 m,
      approachRate: 0.199246 m/s,
      rangeRepo size: 4

2025-08-22T16:45:56.142Z,1755881156.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:45:56.214Z,1755881156.214 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:56.215Z,1755881156.215 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:56.215Z,1755881156.215 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:56.477Z,1755881156.477 [DAT](INFO): DAT read: Rx Time:16:45:57.2949 

2025-08-22T16:45:56.488Z,1755881156.488 [DAT](INFO): Rx dataTimestamp_ set to:1755881156.486393
2025-08-22T16:45:56.492Z,1755881156.492 [DAT](INFO): DAT read: Bearing 318.4,  10.3 (Local)

2025-08-22T16:45:56.498Z,1755881156.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.4,  10.3 (Local)

2025-08-22T16:45:56.531Z,1755881156.531 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.2

2025-08-22T16:45:56.543Z,1755881156.543 [DAT](INFO): DAT read: 16:45:57.2949 LVL= 32752, 24705, 32754, 32755, AGC= 68, IDX= 513,-0.39,-2.209,-0.884,-2.460,-1.956, PHS=-0.151, 1.117,-0.548, RAW= 343.2,  -5.6, CAL= 342.8,  -8.6, ROT= 167.2,   8.6

2025-08-22T16:45:56.545Z,1755881156.545 [DAT](INFO): got valid direction response:
 16:45:57.2949 LVL= 32752, 24705, 32754, 32755, AGC= 68, IDX= 513,-0.39,-2.209,-0.884,-2.460,-1.956, PHS=-0.151, 1.117,-0.548, RAW= 343.2,  -5.6, CAL= 342.8,  -8.6, ROT= 167.2,   8.6

2025-08-22T16:45:56.545Z,1755881156.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:56.558Z,1755881156.558 [DAT](INFO): direction in FSK: [-0.964185,0.219058,-0.149535]
2025-08-22T16:45:56.558Z,1755881156.558 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:56.574Z,1755881156.574 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:56.574Z,1755881156.574 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:56.656Z,1755881156.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.520213 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:56.663Z,1755881156.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.849218 m,
      bearing: 135.954301 deg,
      lat: 36.779461 deg,
      lon: -121.859631 deg,
      deltaT: 1.022108 s,
      deltaX: 0.099382 m,
      approachRate: 0.097233 m/s,
      posRepo size: 4

2025-08-22T16:45:56.663Z,1755881156.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T16:45:56.719Z,1755881156.719 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:56.719Z,1755881156.719 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:56.720Z,1755881156.720 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:56.952Z,1755881156.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T16:45:56.974Z,1755881156.974 [DAT](INFO): DAT read: Rx Time:16:45:57.7951 

2025-08-22T16:45:56.975Z,1755881156.975 [DAT](INFO): Rx dataTimestamp_ set to:1755881156.974279
2025-08-22T16:45:56.987Z,1755881156.987 [DAT](INFO): DAT read: Bearing 313.9,  11.2 (Local)

2025-08-22T16:45:56.988Z,1755881156.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  11.2 (Local)

2025-08-22T16:45:56.993Z,1755881156.993 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-08-22T16:45:56.000Z,1755881157.000 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:45:57.002Z,1755881157.002 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:57.003Z,1755881157.003 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:57.226Z,1755881157.226 [DAT](INFO): DAT read: 16:45:57.7951 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX=   2, 0.25, 2.298,-2.316, 1.922, 2.724, PHS=-0.324, 1.287,-0.86 A=34.6,  -1.2, CAL=34.,  -4.2, ROT= 166.9,   4.2

2025-08-22T16:45:57.227Z,1755881157.227 [DAT](INFO): unknown deviceResponse_: 16:45:57.7951 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX=   2, 0.25, 2.298,-2.316, 1.922, 2.724, PHS=-0.324, 1.287,-0.86 A=34.6,  -1.2, CAL=34.,  -4.2, ROT= 166.9,   4.2

2025-08-22T16:45:57.227Z,1755881157.227 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:57.228Z,1755881157.228 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:57.228Z,1755881157.228 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:57.376Z,1755881157.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.487886 s,
      deltaX: 0.299999 m,
      approachRate: 0.614896 m/s,
      rangeRepo size: 4

2025-08-22T16:45:57.376Z,1755881157.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T16:45:57.492Z,1755881157.492 [DAT](INFO): DAT read: Rx Time:16:45:58.2950 

2025-08-22T16:45:57.495Z,1755881157.495 [DAT](INFO): Rx dataTimestamp_ set to:1755881157.492939
2025-08-22T16:45:57.503Z,1755881157.503 [DAT](INFO): DAT read: Bearing 313.8,  10.4 (Local)

2025-08-22T16:45:57.505Z,1755881157.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,  10.4 (Local)

2025-08-22T16:45:57.515Z,1755881157.515 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed -0.1

2025-08-22T16:45:57.523Z,1755881157.523 [DAT](INFO): DAT read: 16:45:58.2950 LVL= 32752, 22433, 32754, 32755, AGC= 70, IDX= 498,-0.02,-0.783, 0.921,-1.136,-0.336, PHS=-0.345, 1.303,-0.844, RAW= 342.8,  -1.2, CAL= 342.4,  -4.1, ROT= 167.6,   4.1

2025-08-22T16:45:57.524Z,1755881157.524 [DAT](INFO): got valid direction response:
 16:45:58.2950 LVL= 32752, 22433, 32754, 32755, AGC= 70, IDX= 498,-0.02,-0.783, 0.921,-1.136,-0.336, PHS=-0.345, 1.303,-0.844, RAW= 342.8,  -1.2, CAL= 342.4,  -4.1, ROT= 167.6,   4.1

2025-08-22T16:45:57.525Z,1755881157.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:57.526Z,1755881157.526 [DAT](INFO): direction in FSK: [-0.974173,0.214186,-0.071497]
2025-08-22T16:45:57.527Z,1755881157.527 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:57.539Z,1755881157.539 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:57.540Z,1755881157.540 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:57.738Z,1755881157.738 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:57.738Z,1755881157.738 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:57.739Z,1755881157.739 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:57.839Z,1755881157.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.518660 s,
      deltaX: -0.099998 m,
      approachRate: -0.192802 m/s,
      rangeRepo size: 4

2025-08-22T16:45:57.843Z,1755881157.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.047962 m,
      bearing: 136.727998 deg,
      lat: 36.779460 deg,
      lon: -121.859631 deg,
      deltaT: 1.006546 s,
      deltaX: 0.198744 m,
      approachRate: 0.197451 m/s,
      posRepo size: 4

2025-08-22T16:45:57.844Z,1755881157.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-08-22T16:45:57.995Z,1755881157.995 [DAT](INFO): DAT read: Rx Time:16:45:58.7951 

2025-08-22T16:45:57.997Z,1755881157.997 [DAT](INFO): Rx dataTimestamp_ set to:1755881157.995538
2025-08-22T16:45:58.003Z,1755881158.003 [DAT](INFO): DAT read: Bearing 313.2,  10.5 (Local)

2025-08-22T16:45:58.004Z,1755881158.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  10.5 (Local)

2025-08-22T16:45:58.018Z,1755881158.018 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-08-22T16:45:58.027Z,1755881158.027 [DAT](INFO): DAT read: 16:45:58.7951 LVL= 32752, 32753, 32754, 31155, AGC= 72, IDX=   3,-0.37,-1.536, 0.162,-1.892,-1.077, PHS=-0.358, 1.283,-0.859, RAW= 342.9,  -0.7, CAL= 342.5,  -3.6, ROT= 167.5,   3.6

2025-08-22T16:45:58.028Z,1755881158.028 [DAT](INFO): got valid direction response:
 16:45:58.7951 LVL= 32752, 32753, 32754, 31155, AGC= 72, IDX=   3,-0.37,-1.536, 0.162,-1.892,-1.077, PHS=-0.358, 1.283,-0.859, RAW= 342.9,  -0.7, CAL= 342.5,  -3.6, ROT= 167.5,   3.6

2025-08-22T16:45:58.028Z,1755881158.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:58.034Z,1755881158.034 [DAT](INFO): direction in FSK: [-0.974369,0.216013,-0.062791]
2025-08-22T16:45:58.034Z,1755881158.034 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:58.037Z,1755881158.037 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:58.042Z,1755881158.042 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:58.215Z,1755881158.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.502599 s,
      deltaX: 0.099998 m,
      approachRate: 0.198963 m/s,
      rangeRepo size: 4

2025-08-22T16:45:58.217Z,1755881158.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.147316 m,
      bearing: 136.655202 deg,
      lat: 36.779460 deg,
      lon: -121.859632 deg,
      deltaT: 0.502599 s,
      deltaX: 0.099354 m,
      approachRate: 0.197680 m/s,
      posRepo size: 4

2025-08-22T16:45:58.217Z,1755881158.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:45:58.242Z,1755881158.242 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:58.242Z,1755881158.242 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:58.243Z,1755881158.243 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:58.500Z,1755881158.500 [DAT](INFO): DAT read: Rx Time:16:45:59.2951 

2025-08-22T16:45:58.505Z,1755881158.505 [DAT](INFO): Rx dataTimestamp_ set to:1755881158.501012
2025-08-22T16:45:58.511Z,1755881158.511 [DAT](INFO): DAT read: Bearing 313.4,  10.3 (Local)

2025-08-22T16:45:58.512Z,1755881158.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  10.3 (Local)

2025-08-22T16:45:58.547Z,1755881158.547 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-08-22T16:45:58.556Z,1755881158.556 [DAT](INFO): DAT read: 16:45:59.2951 LVL= 32752, 22673, 32754, 32755, AGC= 71, IDX= 498, 0.15,-1.019, 0.680,-1.368,-0.564, PHS=-0.353, 1.289,-0.848, RAW= 342.8,  -0.9, CAL= 342.3,  -3.9, ROT= 167.7,   3.9

2025-08-22T16:45:58.557Z,1755881158.557 [DAT](INFO): got valid direction response:
 16:45:59.2951 LVL= 32752, 22673, 32754, 32755, AGC= 71, IDX= 498, 0.15,-1.019, 0.680,-1.368,-0.564, PHS=-0.353, 1.289,-0.848, RAW= 342.8,  -0.9, CAL= 342.3,  -3.9, ROT= 167.7,   3.9

2025-08-22T16:45:58.574Z,1755881158.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:45:58.575Z,1755881158.575 [DAT](INFO): direction in FSK: [-0.974783,0.212537,-0.068015]
2025-08-22T16:45:58.575Z,1755881158.575 [DAT](INFO): publishing direction and range info
2025-08-22T16:45:58.586Z,1755881158.586 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:58.587Z,1755881158.587 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:58.687Z,1755881158.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.505474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:45:58.689Z,1755881158.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.147316 m,
      bearing: 136.771983 deg,
      lat: 36.779459 deg,
      lon: -121.859632 deg,
      deltaT: 0.505474 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:45:58.694Z,1755881158.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:45:58.747Z,1755881158.747 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:58.747Z,1755881158.747 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:58.748Z,1755881158.748 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:58.987Z,1755881158.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:45:58.999Z,1755881158.999 [DAT](INFO): DAT read: user:272>

2025-08-22T16:45:58.999Z,1755881158.999 [DAT](INFO): Reached modem response timeout
2025-08-22T16:45:58.999Z,1755881158.999 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:45:58.000Z,1755881159.000 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:45:59.250Z,1755881159.250 [DAT](INFO): DAT read: 20

2025-08-22T16:45:59.251Z,1755881159.251 [DAT](INFO): unknown deviceResponse_: 20

2025-08-22T16:45:59.251Z,1755881159.251 [DAT](INFO): DAT read: Ok

2025-08-22T16:45:59.251Z,1755881159.251 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-22T16:45:59.252Z,1755881159.252 [DAT](INFO): DAT read: user:273>

2025-08-22T16:45:59.252Z,1755881159.252 [DAT](INFO): DAT read: Tx time:16:46:00.2966

2025-08-22T16:45:59.253Z,1755881159.253 [DAT](INFO): Ping request sent.
2025-08-22T16:45:59.253Z,1755881159.253 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:45:59.253Z,1755881159.253 [DAT](INFO): publishing transmit ping time
2025-08-22T16:45:59.254Z,1755881159.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000848
2025-08-22T16:45:59.401Z,1755881159.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:45:59.509Z,1755881159.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255462
2025-08-22T16:45:59.755Z,1755881159.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501893
2025-08-22T16:45:59.862Z,1755881159.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:46:00.007Z,1755881160.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753770
2025-08-22T16:46:00.199Z,1755881160.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:46:00.259Z,1755881160.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006400
2025-08-22T16:46:00.513Z,1755881160.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260198
2025-08-22T16:46:00.652Z,1755881160.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:46:00.763Z,1755881160.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509764
2025-08-22T16:46:01.013Z,1755881161.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:46:01.015Z,1755881161.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761884
2025-08-22T16:46:01.267Z,1755881161.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013804
2025-08-22T16:46:01.394Z,1755881161.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:46:01.521Z,1755881161.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267801
2025-08-22T16:46:01.771Z,1755881161.771 [DAT](INFO): DAT read: Rx Time:16:46:02.4589 

2025-08-22T16:46:01.772Z,1755881161.772 [DAT](INFO): Rx dataTimestamp_ set to:1755881161.771241
2025-08-22T16:46:01.773Z,1755881161.773 [DAT](INFO): DAT read: Bearing 313.6,  10.8 (Local)

2025-08-22T16:46:01.773Z,1755881161.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  10.8 (Local)

2025-08-22T16:46:01.775Z,1755881161.775 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-08-22T16:46:01.780Z,1755881161.780 [DAT](INFO): DAT read: 16:46:02.4589 LVL= 32752, 22657, 32754, 32755, AGC= 69, IDX= 353, 0.39, 1.019, 2.736, 0.636, 1.455, PHS=-0.333, 1.326,-0.863, RAW= 343.4,  -1.3, CAL= 343.0,  -4.3, ROT= 167.0,   4.3

2025-08-22T16:46:01.781Z,1755881161.781 [DAT](INFO): got valid direction response:
 16:46:02.4589 LVL= 32752, 22657, 32754, 32755, AGC= 69, IDX= 353, 0.39, 1.019, 2.736, 0.636, 1.455, PHS=-0.333, 1.326,-0.863, RAW= 343.4,  -1.3, CAL= 343.0,  -4.3, ROT= 167.0,   4.3

2025-08-22T16:46:01.781Z,1755881161.781 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:46:01.782Z,1755881161.782 [DAT](INFO): direction in FSK: [-0.971627,0.224318,-0.074979]
2025-08-22T16:46:01.782Z,1755881161.782 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:01.786Z,1755881161.786 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533120
2025-08-22T16:46:01.925Z,1755881161.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.270229 s,
      deltaX: 0.600000 m,
      approachRate: 0.183474 m/s,
      rangeRepo size: 4

2025-08-22T16:46:01.928Z,1755881161.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.743563 m,
      bearing: 135.805891 deg,
      lat: 36.779459 deg,
      lon: -121.859632 deg,
      deltaT: 3.270229 s,
      deltaX: 0.596247 m,
      approachRate: 0.182326 m/s,
      posRepo size: 4

2025-08-22T16:46:01.929Z,1755881161.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T16:46:02.023Z,1755881162.023 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769955
2025-08-22T16:46:02.210Z,1755881162.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T16:46:02.276Z,1755881162.276 [DAT](INFO): DAT read: Rx Time:16:46:02.9588 

2025-08-22T16:46:02.277Z,1755881162.277 [DAT](INFO): Rx dataTimestamp_ set to:1755881162.276276
2025-08-22T16:46:02.278Z,1755881162.278 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.2

2025-08-22T16:46:02.278Z,1755881162.278 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T16:46:02.279Z,1755881162.279 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.026581
2025-08-22T16:46:02.526Z,1755881162.526 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273706
2025-08-22T16:46:02.699Z,1755881162.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.505035 s,
      deltaX: -0.100000 m,
      approachRate: -0.198007 m/s,
      rangeRepo size: 4

2025-08-22T16:46:02.699Z,1755881162.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T16:46:02.779Z,1755881162.779 [DAT](INFO): DAT read: Rx Time:16:46:03.4588 

2025-08-22T16:46:02.780Z,1755881162.780 [DAT](INFO): Rx dataTimestamp_ set to:1755881162.779455
2025-08-22T16:46:02.781Z,1755881162.781 [DAT](INFO): DAT read: Bearing 355.1, -14.1 (Local)

2025-08-22T16:46:02.781Z,1755881162.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1, -14.1 (Local)

2025-08-22T16:46:02.783Z,1755881162.783 [DAT](INFO): DAT read: Range 11 to 50 :    24.8 m (trip time 16.5 ms) speed -0.2

2025-08-22T16:46:02.793Z,1755881162.793 [DAT](INFO): DAT read: 16:46:03.4588 LVL= 32752, 19585, 32754, 32755, AGC= 66, IDX= 512, 0.23,-0.757, 0.634,-0.362,-1.239, PHS= 0.584, 1.917, 0.833, RAW= 319.9, -43.8, CAL= 317.6, -47.1, ROT= 192.4,  47.1

2025-08-22T16:46:02.799Z,1755881162.799 [DAT](INFO): got valid direction response:
 16:46:03.4588 LVL= 32752, 19585, 32754, 32755, AGC= 66, IDX= 512, 0.23,-0.757, 0.634,-0.362,-1.239, PHS= 0.584, 1.917, 0.833, RAW= 319.9, -43.8, CAL= 317.6, -47.1, ROT= 192.4,  47.1

2025-08-22T16:46:02.799Z,1755881162.799 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:46:02.800Z,1755881162.800 [DAT](INFO): direction in FSK: [-0.664841,-0.146175,-0.732543]
2025-08-22T16:46:02.801Z,1755881162.801 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:02.830Z,1755881162.830 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.572482
2025-08-22T16:46:03.031Z,1755881163.031 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777860
2025-08-22T16:46:03.032Z,1755881163.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.503179 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:03.038Z,1755881163.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.644201 m,
      bearing: 154.541830 deg,
      lat: 36.779459 deg,
      lon: -121.859632 deg,
      deltaT: 1.008214 s,
      deltaX: -0.099361 m,
      approachRate: -0.098552 m/s,
      posRepo size: 4

2025-08-22T16:46:03.039Z,1755881163.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m.
2025-08-22T16:46:03.283Z,1755881163.283 [DAT](INFO): DAT read: Rx Time:16:46:03.9589 

2025-08-22T16:46:03.283Z,1755881163.283 [DAT](INFO): Rx dataTimestamp_ set to:1755881163.283147
2025-08-22T16:46:03.285Z,1755881163.285 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-08-22T16:46:03.285Z,1755881163.285 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T16:46:03.286Z,1755881163.286 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033418
2025-08-22T16:46:03.413Z,1755881163.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503692 s,
      deltaX: 0.100000 m,
      approachRate: 0.198535 m/s,
      rangeRepo size: 4

2025-08-22T16:46:03.414Z,1755881163.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m.
2025-08-22T16:46:03.537Z,1755881163.537 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283969
2025-08-22T16:46:03.787Z,1755881163.787 [DAT](INFO): DAT read: Rx Time:16:46:04.4589 

2025-08-22T16:46:03.787Z,1755881163.787 [DAT](INFO): Rx dataTimestamp_ set to:1755881163.786721
2025-08-22T16:46:03.788Z,1755881163.788 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-08-22T16:46:03.789Z,1755881163.789 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T16:46:03.790Z,1755881163.790 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.537013
2025-08-22T16:46:03.892Z,1755881163.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503574 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:03.892Z,1755881163.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m.
2025-08-22T16:46:04.038Z,1755881164.038 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785731
2025-08-22T16:46:04.219Z,1755881164.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m.
2025-08-22T16:46:04.292Z,1755881164.292 [DAT](INFO): DAT read: Rx Time:16:46:04.9590 

2025-08-22T16:46:04.293Z,1755881164.293 [DAT](INFO): Rx dataTimestamp_ set to:1755881164.292766
2025-08-22T16:46:04.295Z,1755881164.295 [DAT](INFO): DAT read: Bearing 312.4,  10.8 (Local)

2025-08-22T16:46:04.296Z,1755881164.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  10.8 (Local)

2025-08-22T16:46:04.298Z,1755881164.298 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-08-22T16:46:04.306Z,1755881164.306 [DAT](INFO): DAT read: 16:46:04.9590 LVL= 27360, 20513, 24290, 20339, AGC= 70, IDX=   3,-0.26,-0.466, 1.244,-0.846, 0.005, PHS=-0.368, 1.284,-0.895, RAW= 343.4,  -0.2, CAL= 342.9,  -3.2, ROT= 167.1,   3.2

2025-08-22T16:46:04.309Z,1755881164.309 [DAT](INFO): got valid direction response:
 16:46:04.9590 LVL= 27360, 20513, 24290, 20339, AGC= 70, IDX=   3,-0.26,-0.466, 1.244,-0.846, 0.005, PHS=-0.368, 1.284,-0.895, RAW= 343.4,  -0.2, CAL= 342.9,  -3.2, ROT= 167.1,   3.2

2025-08-22T16:46:04.309Z,1755881164.309 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:46:04.312Z,1755881164.312 [DAT](INFO): direction in FSK: [-0.973241,0.222902,-0.055822]
2025-08-22T16:46:04.312Z,1755881164.312 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:04.324Z,1755881164.324 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.070180
2025-08-22T16:46:04.542Z,1755881164.542 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289745
2025-08-22T16:46:04.743Z,1755881164.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.506045 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:04.745Z,1755881164.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.743563 m,
      bearing: 135.933031 deg,
      lat: 36.779459 deg,
      lon: -121.859633 deg,
      deltaT: 1.513311 s,
      deltaX: 0.099361 m,
      approachRate: 0.065658 m/s,
      posRepo size: 4

2025-08-22T16:46:04.745Z,1755881164.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T16:46:04.796Z,1755881164.796 [DAT](INFO): DAT read: Rx Time:16:46:05.4590 

2025-08-22T16:46:04.797Z,1755881164.797 [DAT](INFO): Rx dataTimestamp_ set to:1755881164.796314
2025-08-22T16:46:04.799Z,1755881164.799 [DAT](INFO): DAT read: Bearing 312.8,  10.4 (Local)

2025-08-22T16:46:04.799Z,1755881164.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  10.4 (Local)

2025-08-22T16:46:04.803Z,1755881164.803 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.0

2025-08-22T16:46:04.812Z,1755881164.812 [DAT](INFO): DAT read: 16:46:05.4590 LVL= 32752, 21201, 32754, 32755, AGC= 66, IDX= 498, 0.15,-0.510, 1.197,-0.875,-0.050, PHS=-0.357, 1.292,-0.868, RAW= 343.1,  -0.7, CAL= 342.6,  -3.6, ROT= 167.4,   3.6

2025-08-22T16:46:04.824Z,1755881164.824 [DAT](INFO): got valid direction response:
 16:46:05.4590 LVL= 32752, 21201, 32754, 32755, AGC= 66, IDX= 498, 0.15,-0.510, 1.197,-0.875,-0.050, PHS=-0.357, 1.292,-0.868, RAW= 343.1,  -0.7, CAL= 342.6,  -3.6, ROT= 167.4,   3.6

2025-08-22T16:46:04.825Z,1755881164.825 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T16:46:04.832Z,1755881164.832 [DAT](INFO): direction in FSK: [-0.973991,0.217713,-0.062791]
2025-08-22T16:46:04.833Z,1755881164.833 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:04.857Z,1755881164.857 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.604223
2025-08-22T16:46:05.046Z,1755881165.046 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793751
2025-08-22T16:46:05.203Z,1755881165.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503548 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:05.205Z,1755881165.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.743565 m,
      bearing: 136.175673 deg,
      lat: 36.779459 deg,
      lon: -121.859633 deg,
      deltaT: 0.503548 s,
      deltaX: 0.000002 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-08-22T16:46:05.206Z,1755881165.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T16:46:05.299Z,1755881165.299 [DAT](INFO): DAT read: Rx Time:16:46:05.9591 

2025-08-22T16:46:05.300Z,1755881165.300 [DAT](INFO): Rx dataTimestamp_ set to:1755881165.299430
2025-08-22T16:46:05.302Z,1755881165.302 [DAT](INFO): DAT read: Bearing 312.5,  10.2 (Local)

2025-08-22T16:46:05.303Z,1755881165.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,  10.2 (Local)

2025-08-22T16:46:05.307Z,1755881165.307 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-08-22T16:46:05.314Z,1755881165.314 [DAT](INFO): DAT read: 16:46:05.9591 LVL= 32752, 22433, 32754, 32755, AGC= 67, IDX= 500,-0.30,-1.016, 0.731,-1.381,-0.534, PHS=-0.380, 1.310,-0.892, RAW= 342.8,  -0.4, CAL= 342.4,  -3.3, ROT= 167.6,   3.3

2025-08-22T16:46:05.316Z,1755881165.316 [DAT](INFO): got valid direction response:
 16:46:05.9591 LVL= 32752, 22433, 32754, 32755, AGC= 67, IDX= 500,-0.30,-1.016, 0.731,-1.381,-0.534, PHS=-0.380, 1.310,-0.892, RAW= 342.8,  -0.4, CAL= 342.4,  -3.3, ROT= 167.6,   3.3

2025-08-22T16:46:05.317Z,1755881165.317 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T16:46:05.320Z,1755881165.320 [DAT](INFO): direction in FSK: [-0.975053,0.214379,-0.057564]
2025-08-22T16:46:05.320Z,1755881165.320 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:05.326Z,1755881165.326 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.073420
2025-08-22T16:46:05.499Z,1755881165.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503116 s,
      deltaX: 0.200001 m,
      approachRate: 0.397524 m/s,
      rangeRepo size: 4

2025-08-22T16:46:05.505Z,1755881165.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.942308 m,
      bearing: 136.369462 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.503116 s,
      deltaX: 0.198744 m,
      approachRate: 0.395026 m/s,
      posRepo size: 4

2025-08-22T16:46:05.506Z,1755881165.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:05.551Z,1755881165.551 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298195
2025-08-22T16:46:05.806Z,1755881165.806 [DAT](INFO): DAT read: Rx Time:16:46:06.4591 

2025-08-22T16:46:05.807Z,1755881165.807 [DAT](INFO): Rx dataTimestamp_ set to:1755881165.806906
2025-08-22T16:46:05.809Z,1755881165.809 [DAT](INFO): DAT read: Bearing 313.0,  10.5 (Local)

2025-08-22T16:46:05.810Z,1755881165.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  10.5 (Local)

2025-08-22T16:46:05.813Z,1755881165.813 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-08-22T16:46:05.820Z,1755881165.820 [DAT](INFO): DAT read: 16:46:06.4591 LVL= 29168, 21361, 32754, 32755, AGC= 67, IDX= 499, 0.10,-0.401, 1.319,-0.773, 0.057, PHS=-0.356, 1.308,-0.874, RAW= 343.1,  -0.8, CAL= 342.7,  -3.7, ROT= 167.3,   3.7

2025-08-22T16:46:05.828Z,1755881165.828 [DAT](INFO): got valid direction response:
 16:46:06.4591 LVL= 29168, 21361, 32754, 32755, AGC= 67, IDX= 499, 0.10,-0.401, 1.319,-0.773, 0.057, PHS=-0.356, 1.308,-0.874, RAW= 343.1,  -0.8, CAL= 342.7,  -3.7, ROT= 167.3,   3.7

2025-08-22T16:46:05.829Z,1755881165.829 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:46:05.833Z,1755881165.833 [DAT](INFO): direction in FSK: [-0.973501,0.219388,-0.064532]
2025-08-22T16:46:05.850Z,1755881165.850 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:05.853Z,1755881165.853 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.600222
2025-08-22T16:46:05.978Z,1755881165.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.507476 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:05.980Z,1755881165.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.942308 m,
      bearing: 135.977619 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.507476 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:05.981Z,1755881165.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:06.055Z,1755881166.055 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801934
2025-08-22T16:46:06.289Z,1755881166.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:06.308Z,1755881166.308 [DAT](INFO): DAT read: Rx Time:16:46:06.9591 

2025-08-22T16:46:06.309Z,1755881166.309 [DAT](INFO): Rx dataTimestamp_ set to:1755881166.308354
2025-08-22T16:46:06.311Z,1755881166.311 [DAT](INFO): DAT read: Bearing 312.6,  10.6 (Local)

2025-08-22T16:46:06.311Z,1755881166.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  10.6 (Local)

2025-08-22T16:46:06.315Z,1755881166.315 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-08-22T16:46:06.321Z,1755881166.321 [DAT](INFO): DAT read: 16:46:06.9591 LVL= 32752, 20449, 32754, 32755, AGC= 69, IDX= 500,-0.36,-2.123,-0.443,-2.485,-1.665, PHS=-0.356, 1.267,-0.864, RAW= 343.2,  -0.5, CAL= 342.7,  -3.4, ROT= 167.3,   3.4

2025-08-22T16:46:06.322Z,1755881166.322 [DAT](INFO): got valid direction response:
 16:46:06.9591 LVL= 32752, 20449, 32754, 32755, AGC= 69, IDX= 500,-0.36,-2.123,-0.443,-2.485,-1.665, PHS=-0.356, 1.267,-0.864, RAW= 343.2,  -0.5, CAL= 342.7,  -3.4, ROT= 167.3,   3.4

2025-08-22T16:46:06.323Z,1755881166.323 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:46:06.325Z,1755881166.325 [DAT](INFO): direction in FSK: [-0.973817,0.219459,-0.059306]
2025-08-22T16:46:06.325Z,1755881166.325 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:06.332Z,1755881166.332 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.078813
2025-08-22T16:46:06.559Z,1755881166.559 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305794
2025-08-22T16:46:06.745Z,1755881166.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.501448 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:06.752Z,1755881166.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.942282 m,
      bearing: 135.902830 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.501448 s,
      deltaX: -0.000027 m,
      approachRate: -0.000053 m/s,
      posRepo size: 4

2025-08-22T16:46:06.752Z,1755881166.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:06.813Z,1755881166.813 [DAT](INFO): DAT read: Rx Time:16:46:07.4591 

2025-08-22T16:46:06.814Z,1755881166.814 [DAT](INFO): Rx dataTimestamp_ set to:1755881166.813589
2025-08-22T16:46:06.816Z,1755881166.816 [DAT](INFO): DAT read: Bearing 312.6,  10.7 (Local)

2025-08-22T16:46:06.817Z,1755881166.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  10.7 (Local)

2025-08-22T16:46:06.820Z,1755881166.820 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-08-22T16:46:06.839Z,1755881166.839 [DAT](INFO): DAT read: 16:46:07.4591 LVL= 29152, 23697, 32754, 32755, AGC= 69, IDX= 499, 0.05,-1.625, 0.042,-1.986,-1.169, PHS=-0.354, 1.256,-0.861, RAW= 343.3,  -0.4, CAL= 342.8,  -3.4, ROT= 167.2,   3.4

2025-08-22T16:46:06.840Z,1755881166.840 [DAT](INFO): got valid direction response:
 16:46:07.4591 LVL= 29152, 23697, 32754, 32755, AGC= 69, IDX= 499, 0.05,-1.625, 0.042,-1.986,-1.169, PHS=-0.354, 1.256,-0.861, RAW= 343.3,  -0.4, CAL= 342.8,  -3.4, ROT= 167.2,   3.4

2025-08-22T16:46:06.840Z,1755881166.840 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:46:06.841Z,1755881166.841 [DAT](INFO): direction in FSK: [-0.973433,0.221159,-0.059306]
2025-08-22T16:46:06.846Z,1755881166.846 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:06.864Z,1755881166.864 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.611191
2025-08-22T16:46:07.062Z,1755881167.062 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809656
2025-08-22T16:46:07.092Z,1755881167.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.505235 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:07.119Z,1755881167.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.942274 m,
      bearing: 135.765509 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.505235 s,
      deltaX: -0.000008 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-08-22T16:46:07.120Z,1755881167.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:07.316Z,1755881167.316 [DAT](INFO): DAT read: Rx Time:16:46:07.9592 

2025-08-22T16:46:07.317Z,1755881167.317 [DAT](INFO): Rx dataTimestamp_ set to:1755881167.316479
2025-08-22T16:46:07.319Z,1755881167.319 [DAT](INFO): DAT read: Bearing 312.4,  11.0 (Local)

2025-08-22T16:46:07.320Z,1755881167.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  11.0 (Local)

2025-08-22T16:46:07.323Z,1755881167.323 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.0

2025-08-22T16:46:07.346Z,1755881167.346 [DAT](INFO): DAT read: 16:46:07.9592 LVL= 28704, 19953, 32754, 32755, AGC= 69, IDX= 500, 0.50,-0.280, 1.402,-0.655, 0.182, PHS=-0.360, 1.265,-0.881, RAW= 343.5,  -0.2, CAL= 343.0,  -3.2, ROT= 167.0,   3.2

2025-08-22T16:46:07.347Z,1755881167.347 [DAT](INFO): got valid direction response:
 16:46:07.9592 LVL= 28704, 19953, 32754, 32755, AGC= 69, IDX= 500, 0.50,-0.280, 1.402,-0.655, 0.182, PHS=-0.360, 1.265,-0.881, RAW= 343.5,  -0.2, CAL= 343.0,  -3.2, ROT= 167.0,   3.2

2025-08-22T16:46:07.348Z,1755881167.348 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:46:07.348Z,1755881167.348 [DAT](INFO): direction in FSK: [-0.972851,0.224600,-0.055822]
2025-08-22T16:46:07.349Z,1755881167.349 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:07.356Z,1755881167.356 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.103737
2025-08-22T16:46:07.491Z,1755881167.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.502890 s,
      deltaX: 0.100000 m,
      approachRate: 0.198851 m/s,
      rangeRepo size: 4

2025-08-22T16:46:07.493Z,1755881167.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.041645 m,
      bearing: 135.566810 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.502890 s,
      deltaX: 0.099371 m,
      approachRate: 0.197600 m/s,
      posRepo size: 4

2025-08-22T16:46:07.505Z,1755881167.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-22T16:46:07.567Z,1755881167.567 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314400
2025-08-22T16:46:07.821Z,1755881167.821 [DAT](INFO): DAT read: Rx Time:16:46:08.4591 

2025-08-22T16:46:07.822Z,1755881167.822 [DAT](INFO): Rx dataTimestamp_ set to:1755881167.820976
2025-08-22T16:46:07.823Z,1755881167.823 [DAT](INFO): DAT read: Bearing 312.1,  10.4 (Local)

2025-08-22T16:46:07.824Z,1755881167.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  10.4 (Local)

2025-08-22T16:46:07.827Z,1755881167.827 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.0

2025-08-22T16:46:07.832Z,1755881167.832 [DAT](INFO): DAT read: 16:46:08.4591 LVL= 32752, 21329, 32754, 32755, AGC= 69, IDX= 500,-0.05,-2.665,-0.947,-3.025,-2.179, PHS=-0.383, 1.278,-0.889, RAW= 342.9,  -0.1, CAL= 342.4,  -3.0, ROT= 167.6,   3.0

2025-08-22T16:46:07.849Z,1755881167.849 [DAT](INFO): got valid direction response:
 16:46:08.4591 LVL= 32752, 21329, 32754, 32755, AGC= 69, IDX= 500,-0.05,-2.665,-0.947,-3.025,-2.179, PHS=-0.383, 1.278,-0.889, RAW= 342.9,  -0.1, CAL= 342.4,  -3.0, ROT= 167.6,   3.0

2025-08-22T16:46:07.866Z,1755881167.866 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T16:46:07.867Z,1755881167.867 [DAT](INFO): direction in FSK: [-0.975334,0.214441,-0.052336]
2025-08-22T16:46:07.867Z,1755881167.867 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:07.879Z,1755881167.879 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.626206
2025-08-22T16:46:07.987Z,1755881167.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504497 s,
      deltaX: -0.100000 m,
      approachRate: -0.198218 m/s,
      rangeRepo size: 4

2025-08-22T16:46:07.989Z,1755881167.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.942274 m,
      bearing: 136.143972 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.504497 s,
      deltaX: -0.099371 m,
      approachRate: -0.196970 m/s,
      posRepo size: 4

2025-08-22T16:46:07.989Z,1755881167.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:08.072Z,1755881168.072 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818799
2025-08-22T16:46:08.310Z,1755881168.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m.
2025-08-22T16:46:08.325Z,1755881168.325 [DAT](INFO): DAT read: Rx Time:16:46:08.9593 

2025-08-22T16:46:08.325Z,1755881168.325 [DAT](INFO): Rx dataTimestamp_ set to:1755881168.324704
2025-08-22T16:46:08.328Z,1755881168.328 [DAT](INFO): DAT read: Bearing 312.6,  10.6 (Local)

2025-08-22T16:46:08.328Z,1755881168.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  10.6 (Local)

2025-08-22T16:46:08.330Z,1755881168.330 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.2

2025-08-22T16:46:08.335Z,1755881168.335 [DAT](INFO): DAT read: 16:46:08.9593 LVL= 30752, 19281, 32754, 32755, AGC= 69, IDX= 501, 0.35,-0.044, 1.641,-0.403, 0.416, PHS=-0.358, 1.271,-0.863, RAW= 343.1,  -0.5, CAL= 342.6,  -3.5, ROT= 167.4,   3.5

2025-08-22T16:46:08.336Z,1755881168.336 [DAT](INFO): got valid direction response:
 16:46:08.9593 LVL= 30752, 19281, 32754, 32755, AGC= 69, IDX= 501, 0.35,-0.044, 1.641,-0.403, 0.416, PHS=-0.358, 1.271,-0.863, RAW= 343.1,  -0.5, CAL= 342.6,  -3.5, ROT= 167.4,   3.5

2025-08-22T16:46:08.336Z,1755881168.336 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:46:08.337Z,1755881168.337 [DAT](INFO): direction in FSK: [-0.974096,0.217736,-0.061049]
2025-08-22T16:46:08.342Z,1755881168.342 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:08.345Z,1755881168.345 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092183
2025-08-22T16:46:08.575Z,1755881168.575 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321754
2025-08-22T16:46:08.804Z,1755881168.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503728 s,
      deltaX: 0.299999 m,
      approachRate: 0.595558 m/s,
      rangeRepo size: 4

2025-08-22T16:46:08.807Z,1755881168.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.240383 m,
      bearing: 135.823853 deg,
      lat: 36.779459 deg,
      lon: -121.859634 deg,
      deltaT: 0.503728 s,
      deltaX: 0.298109 m,
      approachRate: 0.591806 m/s,
      posRepo size: 4

2025-08-22T16:46:08.808Z,1755881168.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-22T16:46:08.828Z,1755881168.828 [DAT](INFO): DAT read: Rx Time:16:46:09.4592 

2025-08-22T16:46:08.829Z,1755881168.829 [DAT](INFO): Rx dataTimestamp_ set to:1755881168.828243
2025-08-22T16:46:08.831Z,1755881168.831 [DAT](INFO): DAT read: Bearing 312.1,  10.3 (Local)

2025-08-22T16:46:08.831Z,1755881168.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  10.3 (Local)

2025-08-22T16:46:08.833Z,1755881168.833 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed -0.1

2025-08-22T16:46:08.838Z,1755881168.838 [DAT](INFO): DAT read: 16:46:09.4592 LVL= 27984, 18577, 32754, 32755, AGC= 68, IDX= 501,-0.12, 2.852,-1.744, 2.507,-2.950, PHS=-0.379, 1.252,-0.870, RAW= 342.8,  -0.0, CAL= 342.3,  -3.0, ROT= 167.7,   3.0

2025-08-22T16:46:08.839Z,1755881168.839 [DAT](INFO): got valid direction response:
 16:46:09.4592 LVL= 27984, 18577, 32754, 32755, AGC= 68, IDX= 501,-0.12, 2.852,-1.744, 2.507,-2.950, PHS=-0.379, 1.252,-0.870, RAW= 342.8,  -0.0, CAL= 342.3,  -3.0, ROT= 167.7,   3.0

2025-08-22T16:46:08.839Z,1755881168.839 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:46:08.840Z,1755881168.840 [DAT](INFO): direction in FSK: [-0.975707,0.212739,-0.052336]
2025-08-22T16:46:08.841Z,1755881168.841 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:08.844Z,1755881168.844 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.591460
2025-08-22T16:46:09.078Z,1755881169.078 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825605
2025-08-22T16:46:09.214Z,1755881169.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.503539 s,
      deltaX: -0.199999 m,
      approachRate: -0.397186 m/s,
      rangeRepo size: 4

2025-08-22T16:46:09.216Z,1755881169.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.041609 m,
      bearing: 136.169241 deg,
      lat: 36.779458 deg,
      lon: -121.859634 deg,
      deltaT: 0.503539 s,
      deltaX: -0.198774 m,
      approachRate: -0.394755 m/s,
      posRepo size: 4

2025-08-22T16:46:09.217Z,1755881169.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-22T16:46:09.331Z,1755881169.331 [DAT](INFO): DAT read: Rx Time:16:46:09.9593 

2025-08-22T16:46:09.332Z,1755881169.332 [DAT](INFO): Rx dataTimestamp_ set to:1755881169.331479
2025-08-22T16:46:09.333Z,1755881169.333 [DAT](INFO): DAT read: Bearing 312.0,  10.5 (Local)

2025-08-22T16:46:09.333Z,1755881169.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  10.5 (Local)

2025-08-22T16:46:09.335Z,1755881169.335 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.1

2025-08-22T16:46:09.340Z,1755881169.340 [DAT](INFO): DAT read: 16:46:09.9593 LVL= 31888, 24113, 32754, 32755, AGC= 68, IDX= 501, 0.19,-0.890, 0.796,-1.240,-0.409, PHS=-0.379, 1.249,-0.876, RAW= 342.9,   0.1, CAL= 342.5,  -2.9, ROT= 167.5,   2.9

2025-08-22T16:46:09.341Z,1755881169.341 [DAT](INFO): got valid direction response:
 16:46:09.9593 LVL= 31888, 24113, 32754, 32755, AGC= 68, IDX= 501, 0.19,-0.890, 0.796,-1.240,-0.409, PHS=-0.379, 1.249,-0.876, RAW= 342.9,   0.1, CAL= 342.5,  -2.9, ROT= 167.5,   2.9

2025-08-22T16:46:09.342Z,1755881169.342 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:46:09.343Z,1755881169.343 [DAT](INFO): direction in FSK: [-0.975046,0.216163,-0.050593]
2025-08-22T16:46:09.343Z,1755881169.343 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:09.347Z,1755881169.347 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.093874
2025-08-22T16:46:09.518Z,1755881169.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503236 s,
      deltaX: 0.199999 m,
      approachRate: 0.397426 m/s,
      rangeRepo size: 4

2025-08-22T16:46:09.520Z,1755881169.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.240351 m,
      bearing: 135.980526 deg,
      lat: 36.779458 deg,
      lon: -121.859636 deg,
      deltaT: 0.503236 s,
      deltaX: 0.198742 m,
      approachRate: 0.394928 m/s,
      posRepo size: 4

2025-08-22T16:46:09.521Z,1755881169.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-22T16:46:09.584Z,1755881169.584 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330539
2025-08-22T16:46:09.835Z,1755881169.835 [DAT](INFO): DAT read: Rx Time:16:46:10.4592 

2025-08-22T16:46:09.836Z,1755881169.836 [DAT](INFO): Rx dataTimestamp_ set to:1755881169.835267
2025-08-22T16:46:09.837Z,1755881169.837 [DAT](INFO): DAT read: Bearing 311.9,  10.4 (Local)

2025-08-22T16:46:09.837Z,1755881169.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  10.4 (Local)

2025-08-22T16:46:09.839Z,1755881169.839 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.0

2025-08-22T16:46:09.844Z,1755881169.844 [DAT](INFO): DAT read: 16:46:10.4592 LVL= 27584, 19313, 32754, 32755, AGC= 68, IDX= 501,-0.32, 2.528,-2.073, 2.179, 3.012, PHS=-0.383, 1.243,-0.878, RAW= 342.9,   0.2, CAL= 342.4,  -2.7, ROT= 167.6,   2.7

2025-08-22T16:46:09.845Z,1755881169.845 [DAT](INFO): got valid direction response:
 16:46:10.4592 LVL= 27584, 19313, 32754, 32755, AGC= 68, IDX= 501,-0.32, 2.528,-2.073, 2.179, 3.012, PHS=-0.383, 1.243,-0.878, RAW= 342.9,   0.2, CAL= 342.4,  -2.7, ROT= 167.6,   2.7

2025-08-22T16:46:09.845Z,1755881169.845 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:46:09.851Z,1755881169.851 [DAT](INFO): direction in FSK: [-0.975588,0.214497,-0.047106]
2025-08-22T16:46:09.852Z,1755881169.852 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:09.855Z,1755881169.855 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.602642
2025-08-22T16:46:10.030Z,1755881170.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.503788 s,
      deltaX: -0.199999 m,
      approachRate: -0.396990 m/s,
      rangeRepo size: 4

2025-08-22T16:46:10.032Z,1755881170.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.041555 m,
      bearing: 136.101899 deg,
      lat: 36.779458 deg,
      lon: -121.859637 deg,
      deltaT: 0.503788 s,
      deltaX: -0.198795 m,
      approachRate: -0.394601 m/s,
      posRepo size: 4

2025-08-22T16:46:10.033Z,1755881170.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m.
2025-08-22T16:46:10.087Z,1755881170.087 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834641
2025-08-22T16:46:10.339Z,1755881170.339 [DAT](INFO): DAT read: Rx Time:16:46:10.9594 

2025-08-22T16:46:10.340Z,1755881170.340 [DAT](INFO): Rx dataTimestamp_ set to:1755881170.339403
2025-08-22T16:46:10.341Z,1755881170.341 [DAT](INFO): DAT read: Bearing 312.2,  10.1 (Local)

2025-08-22T16:46:10.341Z,1755881170.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  10.1 (Local)

2025-08-22T16:46:10.343Z,1755881170.343 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-22T16:46:10.348Z,1755881170.348 [DAT](INFO): DAT read: 16:46:10.9594 LVL= 28384, 18673, 32754, 32755, AGC= 68, IDX= 502, 0.04,-1.632, 0.073,-1.971,-1.146, PHS=-0.383, 1.264,-0.869, RAW= 342.5,  -0.1, CAL= 342.1,  -3.0, ROT= 167.9,   3.0

2025-08-22T16:46:10.349Z,1755881170.349 [DAT](INFO): got valid direction response:
 16:46:10.9594 LVL= 28384, 18673, 32754, 32755, AGC= 68, IDX= 502, 0.04,-1.632, 0.073,-1.971,-1.146, PHS=-0.383, 1.264,-0.869, RAW= 342.5,  -0.1, CAL= 342.1,  -3.0, ROT= 167.9,   3.0

2025-08-22T16:46:10.349Z,1755881170.349 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:46:10.350Z,1755881170.350 [DAT](INFO): direction in FSK: [-0.976443,0.209331,-0.052336]
2025-08-22T16:46:10.351Z,1755881170.351 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:10.358Z,1755881170.358 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.105487
2025-08-22T16:46:10.366Z,1755881170.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504136 s,
      deltaX: 0.299999 m,
      approachRate: 0.595076 m/s,
      rangeRepo size: 4

2025-08-22T16:46:10.368Z,1755881170.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.339668 m,
      bearing: 136.353697 deg,
      lat: 36.779458 deg,
      lon: -121.859637 deg,
      deltaT: 0.504136 s,
      deltaX: 0.298113 m,
      approachRate: 0.591334 m/s,
      posRepo size: 4

2025-08-22T16:46:10.368Z,1755881170.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:10.591Z,1755881170.591 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.338392
2025-08-22T16:46:10.777Z,1755881170.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:10.843Z,1755881170.843 [DAT](INFO): DAT read: Rx Time:16:46:11.4593 

2025-08-22T16:46:10.844Z,1755881170.844 [DAT](INFO): Rx dataTimestamp_ set to:1755881170.843545
2025-08-22T16:46:10.845Z,1755881170.845 [DAT](INFO): DAT read: Bearing 312.1,  10.1 (Local)

2025-08-22T16:46:10.846Z,1755881170.846 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  10.1 (Local)

2025-08-22T16:46:10.848Z,1755881170.848 [DAT](INFO): DAT read: Range 11 to 50 :    25.4 m (trip time 16.9 ms) speed -0.1

2025-08-22T16:46:10.852Z,1755881170.852 [DAT](INFO): DAT read: 16:46:11.4593 LVL= 30480, 23025, 32754, 32755, AGC= 69, IDX= 501, 0.34,-1.994,-0.306,-2.331,-1.511, PHS=-0.381, 1.251,-0.863, RAW= 342.6,  -0.1, CAL= 342.1,  -3.0, ROT= 167.9,   3.0

2025-08-22T16:46:10.854Z,1755881170.854 [DAT](INFO): got valid direction response:
 16:46:11.4593 LVL= 30480, 23025, 32754, 32755, AGC= 69, IDX= 501, 0.34,-1.994,-0.306,-2.331,-1.511, PHS=-0.381, 1.251,-0.863, RAW= 342.6,  -0.1, CAL= 342.1,  -3.0, ROT= 167.9,   3.0

2025-08-22T16:46:10.854Z,1755881170.854 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T16:46:10.855Z,1755881170.855 [DAT](INFO): direction in FSK: [-0.976443,0.209331,-0.052336]
2025-08-22T16:46:10.855Z,1755881170.855 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:10.859Z,1755881170.859 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.605998
2025-08-22T16:46:11.095Z,1755881171.095 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841909
2025-08-22T16:46:11.226Z,1755881171.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.504142 s,
      deltaX: -0.100000 m,
      approachRate: -0.198358 m/s,
      rangeRepo size: 4

2025-08-22T16:46:11.228Z,1755881171.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.240257 m,
      bearing: 136.342572 deg,
      lat: 36.779457 deg,
      lon: -121.859637 deg,
      deltaT: 0.504142 s,
      deltaX: -0.099411 m,
      approachRate: -0.197189 m/s,
      posRepo size: 4

2025-08-22T16:46:11.228Z,1755881171.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m.
2025-08-22T16:46:11.347Z,1755881171.347 [DAT](INFO): DAT read: Rx Time:16:46:11.9594 

2025-08-22T16:46:11.348Z,1755881171.348 [DAT](INFO): Rx dataTimestamp_ set to:1755881171.347630
2025-08-22T16:46:11.350Z,1755881171.350 [DAT](INFO): DAT read: Bearing 311.6,   9.9 (Local)

2025-08-22T16:46:11.351Z,1755881171.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6,   9.9 (Local)

2025-08-22T16:46:11.354Z,1755881171.354 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-22T16:46:11.359Z,1755881171.359 [DAT](INFO): DAT read: 16:46:11.9594 LVL= 29472, 20385, 32754, 32755, AGC= 68, IDX= 503,-0.14,-2.835,-1.160, 3.130,-2.337, PHS=-0.396, 1.222,-0.861, RAW= 342.3,   0.4, CAL= 341.8,  -2.5, ROT= 168.2,   2.5

2025-08-22T16:46:11.360Z,1755881171.360 [DAT](INFO): got valid direction response:
 16:46:11.9594 LVL= 29472, 20385, 32754, 32755, AGC= 68, IDX= 503,-0.14,-2.835,-1.160, 3.130,-2.337, PHS=-0.396, 1.222,-0.861, RAW= 342.3,   0.4, CAL= 341.8,  -2.5, ROT= 168.2,   2.5

2025-08-22T16:46:11.361Z,1755881171.361 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:46:11.370Z,1755881171.370 [DAT](INFO): direction in FSK: [-0.977936,0.204302,-0.043619]
2025-08-22T16:46:11.370Z,1755881171.370 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:11.378Z,1755881171.378 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.125634
2025-08-22T16:46:11.549Z,1755881171.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504085 s,
      deltaX: 0.100000 m,
      approachRate: 0.198380 m/s,
      rangeRepo size: 4

2025-08-22T16:46:11.551Z,1755881171.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.339628 m,
      bearing: 136.669377 deg,
      lat: 36.779456 deg,
      lon: -121.859638 deg,
      deltaT: 0.504085 s,
      deltaX: 0.099371 m,
      approachRate: 0.197131 m/s,
      posRepo size: 4

2025-08-22T16:46:11.552Z,1755881171.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:11.601Z,1755881171.601 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.347854
2025-08-22T16:46:11.851Z,1755881171.851 [DAT](INFO): DAT read: Rx Time:16:46:12.4594 

2025-08-22T16:46:11.852Z,1755881171.852 [DAT](INFO): Rx dataTimestamp_ set to:1755881171.851313
2025-08-22T16:46:11.853Z,1755881171.853 [DAT](INFO): DAT read: Bearing 311.8,  10.0 (Local)

2025-08-22T16:46:11.853Z,1755881171.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  10.0 (Local)

2025-08-22T16:46:11.855Z,1755881171.855 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-22T16:46:11.860Z,1755881171.860 [DAT](INFO): DAT read: 16:46:12.4594 LVL= 27216, 18577, 32754, 32755, AGC= 68, IDX= 502, 0.14,-2.747,-1.064,-3.073,-2.251, PHS=-0.394, 1.232,-0.866, RAW= 342.4,   0.3, CAL= 341.9,  -2.6, ROT= 168.1,   2.6

2025-08-22T16:46:11.866Z,1755881171.866 [DAT](INFO): got valid direction response:
 16:46:12.4594 LVL= 27216, 18577, 32754, 32755, AGC= 68, IDX= 502, 0.14,-2.747,-1.064,-3.073,-2.251, PHS=-0.394, 1.232,-0.866, RAW= 342.4,   0.3, CAL= 341.9,  -2.6, ROT= 168.1,   2.6

2025-08-22T16:46:11.867Z,1755881171.867 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:46:11.868Z,1755881171.868 [DAT](INFO): direction in FSK: [-0.977502,0.205992,-0.045363]
2025-08-22T16:46:11.868Z,1755881171.868 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:11.872Z,1755881171.872 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618822
2025-08-22T16:46:12.062Z,1755881172.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503683 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:12.064Z,1755881172.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.339603 m,
      bearing: 136.546773 deg,
      lat: 36.779456 deg,
      lon: -121.859639 deg,
      deltaT: 0.503683 s,
      deltaX: -0.000025 m,
      approachRate: -0.000049 m/s,
      posRepo size: 4

2025-08-22T16:46:12.065Z,1755881172.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:12.103Z,1755881172.103 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.850430
2025-08-22T16:46:12.355Z,1755881172.355 [DAT](INFO): DAT read: Rx Time:16:46:12.9595 

2025-08-22T16:46:12.355Z,1755881172.355 [DAT](INFO): Rx dataTimestamp_ set to:1755881172.355190
2025-08-22T16:46:12.357Z,1755881172.357 [DAT](INFO): DAT read: Bearing 312.0,  10.1 (Local)

2025-08-22T16:46:12.357Z,1755881172.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  10.1 (Local)

2025-08-22T16:46:12.359Z,1755881172.359 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:12.364Z,1755881172.364 [DAT](INFO): DAT read: 16:46:12.9595 LVL= 25664, 21985, 32754, 32755, AGC= 68, IDX= 503, 0.48,-1.189, 0.505,-1.526,-0.701, PHS=-0.386, 1.250,-0.869, RAW= 342.5,   0.1, CAL= 342.1,  -2.9, ROT= 167.9,   2.9

2025-08-22T16:46:12.365Z,1755881172.365 [DAT](INFO): got valid direction response:
 16:46:12.9595 LVL= 25664, 21985, 32754, 32755, AGC= 68, IDX= 503, 0.48,-1.189, 0.505,-1.526,-0.701, PHS=-0.386, 1.250,-0.869, RAW= 342.5,   0.1, CAL= 342.1,  -2.9, ROT= 167.9,   2.9

2025-08-22T16:46:12.365Z,1755881172.365 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T16:46:12.366Z,1755881172.366 [DAT](INFO): direction in FSK: [-0.976531,0.209350,-0.050593]
2025-08-22T16:46:12.366Z,1755881172.366 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:12.370Z,1755881172.370 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.117059
2025-08-22T16:46:12.462Z,1755881172.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503877 s,
      deltaX: 0.200001 m,
      approachRate: 0.396924 m/s,
      rangeRepo size: 4

2025-08-22T16:46:12.464Z,1755881172.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538347 m,
      bearing: 136.306986 deg,
      lat: 36.779455 deg,
      lon: -121.859639 deg,
      deltaT: 0.503877 s,
      deltaX: 0.198744 m,
      approachRate: 0.394429 m/s,
      posRepo size: 4

2025-08-22T16:46:12.465Z,1755881172.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:12.607Z,1755881172.607 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353864
2025-08-22T16:46:12.810Z,1755881172.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:12.859Z,1755881172.859 [DAT](INFO): DAT read: Rx Time:16:46:13.4594 

2025-08-22T16:46:12.860Z,1755881172.860 [DAT](INFO): Rx dataTimestamp_ set to:1755881172.859322
2025-08-22T16:46:12.861Z,1755881172.861 [DAT](INFO): DAT read: Bearing 311.5,   9.6 (Local)

2025-08-22T16:46:12.861Z,1755881172.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   9.6 (Local)

2025-08-22T16:46:12.863Z,1755881172.863 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-22T16:46:12.868Z,1755881172.868 [DAT](INFO): DAT read: 16:46:13.4594 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 503,-0.15, 2.754,-1.795, 2.431,-3.011, PHS=-0.416, 1.261,-0.885, RAW= 342.0,   0.4, CAL= 341.5,  -2.5, ROT= 168.5,   2.5

2025-08-22T16:46:12.869Z,1755881172.869 [DAT](INFO): got valid direction response:
 16:46:13.4594 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 503,-0.15, 2.754,-1.795, 2.431,-3.011, PHS=-0.416, 1.261,-0.885, RAW= 342.0,   0.4, CAL= 341.5,  -2.5, ROT= 168.5,   2.5

2025-08-22T16:46:12.869Z,1755881172.869 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T16:46:12.870Z,1755881172.870 [DAT](INFO): direction in FSK: [-0.978992,0.199178,-0.043619]
2025-08-22T16:46:12.870Z,1755881172.870 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:12.882Z,1755881172.882 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.624411
2025-08-22T16:46:13.111Z,1755881173.111 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857762
2025-08-22T16:46:13.231Z,1755881173.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504132 s,
      deltaX: -0.200001 m,
      approachRate: -0.396723 m/s,
      rangeRepo size: 4

2025-08-22T16:46:13.233Z,1755881173.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.339563 m,
      bearing: 136.911893 deg,
      lat: 36.779455 deg,
      lon: -121.859639 deg,
      deltaT: 0.504132 s,
      deltaX: -0.198784 m,
      approachRate: -0.394309 m/s,
      posRepo size: 4

2025-08-22T16:46:13.233Z,1755881173.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:13.363Z,1755881173.363 [DAT](INFO): DAT read: Rx Time:16:46:13.9595 

2025-08-22T16:46:13.364Z,1755881173.364 [DAT](INFO): Rx dataTimestamp_ set to:1755881173.363302
2025-08-22T16:46:13.365Z,1755881173.365 [DAT](INFO): DAT read: Bearing 311.1,  10.3 (Local)

2025-08-22T16:46:13.365Z,1755881173.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,  10.3 (Local)

2025-08-22T16:46:13.367Z,1755881173.367 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:13.372Z,1755881173.372 [DAT](INFO): DAT read: 16:46:13.9595 LVL= 29040, 19953, 32754, 32755, AGC= 70, IDX= 503, 0.10,-1.991,-0.339,-2.322,-1.491, PHS=-0.398, 1.197,-0.875, RAW= 342.7,   0.8, CAL= 342.2,  -2.1, ROT= 167.8,   2.1

2025-08-22T16:46:13.373Z,1755881173.373 [DAT](INFO): got valid direction response:
 16:46:13.9595 LVL= 29040, 19953, 32754, 32755, AGC= 70, IDX= 503, 0.10,-1.991,-0.339,-2.322,-1.491, PHS=-0.398, 1.197,-0.875, RAW= 342.7,   0.8, CAL= 342.2,  -2.1, ROT= 167.8,   2.1

2025-08-22T16:46:13.373Z,1755881173.373 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T16:46:13.374Z,1755881173.374 [DAT](INFO): direction in FSK: [-0.976759,0.211183,-0.036644]
2025-08-22T16:46:13.374Z,1755881173.374 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:13.394Z,1755881173.394 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.141424
2025-08-22T16:46:13.565Z,1755881173.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503980 s,
      deltaX: 0.200001 m,
      approachRate: 0.396843 m/s,
      rangeRepo size: 4

2025-08-22T16:46:13.567Z,1755881173.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538305 m,
      bearing: 136.249441 deg,
      lat: 36.779455 deg,
      lon: -121.859639 deg,
      deltaT: 0.503980 s,
      deltaX: 0.198742 m,
      approachRate: 0.394345 m/s,
      posRepo size: 4

2025-08-22T16:46:13.568Z,1755881173.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:13.615Z,1755881173.615 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.362485
2025-08-22T16:46:13.867Z,1755881173.867 [DAT](INFO): DAT read: Rx Time:16:46:14.4594 

2025-08-22T16:46:13.868Z,1755881173.868 [DAT](INFO): Rx dataTimestamp_ set to:1755881173.867315
2025-08-22T16:46:13.869Z,1755881173.869 [DAT](INFO): DAT read: Bearing 311.5,   9.9 (Local)

2025-08-22T16:46:13.869Z,1755881173.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   9.9 (Local)

2025-08-22T16:46:13.871Z,1755881173.871 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.0

2025-08-22T16:46:13.876Z,1755881173.876 [DAT](INFO): DAT read: 16:46:14.4594 LVL= 29424, 18625, 32754, 32755, AGC= 67, IDX= 502, 0.44, 2.456,-2.132, 2.133, 2.962, PHS=-0.404, 1.233,-0.873, RAW= 342.2,   0.5, CAL= 341.8,  -2.5, ROT= 168.2,   2.5

2025-08-22T16:46:13.877Z,1755881173.877 [DAT](INFO): got valid direction response:
 16:46:14.4594 LVL= 29424, 18625, 32754, 32755, AGC= 67, IDX= 502, 0.44, 2.456,-2.132, 2.133, 2.962, PHS=-0.404, 1.233,-0.873, RAW= 342.2,   0.5, CAL= 341.8,  -2.5, ROT= 168.2,   2.5

2025-08-22T16:46:13.877Z,1755881173.877 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T16:46:13.878Z,1755881173.878 [DAT](INFO): direction in FSK: [-0.977936,0.204302,-0.043619]
2025-08-22T16:46:13.878Z,1755881173.878 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:13.882Z,1755881173.882 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.629361
2025-08-22T16:46:14.071Z,1755881174.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.504013 s,
      deltaX: -0.200001 m,
      approachRate: -0.396817 m/s,
      rangeRepo size: 4

2025-08-22T16:46:14.077Z,1755881174.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.339529 m,
      bearing: 136.579365 deg,
      lat: 36.779455 deg,
      lon: -121.859639 deg,
      deltaT: 0.504013 s,
      deltaX: -0.198776 m,
      approachRate: -0.394387 m/s,
      posRepo size: 4

2025-08-22T16:46:14.078Z,1755881174.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T16:46:14.119Z,1755881174.119 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865907
2025-08-22T16:46:14.371Z,1755881174.371 [DAT](INFO): DAT read: Rx Time:16:46:14.9595 

2025-08-22T16:46:14.372Z,1755881174.372 [DAT](INFO): Rx dataTimestamp_ set to:1755881174.371320
2025-08-22T16:46:14.373Z,1755881174.373 [DAT](INFO): DAT read: Bearing 311.6,   9.8 (Local)

2025-08-22T16:46:14.373Z,1755881174.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6,   9.8 (Local)

2025-08-22T16:46:14.375Z,1755881174.375 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:14.381Z,1755881174.381 [DAT](INFO): DAT read: 16:46:14.9595 LVL= 31952, 20881, 32754, 32755, AGC= 67, IDX= 504,-0.19, 2.870,-1.709, 2.548,-2.905, PHS=-0.405, 1.241,-0.874, RAW= 342.2,   0.4, CAL= 341.7,  -2.5, ROT= 168.3,   2.5

2025-08-22T16:46:14.383Z,1755881174.383 [DAT](INFO): got valid direction response:
 16:46:14.9595 LVL= 31952, 20881, 32754, 32755, AGC= 67, IDX= 504,-0.19, 2.870,-1.709, 2.548,-2.905, PHS=-0.405, 1.241,-0.874, RAW= 342.2,   0.4, CAL= 341.7,  -2.5, ROT= 168.3,   2.5

2025-08-22T16:46:14.383Z,1755881174.383 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T16:46:14.384Z,1755881174.384 [DAT](INFO): direction in FSK: [-0.978291,0.202594,-0.043619]
2025-08-22T16:46:14.385Z,1755881174.385 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:14.392Z,1755881174.392 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.139478
2025-08-22T16:46:14.445Z,1755881174.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504005 s,
      deltaX: 0.200001 m,
      approachRate: 0.396823 m/s,
      rangeRepo size: 4

2025-08-22T16:46:14.455Z,1755881174.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538271 m,
      bearing: 136.642087 deg,
      lat: 36.779455 deg,
      lon: -121.859641 deg,
      deltaT: 0.504005 s,
      deltaX: 0.198742 m,
      approachRate: 0.394325 m/s,
      posRepo size: 4

2025-08-22T16:46:14.456Z,1755881174.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:14.626Z,1755881174.626 [DAT](INFO): DAT read: Rx Time:16:46:15.4595 

2025-08-22T16:46:14.627Z,1755881174.627 [DAT](INFO): Rx dataTimestamp_ set to:1755881174.626151
2025-08-22T16:46:14.629Z,1755881174.629 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.375993
2025-08-22T16:46:14.845Z,1755881174.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:14.875Z,1755881174.875 [DAT](INFO): DAT read: Bearing 311.7,   9.6 (Local)

2025-08-22T16:46:14.876Z,1755881174.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   9.6 (Local)

2025-08-22T16:46:14.878Z,1755881174.878 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:14.882Z,1755881174.882 [DAT](INFO): DAT read: 16:46:15.4595 LVL= 27072, 18609, 32498, 32755, AGC= 68, IDX= 503, 0.05, 2.897,-1.700, 2.586,-2.885, PHS=-0.399, 1.231,-0.856, RAW= 342.0,   0.3, CAL= 341.6,  -2.7, ROT= 168.4,   2.7

2025-08-22T16:46:14.883Z,1755881174.883 [DAT](INFO): got valid direction response:
 16:46:15.4595 LVL= 27072, 18609, 32498, 32755, AGC= 68, IDX= 503, 0.05, 2.897,-1.700, 2.586,-2.885, PHS=-0.399, 1.231,-0.856, RAW= 342.0,   0.3, CAL= 341.6,  -2.7, ROT= 168.4,   2.7

2025-08-22T16:46:14.884Z,1755881174.884 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T16:46:14.885Z,1755881174.885 [DAT](INFO): direction in FSK: [-0.978488,0.200855,-0.047106]
2025-08-22T16:46:14.885Z,1755881174.885 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:14.889Z,1755881174.889 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.636024
2025-08-22T16:46:15.142Z,1755881175.142 [DAT](INFO): DAT read: Rx Time:16:46:15.9596 

2025-08-22T16:46:15.144Z,1755881175.144 [DAT](INFO): Rx dataTimestamp_ set to:1755881175.142671
2025-08-22T16:46:15.151Z,1755881175.151 [DAT](INFO): DAT read: Bearing 311.1,   9.9 (Local)

2025-08-22T16:46:15.152Z,1755881175.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,   9.9 (Local)

2025-08-22T16:46:15.166Z,1755881175.166 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-22T16:46:15.169Z,1755881175.169 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-08-22T16:46:15.194Z,1755881175.194 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.941646
2025-08-22T16:46:15.299Z,1755881175.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.771351 s,
      deltaX: 0.099998 m,
      approachRate: 0.129641 m/s,
      rangeRepo size: 4

2025-08-22T16:46:15.307Z,1755881175.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.637625 m,
      bearing: 136.636454 deg,
      lat: 36.779454 deg,
      lon: -121.859641 deg,
      deltaT: 0.771351 s,
      deltaX: 0.099354 m,
      approachRate: 0.128805 m/s,
      posRepo size: 4

2025-08-22T16:46:15.308Z,1755881175.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:46:15.385Z,1755881175.385 [DAT](INFO): DAT read: 16:46:15.9596 LVL= 26592, 19441, 32290, 31779, AGC= 68, IDX= 504, 0.24,-1.107, 0.566,-1.425,-0.590, PHS=-0.416, 1.200,-0.879, RAW= 342.3,   1.0, CAL= 341.8,  -1.9, ROT= 168.2,   1.9

2025-08-22T16:46:15.386Z,1755881175.386 [DAT](INFO): got valid direction response:
 16:46:15.9596 LVL= 26592, 19441, 32290, 31779, AGC= 68, IDX= 504, 0.24,-1.107, 0.566,-1.425,-0.590, PHS=-0.416, 1.200,-0.879, RAW= 342.3,   1.0, CAL= 341.8,  -1.9, ROT= 168.2,   1.9

2025-08-22T16:46:15.387Z,1755881175.387 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-08-22T16:46:15.388Z,1755881175.388 [DAT](INFO): direction in FSK: [-0.978329,0.204384,-0.033155]
2025-08-22T16:46:15.391Z,1755881175.391 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.138441
2025-08-22T16:46:15.634Z,1755881175.634 [DAT](INFO): DAT read: Rx Time:16:46:16.4595 

2025-08-22T16:46:15.636Z,1755881175.636 [DAT](INFO): Rx dataTimestamp_ set to:1755881175.634612
2025-08-22T16:46:15.639Z,1755881175.639 [DAT](INFO): DAT read: Bearing 311.5,   9.5 (Local)

2025-08-22T16:46:15.640Z,1755881175.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   9.5 (Local)

2025-08-22T16:46:15.642Z,1755881175.642 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.388508
2025-08-22T16:46:15.768Z,1755881175.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:46:15.885Z,1755881175.885 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:15.889Z,1755881175.889 [DAT](INFO): DAT read: 16:46:16.4595 LVL= 32288, 21409, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.713,-2.855, 1.400, 2.236, PHS=-0.421, 1.237,-0.880, RAW= 341.9,   0.7, CAL= 341.4,  -2.2, ROT= 168.6,   2.2

2025-08-22T16:46:15.891Z,1755881175.891 [DAT](INFO): got valid direction response:
 16:46:16.4595 LVL= 32288, 21409, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.713,-2.855, 1.400, 2.236, PHS=-0.421, 1.237,-0.880, RAW= 341.9,   0.7, CAL= 341.4,  -2.2, ROT= 168.6,   2.2

2025-08-22T16:46:15.892Z,1755881175.892 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T16:46:15.893Z,1755881175.893 [DAT](INFO): direction in FSK: [-0.979549,0.197511,-0.038388]
2025-08-22T16:46:15.893Z,1755881175.893 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:15.896Z,1755881175.896 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.643707
2025-08-22T16:46:16.104Z,1755881176.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.739658 s,
      deltaX: -0.099998 m,
      approachRate: -0.135196 m/s,
      rangeRepo size: 4

2025-08-22T16:46:16.106Z,1755881176.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538216 m,
      bearing: 136.836159 deg,
      lat: 36.779454 deg,
      lon: -121.859641 deg,
      deltaT: 0.739658 s,
      deltaX: -0.099409 m,
      approachRate: -0.134399 m/s,
      posRepo size: 4

2025-08-22T16:46:16.106Z,1755881176.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:16.138Z,1755881176.138 [DAT](INFO): DAT read: Rx Time:16:46:16.9597 

2025-08-22T16:46:16.140Z,1755881176.140 [DAT](INFO): Rx dataTimestamp_ set to:1755881176.138552
2025-08-22T16:46:16.142Z,1755881176.142 [DAT](INFO): DAT read: Bearing 311.4,   9.4 (Local)

2025-08-22T16:46:16.144Z,1755881176.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   9.4 (Local)

2025-08-22T16:46:16.148Z,1755881176.148 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:16.151Z,1755881176.151 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-08-22T16:46:16.154Z,1755881176.154 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.901005
2025-08-22T16:46:16.390Z,1755881176.390 [DAT](INFO): DAT read: 16:46:16.9597 LVL= 31568, 21857, 32754, 32755, AGC= 68, IDX= 505,-0.03, 2.807,-1.756, 2.494,-2.949, PHS=-0.426, 1.238,-0.884, RAW= 341.8,   0.8, CAL= 341.4,  -2.1, ROT= 168.6,   2.1

2025-08-22T16:46:16.391Z,1755881176.391 [DAT](INFO): got valid direction response:
 16:46:16.9597 LVL= 31568, 21857, 32754, 32755, AGC= 68, IDX= 505,-0.03, 2.807,-1.756, 2.494,-2.949, PHS=-0.426, 1.238,-0.884, RAW= 341.8,   0.8, CAL= 341.4,  -2.1, ROT= 168.6,   2.1

2025-08-22T16:46:16.392Z,1755881176.392 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-08-22T16:46:16.393Z,1755881176.393 [DAT](INFO): direction in FSK: [-0.979613,0.197524,-0.036644]
2025-08-22T16:46:16.396Z,1755881176.396 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.143312
2025-08-22T16:46:16.489Z,1755881176.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.256223 s,
      deltaX: 0.299999 m,
      approachRate: 1.170852 m/s,
      rangeRepo size: 4

2025-08-22T16:46:16.491Z,1755881176.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836327 m,
      bearing: 136.825009 deg,
      lat: 36.779453 deg,
      lon: -121.859642 deg,
      deltaT: 0.256223 s,
      deltaX: 0.298111 m,
      approachRate: 1.163482 m/s,
      posRepo size: 4

2025-08-22T16:46:16.491Z,1755881176.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:16.642Z,1755881176.642 [DAT](INFO): DAT read: Rx Time:16:46:17.4595 

2025-08-22T16:46:16.644Z,1755881176.644 [DAT](INFO): Rx dataTimestamp_ set to:1755881176.642757
2025-08-22T16:46:16.647Z,1755881176.647 [DAT](INFO): DAT read: Bearing 311.2,   9.7 (Local)

2025-08-22T16:46:16.648Z,1755881176.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,   9.7 (Local)

2025-08-22T16:46:16.652Z,1755881176.652 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:16.655Z,1755881176.655 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-08-22T16:46:16.659Z,1755881176.659 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.405882
2025-08-22T16:46:16.894Z,1755881176.894 [DAT](INFO): DAT read: 16:46:17.4595 LVL= 31008, 20961, 32754, 32755, AGC= 67, IDX= 504, 0.20, 2.955,-1.627, 2.637,-2.801, PHS=-0.425, 1.218,-0.889, RAW= 342.1,   1.0, CAL= 341.6,  -1.9, ROT= 168.4,   1.9

2025-08-22T16:46:16.895Z,1755881176.895 [DAT](INFO): got valid direction response:
 16:46:17.4595 LVL= 31008, 20961, 32754, 32755, AGC= 67, IDX= 504, 0.20, 2.955,-1.627, 2.637,-2.801, PHS=-0.425, 1.218,-0.889, RAW= 342.1,   1.0, CAL= 341.6,  -1.9, ROT= 168.4,   1.9

2025-08-22T16:46:16.896Z,1755881176.896 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-08-22T16:46:16.897Z,1755881176.897 [DAT](INFO): direction in FSK: [-0.979037,0.200967,-0.033155]
2025-08-22T16:46:16.900Z,1755881176.900 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.647179
2025-08-22T16:46:16.929Z,1755881176.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504205 s,
      deltaX: -0.299999 m,
      approachRate: -0.594995 m/s,
      rangeRepo size: 4

2025-08-22T16:46:16.931Z,1755881176.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538216 m,
      bearing: 136.640848 deg,
      lat: 36.779453 deg,
      lon: -121.859642 deg,
      deltaT: 0.504205 s,
      deltaX: -0.298111 m,
      approachRate: -0.591250 m/s,
      posRepo size: 4

2025-08-22T16:46:16.932Z,1755881176.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:17.149Z,1755881177.149 [DAT](INFO): DAT read: Rx Time:16:46:17.9595 

2025-08-22T16:46:17.163Z,1755881177.163 [DAT](INFO): Rx dataTimestamp_ set to:1755881177.161748
2025-08-22T16:46:17.168Z,1755881177.168 [DAT](INFO): DAT read: Bearing 310.9,   9.9 (Local)

2025-08-22T16:46:17.170Z,1755881177.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   9.9 (Local)

2025-08-22T16:46:17.181Z,1755881177.181 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-08-22T16:46:17.234Z,1755881177.234 [DAT](INFO): DAT read: 16:46:17.9595 LVL= 28144, 18017, 32754, 32755, AGC= 68, IDX= 505,-0.44, 2.375,-2.235, 2.055, 2.902, PHS=-0.425, 1.191,-0.891, RAW= 342.3,   1.3, CAL= 341.8,  -1.6, ROT= 168.2,   1.6

2025-08-22T16:46:17.235Z,1755881177.235 [DAT](INFO): got valid direction response:
 16:46:17.9595 LVL= 28144, 18017, 32754, 32755, AGC= 68, IDX= 505,-0.44, 2.375,-2.235, 2.055, 2.902, PHS=-0.425, 1.191,-0.891, RAW= 342.3,   1.3, CAL= 341.8,  -1.6, ROT= 168.2,   1.6

2025-08-22T16:46:17.236Z,1755881177.236 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T16:46:17.237Z,1755881177.237 [DAT](INFO): direction in FSK: [-0.978486,0.204416,-0.027922]
2025-08-22T16:46:17.237Z,1755881177.237 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:17.245Z,1755881177.245 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.991920
2025-08-22T16:46:17.344Z,1755881177.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.518991 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:17.350Z,1755881177.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538210 m,
      bearing: 136.489183 deg,
      lat: 36.779453 deg,
      lon: -121.859644 deg,
      deltaT: 0.518991 s,
      deltaX: -0.000006 m,
      approachRate: -0.000011 m/s,
      posRepo size: 4

2025-08-22T16:46:17.350Z,1755881177.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:17.395Z,1755881177.395 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.141825
2025-08-22T16:46:17.651Z,1755881177.651 [DAT](INFO): DAT read: Rx Time:16:46:18.4595 

2025-08-22T16:46:17.652Z,1755881177.652 [DAT](INFO): Rx dataTimestamp_ set to:1755881177.651192
2025-08-22T16:46:17.655Z,1755881177.655 [DAT](INFO): DAT read: Bearing 311.3,   8.9 (Local)

2025-08-22T16:46:17.657Z,1755881177.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,   8.9 (Local)

2025-08-22T16:46:17.666Z,1755881177.666 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed -0.1

2025-08-22T16:46:17.668Z,1755881177.668 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-08-22T16:46:17.685Z,1755881177.685 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.424095
2025-08-22T16:46:17.825Z,1755881177.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.489444 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:17.829Z,1755881177.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:17.903Z,1755881177.903 [DAT](INFO): DAT read: 16:46:18.4595 LVL= 32752, 21857, 32754, 32755, AGC= 66, IDX= 504,-0.06,-0.053, 1.684,-0.351, 0.488, PHS=-0.439, 1.241,-0.883, RAW= 341.4,   0.8, CAL= 341.0,  -2.0, ROT= 169.0,   2.0

2025-08-22T16:46:17.904Z,1755881177.904 [DAT](INFO): got valid direction response:
 16:46:18.4595 LVL= 32752, 21857, 32754, 32755, AGC= 66, IDX= 504,-0.06,-0.053, 1.684,-0.351, 0.488, PHS=-0.439, 1.241,-0.883, RAW= 341.4,   0.8, CAL= 341.0,  -2.0, ROT= 169.0,   2.0

2025-08-22T16:46:17.905Z,1755881177.905 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-08-22T16:46:17.906Z,1755881177.906 [DAT](INFO): direction in FSK: [-0.981029,0.190693,-0.034899]
2025-08-22T16:46:17.910Z,1755881177.910 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.656874
2025-08-22T16:46:18.155Z,1755881178.155 [DAT](INFO): DAT read: Rx Time:16:46:18.9596 

2025-08-22T16:46:18.157Z,1755881178.157 [DAT](INFO): Rx dataTimestamp_ set to:1755881178.155665
2025-08-22T16:46:18.173Z,1755881178.173 [DAT](INFO): DAT read: Bearing 310.9,  10.1 (Local)

2025-08-22T16:46:18.174Z,1755881178.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,  10.1 (Local)

2025-08-22T16:46:18.191Z,1755881178.191 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-22T16:46:18.204Z,1755881178.204 [DAT](INFO): DAT read: 16:46:18.9596 LVL= 28912, 19825, 32658, 32755, AGC= 67, IDX= 505, 0.19, 2.956,-1.680, 2.634,-2.809, PHS=-0.416, 1.174,-0.884, RAW= 342.5,   1.4, CAL= 342.1,  -1.5, ROT= 167.9,   1.5

2025-08-22T16:46:18.205Z,1755881178.205 [DAT](INFO): got valid direction response:
 16:46:18.9596 LVL= 28912, 19825, 32658, 32755, AGC= 67, IDX= 505, 0.19, 2.956,-1.680, 2.634,-2.809, PHS=-0.416, 1.174,-0.884, RAW= 342.5,   1.4, CAL= 342.1,  -1.5, ROT= 167.9,   1.5

2025-08-22T16:46:18.205Z,1755881178.205 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:46:18.206Z,1755881178.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:18.214Z,1755881178.214 [DAT](INFO): direction in FSK: [-0.977448,0.209547,-0.026177]
2025-08-22T16:46:18.214Z,1755881178.214 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:18.230Z,1755881178.230 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.977468
2025-08-22T16:46:18.407Z,1755881178.407 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.154177
2025-08-22T16:46:18.511Z,1755881178.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504473 s,
      deltaX: 0.099998 m,
      approachRate: 0.198224 m/s,
      rangeRepo size: 4

2025-08-22T16:46:18.513Z,1755881178.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.637568 m,
      bearing: 136.283654 deg,
      lat: 36.779454 deg,
      lon: -121.859644 deg,
      deltaT: 0.993917 s,
      deltaX: 0.099358 m,
      approachRate: 0.099966 m/s,
      posRepo size: 4

2025-08-22T16:46:18.513Z,1755881178.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:46:18.590Z,1755881178.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:46:18.659Z,1755881178.659 [DAT](INFO): DAT read: Rx Time:16:46:19.4595 

2025-08-22T16:46:18.660Z,1755881178.660 [DAT](INFO): Rx dataTimestamp_ set to:1755881178.659342
2025-08-22T16:46:18.665Z,1755881178.665 [DAT](INFO): DAT read: Bearing 311.1,   9.7 (Local)

2025-08-22T16:46:18.666Z,1755881178.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,   9.7 (Local)

2025-08-22T16:46:18.687Z,1755881178.687 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.0

2025-08-22T16:46:18.702Z,1755881178.702 [DAT](INFO): DAT read: 16:46:19.4595 LVL= 30512, 21825, 32754, 32755, AGC= 66, IDX= 505,-0.31,-0.512, 1.176,-0.828, 0.016, PHS=-0.426, 1.205,-0.888, RAW= 342.1,   1.2, CAL= 341.6,  -1.7, ROT= 168.4,   1.7

2025-08-22T16:46:18.703Z,1755881178.703 [DAT](INFO): got valid direction response:
 16:46:19.4595 LVL= 30512, 21825, 32754, 32755, AGC= 66, IDX= 505,-0.31,-0.512, 1.176,-0.828, 0.016, PHS=-0.426, 1.205,-0.888, RAW= 342.1,   1.2, CAL= 341.6,  -1.7, ROT= 168.4,   1.7

2025-08-22T16:46:18.704Z,1755881178.704 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T16:46:18.715Z,1755881178.715 [DAT](INFO): direction in FSK: [-0.979144,0.200990,-0.029666]
2025-08-22T16:46:18.716Z,1755881178.716 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:18.720Z,1755881178.720 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.466980
2025-08-22T16:46:18.906Z,1755881178.906 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.653641
2025-08-22T16:46:18.955Z,1755881178.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503677 s,
      deltaX: -0.099998 m,
      approachRate: -0.198537 m/s,
      rangeRepo size: 4

2025-08-22T16:46:18.957Z,1755881178.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538198 m,
      bearing: 136.755678 deg,
      lat: 36.779454 deg,
      lon: -121.859644 deg,
      deltaT: 0.503677 s,
      deltaX: -0.099369 m,
      approachRate: -0.197287 m/s,
      posRepo size: 4

2025-08-22T16:46:18.958Z,1755881178.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:46:19.163Z,1755881179.163 [DAT](INFO): DAT read: Rx Time:16:46:19.9597 

2025-08-22T16:46:19.166Z,1755881179.166 [DAT](INFO): Rx dataTimestamp_ set to:1755881179.164232
2025-08-22T16:46:19.186Z,1755881179.186 [DAT](INFO): DAT read: Bearing 310.6,   9.5 (Local)

2025-08-22T16:46:19.187Z,1755881179.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,   9.5 (Local)

2025-08-22T16:46:19.210Z,1755881179.210 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:19.215Z,1755881179.215 [DAT](INFO): DAT read: 16:46:19.9597 LVL= 32752, 20609, 32754, 32755, AGC= 69, IDX= 506,-0.04, 1.954,-2.638, 1.644, 2.503, PHS=-0.447, 1.187,-0.903, RAW= 342.0,   1.7, CAL= 341.5,  -1.2, ROT= 168.5,   1.2

2025-08-22T16:46:19.216Z,1755881179.216 [DAT](INFO): got valid direction response:
 16:46:19.9597 LVL= 32752, 20609, 32754, 32755, AGC= 69, IDX= 506,-0.04, 1.954,-2.638, 1.644, 2.503, PHS=-0.447, 1.187,-0.903, RAW= 342.0,   1.7, CAL= 341.5,  -1.2, ROT= 168.5,   1.2

2025-08-22T16:46:19.216Z,1755881179.216 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T16:46:19.217Z,1755881179.217 [DAT](INFO): direction in FSK: [-0.979710,0.199324,-0.020942]
2025-08-22T16:46:19.222Z,1755881179.222 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:19.241Z,1755881179.241 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.972486
2025-08-22T16:46:19.361Z,1755881179.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504890 s,
      deltaX: 0.299999 m,
      approachRate: 0.594187 m/s,
      rangeRepo size: 4

2025-08-22T16:46:19.367Z,1755881179.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836351 m,
      bearing: 136.947837 deg,
      lat: 36.779454 deg,
      lon: -121.859644 deg,
      deltaT: 0.504890 s,
      deltaX: 0.298153 m,
      approachRate: 0.590530 m/s,
      posRepo size: 4

2025-08-22T16:46:19.367Z,1755881179.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:19.412Z,1755881179.412 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.158529
2025-08-22T16:46:19.594Z,1755881179.594 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:46:19.667Z,1755881179.667 [DAT](INFO): DAT read: Rx Time:16:46:20.4596 

2025-08-22T16:46:19.668Z,1755881179.668 [DAT](INFO): Rx dataTimestamp_ set to:1755881179.667305
2025-08-22T16:46:19.672Z,1755881179.672 [DAT](INFO): DAT read: Bearing 311.0,   9.6 (Local)

2025-08-22T16:46:19.673Z,1755881179.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,   9.6 (Local)

2025-08-22T16:46:19.701Z,1755881179.701 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-22T16:46:19.705Z,1755881179.705 [DAT](INFO): DAT read: 16:46:20.4596 LVL= 26320, 22881, 32754, 32755, AGC= 66, IDX= 505, 0.31, 2.090,-2.518, 1.776, 2.622, PHS=-0.430, 1.188,-0.890, RAW= 342.2,   1.4, CAL= 341.7,  -1.5, ROT= 168.3,   1.5

2025-08-22T16:46:19.743Z,1755881179.743 [DAT](INFO): got valid direction response:
 16:46:20.4596 LVL= 26320, 22881, 32754, 32755, AGC= 66, IDX= 505, 0.31, 2.090,-2.518, 1.776, 2.622, PHS=-0.430, 1.188,-0.890, RAW= 342.2,   1.4, CAL= 341.7,  -1.5, ROT= 168.3,   1.5

2025-08-22T16:46:19.743Z,1755881179.743 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T16:46:19.744Z,1755881179.744 [DAT](INFO): direction in FSK: [-0.978887,0.202718,-0.026177]
2025-08-22T16:46:19.744Z,1755881179.744 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:19.771Z,1755881179.771 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.517378
2025-08-22T16:46:19.854Z,1755881179.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503073 s,
      deltaX: -0.200001 m,
      approachRate: -0.397558 m/s,
      rangeRepo size: 4

2025-08-22T16:46:19.856Z,1755881179.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.637609 m,
      bearing: 136.749959 deg,
      lat: 36.779453 deg,
      lon: -121.859645 deg,
      deltaT: 0.503073 s,
      deltaX: -0.198742 m,
      approachRate: -0.395056 m/s,
      posRepo size: 4

2025-08-22T16:46:19.857Z,1755881179.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:46:19.916Z,1755881179.916 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.662764
2025-08-22T16:46:20.171Z,1755881180.171 [DAT](INFO): DAT read: Rx Time:16:46:20.9597 

2025-08-22T16:46:20.173Z,1755881180.173 [DAT](INFO): Rx dataTimestamp_ set to:1755881180.171823
2025-08-22T16:46:20.178Z,1755881180.178 [DAT](INFO): DAT read: Bearing 310.7,   9.8 (Local)

2025-08-22T16:46:20.179Z,1755881180.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   9.8 (Local)

2025-08-22T16:46:20.187Z,1755881180.187 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:20.197Z,1755881180.197 [DAT](INFO): DAT read: 16:46:20.9597 LVL= 31088, 20529, 32754, 32755, AGC= 68, IDX= 507,-0.28, 1.805,-2.786, 1.481, 2.351, PHS=-0.444, 1.191,-0.914, RAW= 342.3,   1.8, CAL= 341.8,  -1.1, ROT= 168.2,   1.1

2025-08-22T16:46:20.206Z,1755881180.206 [DAT](INFO): got valid direction response:
 16:46:20.9597 LVL= 31088, 20529, 32754, 32755, AGC= 68, IDX= 507,-0.28, 1.805,-2.786, 1.481, 2.351, PHS=-0.444, 1.191,-0.914, RAW= 342.3,   1.8, CAL= 341.8,  -1.1, ROT= 168.2,   1.1

2025-08-22T16:46:20.207Z,1755881180.207 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T16:46:20.208Z,1755881180.208 [DAT](INFO): direction in FSK: [-0.978687,0.204458,-0.019197]
2025-08-22T16:46:20.208Z,1755881180.208 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:20.223Z,1755881180.223 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.970158
2025-08-22T16:46:20.229Z,1755881180.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504518 s,
      deltaX: 0.200001 m,
      approachRate: 0.396419 m/s,
      rangeRepo size: 4

2025-08-22T16:46:20.235Z,1755881180.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836323 m,
      bearing: 136.729749 deg,
      lat: 36.779452 deg,
      lon: -121.859645 deg,
      deltaT: 0.504518 s,
      deltaX: 0.198713 m,
      approachRate: 0.393868 m/s,
      posRepo size: 4

2025-08-22T16:46:20.235Z,1755881180.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:20.419Z,1755881180.419 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.166006
2025-08-22T16:46:20.523Z,1755881180.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:20.675Z,1755881180.675 [DAT](INFO): DAT read: Rx Time:16:46:21.4597 

2025-08-22T16:46:20.677Z,1755881180.677 [DAT](INFO): Rx dataTimestamp_ set to:1755881180.676001
2025-08-22T16:46:20.680Z,1755881180.680 [DAT](INFO): DAT read: Bearing 310.7,   9.6 (Local)

2025-08-22T16:46:20.681Z,1755881180.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   9.6 (Local)

2025-08-22T16:46:20.683Z,1755881180.683 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:20.687Z,1755881180.687 [DAT](INFO): DAT read: 16:46:21.4597 LVL= 31392, 22129, 32754, 32755, AGC= 67, IDX= 506, 0.03, 1.698,-2.900, 1.380, 2.242, PHS=-0.441, 1.187,-0.905, RAW= 342.2,   1.7, CAL= 341.7,  -1.2, ROT= 168.3,   1.2

2025-08-22T16:46:20.688Z,1755881180.688 [DAT](INFO): got valid direction response:
 16:46:21.4597 LVL= 31392, 22129, 32754, 32755, AGC= 67, IDX= 506, 0.03, 1.698,-2.900, 1.380, 2.242, PHS=-0.441, 1.187,-0.905, RAW= 342.2,   1.7, CAL= 341.7,  -1.2, ROT= 168.3,   1.2

2025-08-22T16:46:20.689Z,1755881180.689 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:46:20.710Z,1755881180.710 [DAT](INFO): direction in FSK: [-0.979008,0.202743,-0.020942]
2025-08-22T16:46:20.710Z,1755881180.710 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:20.720Z,1755881180.720 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.466702
2025-08-22T16:46:20.922Z,1755881180.922 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.669683
2025-08-22T16:46:20.929Z,1755881180.929 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720334074,35.0,91.3RA,  0.00,  77.75,  87.94,  83.53,  81.83
2025-08-22T16:46:20.950Z,1755881180.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:20.952Z,1755881180.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836323 m,
      bearing: 136.842785 deg,
      lat: 36.779450 deg,
      lon: -121.859646 deg,
      deltaT: 0.504178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:20.952Z,1755881180.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:21.180Z,1755881181.180 [DAT](INFO): DAT read: Rx Time:16:46:21.9597 

2025-08-22T16:46:21.181Z,1755881181.181 [DAT](INFO): Rx dataTimestamp_ set to:1755881181.180193
2025-08-22T16:46:21.182Z,1755881181.182 [DAT](INFO): DAT read: Bearing 310.7,   9.8 (Local)

2025-08-22T16:46:21.183Z,1755881181.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   9.8 (Local)

2025-08-22T16:46:21.186Z,1755881181.186 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:21.193Z,1755881181.193 [DAT](INFO): DAT read: 16:46:21.9597 LVL= 31824, 19841, 32754, 32755, AGC= 68, IDX= 506, 0.26, 2.494,-2.132, 2.177, 3.033, PHS=-0.436, 1.163,-0.899, RAW= 342.3,   1.9, CAL= 341.9,  -1.0, ROT= 168.1,   1.0

2025-08-22T16:46:21.210Z,1755881181.210 [DAT](INFO): got valid direction response:
 16:46:21.9597 LVL= 31824, 19841, 32754, 32755, AGC= 68, IDX= 506, 0.26, 2.494,-2.132, 2.177, 3.033, PHS=-0.436, 1.163,-0.899, RAW= 342.3,   1.9, CAL= 341.9,  -1.0, ROT= 168.1,   1.0

2025-08-22T16:46:21.211Z,1755881181.211 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T16:46:21.212Z,1755881181.212 [DAT](INFO): direction in FSK: [-0.978360,0.206173,-0.017452]
2025-08-22T16:46:21.212Z,1755881181.212 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:21.215Z,1755881181.215 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.962692
2025-08-22T16:46:21.383Z,1755881181.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504192 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:21.385Z,1755881181.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836296 m,
      bearing: 136.702304 deg,
      lat: 36.779450 deg,
      lon: -121.859646 deg,
      deltaT: 0.504192 s,
      deltaX: -0.000027 m,
      approachRate: -0.000053 m/s,
      posRepo size: 4

2025-08-22T16:46:21.385Z,1755881181.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:21.427Z,1755881181.427 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.174257
2025-08-22T16:46:21.681Z,1755881181.681 [DAT](INFO): DAT read: Rx Time:16:46:22.4596 

2025-08-22T16:46:21.682Z,1755881181.682 [DAT](INFO): Rx dataTimestamp_ set to:1755881181.681470
2025-08-22T16:46:21.683Z,1755881181.683 [DAT](INFO): DAT read: Bearing 310.9,   9.1 (Local)

2025-08-22T16:46:21.683Z,1755881181.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   9.1 (Local)

2025-08-22T16:46:21.686Z,1755881181.686 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.0

2025-08-22T16:46:21.690Z,1755881181.690 [DAT](INFO): DAT read: 16:46:22.4596 LVL= 30512, 19601, 32754, 32755, AGC= 66, IDX= 506,-0.34,-0.324, 1.409,-0.632, 0.232, PHS=-0.454, 1.222,-0.909, RAW= 341.7,   1.5, CAL= 341.2,  -1.4, ROT= 168.8,   1.4

2025-08-22T16:46:21.691Z,1755881181.691 [DAT](INFO): got valid direction response:
 16:46:22.4596 LVL= 30512, 19601, 32754, 32755, AGC= 66, IDX= 506,-0.34,-0.324, 1.409,-0.632, 0.232, PHS=-0.454, 1.222,-0.909, RAW= 341.7,   1.5, CAL= 341.2,  -1.4, ROT= 168.8,   1.4

2025-08-22T16:46:21.691Z,1755881181.691 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T16:46:21.692Z,1755881181.692 [DAT](INFO): direction in FSK: [-0.980662,0.194176,-0.024432]
2025-08-22T16:46:21.692Z,1755881181.692 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:21.717Z,1755881181.717 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.464149
2025-08-22T16:46:21.879Z,1755881181.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.501277 s,
      deltaX: -0.200001 m,
      approachRate: -0.398983 m/s,
      rangeRepo size: 4

2025-08-22T16:46:21.881Z,1755881181.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.637554 m,
      bearing: 137.335793 deg,
      lat: 36.779450 deg,
      lon: -121.859646 deg,
      deltaT: 0.501277 s,
      deltaX: -0.198742 m,
      approachRate: -0.396471 m/s,
      posRepo size: 4

2025-08-22T16:46:21.886Z,1755881181.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:46:21.931Z,1755881181.931 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.678432
2025-08-22T16:46:22.185Z,1755881182.185 [DAT](INFO): DAT read: Rx Time:16:46:22.9598 

2025-08-22T16:46:22.185Z,1755881182.185 [DAT](INFO): Rx dataTimestamp_ set to:1755881182.184929
2025-08-22T16:46:22.187Z,1755881182.187 [DAT](INFO): DAT read: Bearing 311.0,   9.5 (Local)

2025-08-22T16:46:22.188Z,1755881182.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,   9.5 (Local)

2025-08-22T16:46:22.191Z,1755881182.191 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.1

2025-08-22T16:46:22.195Z,1755881182.195 [DAT](INFO): DAT read: 16:46:22.9598 LVL= 30944, 22193, 32754, 32755, AGC= 69, IDX= 507,-0.14, 1.589,-2.995, 1.270, 2.131, PHS=-0.441, 1.202,-0.905, RAW= 342.1,   1.5, CAL= 341.6,  -1.4, ROT= 168.4,   1.4

2025-08-22T16:46:22.196Z,1755881182.196 [DAT](INFO): got valid direction response:
 16:46:22.9598 LVL= 30944, 22193, 32754, 32755, AGC= 69, IDX= 507,-0.14, 1.589,-2.995, 1.270, 2.131, PHS=-0.441, 1.202,-0.905, RAW= 342.1,   1.5, CAL= 341.6,  -1.4, ROT= 168.4,   1.4

2025-08-22T16:46:22.196Z,1755881182.196 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T16:46:22.202Z,1755881182.202 [DAT](INFO): direction in FSK: [-0.979283,0.201018,-0.024432]
2025-08-22T16:46:22.202Z,1755881182.202 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:22.209Z,1755881182.209 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.952486
2025-08-22T16:46:22.315Z,1755881182.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503459 s,
      deltaX: 0.300001 m,
      approachRate: 0.595880 m/s,
      rangeRepo size: 4

2025-08-22T16:46:22.317Z,1755881182.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935631 m,
      bearing: 136.938754 deg,
      lat: 36.779450 deg,
      lon: -121.859646 deg,
      deltaT: 0.503459 s,
      deltaX: 0.298077 m,
      approachRate: 0.592057 m/s,
      posRepo size: 4

2025-08-22T16:46:22.317Z,1755881182.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:22.435Z,1755881182.435 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.181990
2025-08-22T16:46:22.598Z,1755881182.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:22.688Z,1755881182.688 [DAT](INFO): DAT read: Rx Time:16:46:23.4597 

2025-08-22T16:46:22.689Z,1755881182.689 [DAT](INFO): Rx dataTimestamp_ set to:1755881182.688791
2025-08-22T16:46:22.691Z,1755881182.691 [DAT](INFO): DAT read: Bearing 311.1,   9.1 (Local)

2025-08-22T16:46:22.692Z,1755881182.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.1,   9.1 (Local)

2025-08-22T16:46:22.695Z,1755881182.695 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:22.699Z,1755881182.699 [DAT](INFO): DAT read: 16:46:23.4597 LVL= 30048, 19697, 32754, 32755, AGC= 66, IDX= 506, 0.07, 0.801, 2.518, 0.494, 1.351, PHS=-0.448, 1.211,-0.901, RAW= 341.7,   1.5, CAL= 341.3,  -1.4, ROT= 168.7,   1.4

2025-08-22T16:46:22.700Z,1755881182.700 [DAT](INFO): got valid direction response:
 16:46:23.4597 LVL= 30048, 19697, 32754, 32755, AGC= 66, IDX= 506, 0.07, 0.801, 2.518, 0.494, 1.351, PHS=-0.448, 1.211,-0.901, RAW= 341.7,   1.5, CAL= 341.3,  -1.4, ROT= 168.7,   1.4

2025-08-22T16:46:22.701Z,1755881182.701 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T16:46:22.706Z,1755881182.706 [DAT](INFO): direction in FSK: [-0.980322,0.195888,-0.024432]
2025-08-22T16:46:22.706Z,1755881182.706 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:22.714Z,1755881182.714 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.461197
2025-08-22T16:46:22.939Z,1755881182.939 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.686031
2025-08-22T16:46:23.024Z,1755881183.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.503862 s,
      deltaX: -0.100000 m,
      approachRate: -0.198468 m/s,
      rangeRepo size: 4

2025-08-22T16:46:23.027Z,1755881183.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836260 m,
      bearing: 137.224759 deg,
      lat: 36.779450 deg,
      lon: -121.859647 deg,
      deltaT: 0.503862 s,
      deltaX: -0.099371 m,
      approachRate: -0.197219 m/s,
      posRepo size: 4

2025-08-22T16:46:23.027Z,1755881183.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:23.192Z,1755881183.192 [DAT](INFO): DAT read: Rx Time:16:46:23.9598 

2025-08-22T16:46:23.192Z,1755881183.192 [DAT](INFO): Rx dataTimestamp_ set to:1755881183.191852
2025-08-22T16:46:23.194Z,1755881183.194 [DAT](INFO): DAT read: Bearing 310.6,   9.8 (Local)

2025-08-22T16:46:23.195Z,1755881183.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,   9.8 (Local)

2025-08-22T16:46:23.197Z,1755881183.197 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-22T16:46:23.201Z,1755881183.201 [DAT](INFO): DAT read: 16:46:23.9598 LVL= 28208, 18769, 32450, 32755, AGC= 68, IDX= 507, 0.18,-2.833,-1.160, 3.128,-2.285, PHS=-0.446, 1.170,-0.914, RAW= 342.4,   2.0, CAL= 341.9,  -0.9, ROT= 168.1,   0.9

2025-08-22T16:46:23.202Z,1755881183.202 [DAT](INFO): got valid direction response:
 16:46:23.9598 LVL= 28208, 18769, 32450, 32755, AGC= 68, IDX= 507, 0.18,-2.833,-1.160, 3.128,-2.285, PHS=-0.446, 1.170,-0.914, RAW= 342.4,   2.0, CAL= 341.9,  -0.9, ROT= 168.1,   0.9

2025-08-22T16:46:23.203Z,1755881183.203 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T16:46:23.204Z,1755881183.204 [DAT](INFO): direction in FSK: [-0.978388,0.206179,-0.015707]
2025-08-22T16:46:23.204Z,1755881183.204 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:23.231Z,1755881183.231 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.978142
2025-08-22T16:46:23.418Z,1755881183.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503061 s,
      deltaX: 0.100000 m,
      approachRate: 0.198784 m/s,
      rangeRepo size: 4

2025-08-22T16:46:23.420Z,1755881183.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935562 m,
      bearing: 136.681556 deg,
      lat: 36.779449 deg,
      lon: -121.859647 deg,
      deltaT: 0.503061 s,
      deltaX: 0.099302 m,
      approachRate: 0.197396 m/s,
      posRepo size: 4

2025-08-22T16:46:23.420Z,1755881183.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:23.443Z,1755881183.443 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.189848
2025-08-22T16:46:23.695Z,1755881183.695 [DAT](INFO): DAT read: Rx Time:16:46:24.4597 

2025-08-22T16:46:23.696Z,1755881183.696 [DAT](INFO): Rx dataTimestamp_ set to:1755881183.695307
2025-08-22T16:46:23.697Z,1755881183.697 [DAT](INFO): DAT read: Bearing 311.2,   9.7 (Local)

2025-08-22T16:46:23.697Z,1755881183.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,   9.7 (Local)

2025-08-22T16:46:23.699Z,1755881183.699 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed 0.0

2025-08-22T16:46:23.704Z,1755881183.704 [DAT](INFO): DAT read: 16:46:24.4597 LVL= 31728, 20705, 32754, 32755, AGC= 66, IDX= 506, 0.37, 2.098,-2.508, 1.773, 2.631, PHS=-0.430, 1.190,-0.902, RAW= 342.4,   1.5, CAL= 341.9,  -1.4, ROT= 168.1,   1.4

2025-08-22T16:46:23.705Z,1755881183.705 [DAT](INFO): got valid direction response:
 16:46:24.4597 LVL= 31728, 20705, 32754, 32755, AGC= 66, IDX= 506, 0.37, 2.098,-2.508, 1.773, 2.631, PHS=-0.430, 1.190,-0.902, RAW= 342.4,   1.5, CAL= 341.9,  -1.4, ROT= 168.1,   1.4

2025-08-22T16:46:23.705Z,1755881183.705 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T16:46:23.706Z,1755881183.706 [DAT](INFO): direction in FSK: [-0.978217,0.206142,-0.024432]
2025-08-22T16:46:23.706Z,1755881183.706 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:23.710Z,1755881183.710 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.457333
2025-08-22T16:46:23.917Z,1755881183.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.503455 s,
      deltaX: -0.100000 m,
      approachRate: -0.198628 m/s,
      rangeRepo size: 4

2025-08-22T16:46:23.924Z,1755881183.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836193 m,
      bearing: 136.605277 deg,
      lat: 36.779449 deg,
      lon: -121.859648 deg,
      deltaT: 0.503455 s,
      deltaX: -0.099369 m,
      approachRate: -0.197374 m/s,
      posRepo size: 4

2025-08-22T16:46:23.924Z,1755881183.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:23.947Z,1755881183.947 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.693920
2025-08-22T16:46:24.199Z,1755881184.199 [DAT](INFO): DAT read: Rx Time:16:46:24.9598 

2025-08-22T16:46:24.200Z,1755881184.200 [DAT](INFO): Rx dataTimestamp_ set to:1755881184.199327
2025-08-22T16:46:24.201Z,1755881184.201 [DAT](INFO): DAT read: Bearing 310.9,   9.5 (Local)

2025-08-22T16:46:24.201Z,1755881184.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   9.5 (Local)

2025-08-22T16:46:24.203Z,1755881184.203 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-22T16:46:24.208Z,1755881184.208 [DAT](INFO): DAT read: 16:46:24.9598 LVL= 31328, 20769, 32754, 32755, AGC= 66, IDX= 508,-0.39, 1.681,-2.909, 1.365, 2.231, PHS=-0.448, 1.189,-0.910, RAW= 342.1,   1.8, CAL= 341.6,  -1.1, ROT= 168.4,   1.1

2025-08-22T16:46:24.209Z,1755881184.209 [DAT](INFO): got valid direction response:
 16:46:24.9598 LVL= 31328, 20769, 32754, 32755, AGC= 66, IDX= 508,-0.39, 1.681,-2.909, 1.365, 2.231, PHS=-0.448, 1.189,-0.910, RAW= 342.1,   1.8, CAL= 341.6,  -1.1, ROT= 168.4,   1.1

2025-08-22T16:46:24.209Z,1755881184.209 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:46:24.211Z,1755881184.211 [DAT](INFO): direction in FSK: [-0.979395,0.201041,-0.019197]
2025-08-22T16:46:24.211Z,1755881184.211 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:24.215Z,1755881184.215 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.962669
2025-08-22T16:46:24.334Z,1755881184.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504020 s,
      deltaX: 0.100000 m,
      approachRate: 0.198406 m/s,
      rangeRepo size: 4

2025-08-22T16:46:24.336Z,1755881184.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935514 m,
      bearing: 136.921461 deg,
      lat: 36.779449 deg,
      lon: -121.859648 deg,
      deltaT: 0.504020 s,
      deltaX: 0.099321 m,
      approachRate: 0.197058 m/s,
      posRepo size: 4

2025-08-22T16:46:24.337Z,1755881184.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:24.451Z,1755881184.451 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.198200
2025-08-22T16:46:24.607Z,1755881184.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:46:24.609Z,1755881184.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:24.704Z,1755881184.704 [DAT](INFO): DAT read: Rx Time:16:46:25.4597 

2025-08-22T16:46:24.705Z,1755881184.705 [DAT](INFO): Rx dataTimestamp_ set to:1755881184.704264
2025-08-22T16:46:24.706Z,1755881184.706 [DAT](INFO): DAT read: Bearing 310.8,   9.1 (Local)

2025-08-22T16:46:24.707Z,1755881184.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.8,   9.1 (Local)

2025-08-22T16:46:24.710Z,1755881184.710 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.1

2025-08-22T16:46:24.716Z,1755881184.716 [DAT](INFO): DAT read: 16:46:25.4597 LVL= 32560, 24689, 32754, 32755, AGC= 65, IDX= 507,-0.21, 0.304, 2.044,-0.011, 0.876, PHS=-0.470, 1.213,-0.931, RAW= 341.8,   2.0, CAL= 341.3,  -0.9, ROT= 168.7,   0.9

2025-08-22T16:46:24.730Z,1755881184.730 [DAT](INFO): got valid direction response:
 16:46:25.4597 LVL= 32560, 24689, 32754, 32755, AGC= 65, IDX= 507,-0.21, 0.304, 2.044,-0.011, 0.876, PHS=-0.470, 1.213,-0.931, RAW= 341.8,   2.0, CAL= 341.3,  -0.9, ROT= 168.7,   0.9

2025-08-22T16:46:24.731Z,1755881184.731 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T16:46:24.732Z,1755881184.732 [DAT](INFO): direction in FSK: [-0.980494,0.195922,-0.015707]
2025-08-22T16:46:24.732Z,1755881184.732 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:24.740Z,1755881184.740 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.486935
2025-08-22T16:46:24.954Z,1755881184.954 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.701687
2025-08-22T16:46:25.039Z,1755881185.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.504937 s,
      deltaX: -0.100000 m,
      approachRate: -0.198045 m/s,
      rangeRepo size: 4

2025-08-22T16:46:25.047Z,1755881185.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836143 m,
      bearing: 137.249960 deg,
      lat: 36.779449 deg,
      lon: -121.859649 deg,
      deltaT: 0.504937 s,
      deltaX: -0.099371 m,
      approachRate: -0.196799 m/s,
      posRepo size: 4

2025-08-22T16:46:25.047Z,1755881185.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:25.208Z,1755881185.208 [DAT](INFO): DAT read: Rx Time:16:46:25.9598 

2025-08-22T16:46:25.210Z,1755881185.210 [DAT](INFO): Rx dataTimestamp_ set to:1755881185.208421
2025-08-22T16:46:25.214Z,1755881185.214 [DAT](INFO): DAT read: Bearing 310.6,   9.9 (Local)

2025-08-22T16:46:25.215Z,1755881185.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,   9.9 (Local)

2025-08-22T16:46:25.217Z,1755881185.217 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-22T16:46:25.221Z,1755881185.221 [DAT](INFO): DAT read: 16:46:25.9598 LVL= 30576, 21361, 32754, 32755, AGC= 68, IDX= 507,-0.06, 0.355, 2.043, 0.018, 0.911, PHS=-0.453, 1.177,-0.937, RAW= 342.6,   2.3, CAL= 342.1,  -0.6, ROT= 167.9,   0.6

2025-08-22T16:46:25.222Z,1755881185.222 [DAT](INFO): got valid direction response:
 16:46:25.9598 LVL= 30576, 21361, 32754, 32755, AGC= 68, IDX= 507,-0.06, 0.355, 2.043, 0.018, 0.911, PHS=-0.453, 1.177,-0.937, RAW= 342.6,   2.3, CAL= 342.1,  -0.6, ROT= 167.9,   0.6

2025-08-22T16:46:25.223Z,1755881185.223 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T16:46:25.224Z,1755881185.224 [DAT](INFO): direction in FSK: [-0.977730,0.209607,-0.010472]
2025-08-22T16:46:25.224Z,1755881185.224 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:25.227Z,1755881185.227 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.974569
2025-08-22T16:46:25.437Z,1755881185.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504157 s,
      deltaX: 0.100000 m,
      approachRate: 0.198352 m/s,
      rangeRepo size: 4

2025-08-22T16:46:25.440Z,1755881185.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935501 m,
      bearing: 136.513494 deg,
      lat: 36.779449 deg,
      lon: -121.859649 deg,
      deltaT: 0.504157 s,
      deltaX: 0.099358 m,
      approachRate: 0.197077 m/s,
      posRepo size: 4

2025-08-22T16:46:25.441Z,1755881185.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:25.460Z,1755881185.460 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.207247
2025-08-22T16:46:25.711Z,1755881185.711 [DAT](INFO): DAT read: Rx Time:16:46:26.4597 

2025-08-22T16:46:25.712Z,1755881185.712 [DAT](INFO): Rx dataTimestamp_ set to:1755881185.711243
2025-08-22T16:46:25.713Z,1755881185.713 [DAT](INFO): DAT read: Bearing 310.9,  10.3 (Local)

2025-08-22T16:46:25.713Z,1755881185.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,  10.3 (Local)

2025-08-22T16:46:25.715Z,1755881185.715 [DAT](INFO): DAT read: Range 11 to 50 :    26.0 m (trip time 17.3 ms) speed -0.1

2025-08-22T16:46:25.720Z,1755881185.720 [DAT](INFO): DAT read: 16:46:26.4597 LVL= 28448, 18369, 31570, 32691, AGC= 67, IDX= 506, 0.11, 0.870, 2.512, 0.528, 1.404, PHS=-0.431, 1.153,-0.920, RAW= 343.0,   2.1, CAL= 342.5,  -0.8, ROT= 167.5,   0.8

2025-08-22T16:46:25.721Z,1755881185.721 [DAT](INFO): got valid direction response:
 16:46:26.4597 LVL= 28448, 18369, 31570, 32691, AGC= 67, IDX= 506, 0.11, 0.870, 2.512, 0.528, 1.404, PHS=-0.431, 1.153,-0.920, RAW= 343.0,   2.1, CAL= 342.5,  -0.8, ROT= 167.5,   0.8

2025-08-22T16:46:25.721Z,1755881185.721 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T16:46:25.722Z,1755881185.722 [DAT](INFO): direction in FSK: [-0.976201,0.216419,-0.013962]
2025-08-22T16:46:25.722Z,1755881185.722 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:25.743Z,1755881185.743 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.489729
2025-08-22T16:46:25.933Z,1755881185.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.502822 s,
      deltaX: -0.100000 m,
      approachRate: -0.198878 m/s,
      rangeRepo size: 4

2025-08-22T16:46:25.935Z,1755881185.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.836130 m,
      bearing: 136.114814 deg,
      lat: 36.779450 deg,
      lon: -121.859649 deg,
      deltaT: 0.502822 s,
      deltaX: -0.099371 m,
      approachRate: -0.197627 m/s,
      posRepo size: 4

2025-08-22T16:46:25.936Z,1755881185.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.84 m.
2025-08-22T16:46:25.963Z,1755881185.963 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.709900
2025-08-22T16:46:26.215Z,1755881186.215 [DAT](INFO): DAT read: Rx Time:16:46:26.9598 

2025-08-22T16:46:26.216Z,1755881186.216 [DAT](INFO): Rx dataTimestamp_ set to:1755881186.215402
2025-08-22T16:46:26.217Z,1755881186.217 [DAT](INFO): DAT read: Bearing 310.9,   9.6 (Local)

2025-08-22T16:46:26.217Z,1755881186.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   9.6 (Local)

2025-08-22T16:46:26.219Z,1755881186.219 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed -0.2

2025-08-22T16:46:26.224Z,1755881186.224 [DAT](INFO): DAT read: 16:46:26.9598 LVL= 32752, 23121, 32754, 32755, AGC= 65, IDX= 507, 0.39, 1.441,-3.138, 1.106, 1.999, PHS=-0.456, 1.191,-0.937, RAW= 342.4,   2.1, CAL= 342.0,  -0.8, ROT= 168.0,   0.8

2025-08-22T16:46:26.225Z,1755881186.225 [DAT](INFO): got valid direction response:
 16:46:26.9598 LVL= 32752, 23121, 32754, 32755, AGC= 65, IDX= 507, 0.39, 1.441,-3.138, 1.106, 1.999, PHS=-0.456, 1.191,-0.937, RAW= 342.4,   2.1, CAL= 342.0,  -0.8, ROT= 168.0,   0.8

2025-08-22T16:46:26.225Z,1755881186.225 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T16:46:26.226Z,1755881186.226 [DAT](INFO): direction in FSK: [-0.978052,0.207891,-0.013962]
2025-08-22T16:46:26.226Z,1755881186.226 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:26.236Z,1755881186.236 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.983538
2025-08-22T16:46:26.375Z,1755881186.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504159 s,
      deltaX: 0.100000 m,
      approachRate: 0.198351 m/s,
      rangeRepo size: 4

2025-08-22T16:46:26.382Z,1755881186.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935486 m,
      bearing: 136.639566 deg,
      lat: 36.779449 deg,
      lon: -121.859649 deg,
      deltaT: 0.504159 s,
      deltaX: 0.099356 m,
      approachRate: 0.197072 m/s,
      posRepo size: 4

2025-08-22T16:46:26.382Z,1755881186.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:26.468Z,1755881186.468 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.215483
2025-08-22T16:46:26.700Z,1755881186.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:26.719Z,1755881186.719 [DAT](INFO): DAT read: Rx Time:16:46:27.4598 

2025-08-22T16:46:26.720Z,1755881186.720 [DAT](INFO): Rx dataTimestamp_ set to:1755881186.719369
2025-08-22T16:46:26.721Z,1755881186.721 [DAT](INFO): DAT read: Bearing 311.4,   9.5 (Local)

2025-08-22T16:46:26.721Z,1755881186.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   9.5 (Local)

2025-08-22T16:46:26.723Z,1755881186.723 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-22T16:46:26.728Z,1755881186.728 [DAT](INFO): DAT read: 16:46:27.4598 LVL= 32240, 23537, 32754, 32755, AGC= 65, IDX= 507,-0.17,-1.978,-0.276,-2.310,-1.435, PHS=-0.441, 1.204,-0.919, RAW= 342.4,   1.6, CAL= 341.9,  -1.3, ROT= 168.1,   1.3

2025-08-22T16:46:26.729Z,1755881186.729 [DAT](INFO): got valid direction response:
 16:46:27.4598 LVL= 32240, 23537, 32754, 32755, AGC= 65, IDX= 507,-0.17,-1.978,-0.276,-2.310,-1.435, PHS=-0.441, 1.204,-0.919, RAW= 342.4,   1.6, CAL= 341.9,  -1.3, ROT= 168.1,   1.3

2025-08-22T16:46:26.729Z,1755881186.729 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T16:46:26.730Z,1755881186.730 [DAT](INFO): direction in FSK: [-0.978257,0.206151,-0.022687]
2025-08-22T16:46:26.731Z,1755881186.731 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:26.738Z,1755881186.738 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.485571
2025-08-22T16:46:26.971Z,1755881186.971 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.717812
2025-08-22T16:46:27.202Z,1755881187.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503967 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:27.204Z,1755881187.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935539 m,
      bearing: 136.750281 deg,
      lat: 36.779449 deg,
      lon: -121.859651 deg,
      deltaT: 0.503967 s,
      deltaX: 0.000053 m,
      approachRate: 0.000106 m/s,
      posRepo size: 4

2025-08-22T16:46:27.205Z,1755881187.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:27.243Z,1755881187.243 [DAT](INFO): DAT read: Rx Time:16:46:27.9599 

2025-08-22T16:46:27.244Z,1755881187.244 [DAT](INFO): Rx dataTimestamp_ set to:1755881187.243304
2025-08-22T16:46:27.245Z,1755881187.245 [DAT](INFO): DAT read: Bearing 310.8,  10.0 (Local)

2025-08-22T16:46:27.245Z,1755881187.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.8,  10.0 (Local)

2025-08-22T16:46:27.247Z,1755881187.247 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.1

2025-08-22T16:46:27.283Z,1755881187.283 [DAT](INFO): DAT read: 16:46:27.9599 LVL= 27952, 23121, 32386, 32755, AGC= 66, IDX= 508, 0.10, 0.892, 2.551, 0.551, 1.437, PHS=-0.442, 1.159,-0.930, RAW= 342.9,   2.3, CAL= 342.4,  -0.6, ROT= 167.6,   0.6

2025-08-22T16:46:27.284Z,1755881187.284 [DAT](INFO): got valid direction response:
 16:46:27.9599 LVL= 27952, 23121, 32386, 32755, AGC= 66, IDX= 508, 0.10, 0.892, 2.551, 0.551, 1.437, PHS=-0.442, 1.159,-0.930, RAW= 342.9,   2.3, CAL= 342.4,  -0.6, ROT= 167.6,   0.6

2025-08-22T16:46:27.285Z,1755881187.285 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T16:46:27.311Z,1755881187.311 [DAT](INFO): direction in FSK: [-0.976619,0.214724,-0.010472]
2025-08-22T16:46:27.312Z,1755881187.312 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:27.338Z,1755881187.338 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.072184
2025-08-22T16:46:27.495Z,1755881187.495 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.242292
2025-08-22T16:46:27.579Z,1755881187.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.523935 s,
      deltaX: 0.199999 m,
      approachRate: 0.381725 m/s,
      rangeRepo size: 4

2025-08-22T16:46:27.581Z,1755881187.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134277 m,
      bearing: 136.388384 deg,
      lat: 36.779449 deg,
      lon: -121.859649 deg,
      deltaT: 0.523935 s,
      deltaX: 0.198738 m,
      approachRate: 0.379318 m/s,
      posRepo size: 4

2025-08-22T16:46:27.586Z,1755881187.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:27.747Z,1755881187.747 [DAT](INFO): DAT read: Rx Time:16:46:28.4598 

2025-08-22T16:46:27.748Z,1755881187.748 [DAT](INFO): Rx dataTimestamp_ set to:1755881187.747294
2025-08-22T16:46:27.749Z,1755881187.749 [DAT](INFO): DAT read: Bearing 311.3,   9.9 (Local)

2025-08-22T16:46:27.749Z,1755881187.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,   9.9 (Local)

2025-08-22T16:46:27.751Z,1755881187.751 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.0

2025-08-22T16:46:27.756Z,1755881187.756 [DAT](INFO): DAT read: 16:46:28.4598 LVL= 30272, 23697, 32754, 32755, AGC= 65, IDX= 507, 0.49,-0.314, 1.371,-0.665, 0.224, PHS=-0.436, 1.192,-0.933, RAW= 342.9,   1.9, CAL= 342.4,  -1.0, ROT= 167.6,   1.0

2025-08-22T16:46:27.757Z,1755881187.757 [DAT](INFO): got valid direction response:
 16:46:28.4598 LVL= 30272, 23697, 32754, 32755, AGC= 65, IDX= 507, 0.49,-0.314, 1.371,-0.665, 0.224, PHS=-0.436, 1.192,-0.933, RAW= 342.9,   1.9, CAL= 342.4,  -1.0, ROT= 167.6,   1.0

2025-08-22T16:46:27.757Z,1755881187.757 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T16:46:27.759Z,1755881187.759 [DAT](INFO): direction in FSK: [-0.976524,0.214703,-0.017452]
2025-08-22T16:46:27.759Z,1755881187.759 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:27.766Z,1755881187.766 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.513456
2025-08-22T16:46:27.999Z,1755881187.999 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.746113
2025-08-22T16:46:28.000Z,1755881188.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503990 s,
      deltaX: -0.199999 m,
      approachRate: -0.396831 m/s,
      rangeRepo size: 4

2025-08-22T16:46:28.018Z,1755881188.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.935539 m,
      bearing: 136.383841 deg,
      lat: 36.779449 deg,
      lon: -121.859651 deg,
      deltaT: 0.503990 s,
      deltaX: -0.198738 m,
      approachRate: -0.394329 m/s,
      posRepo size: 4

2025-08-22T16:46:28.019Z,1755881188.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:46:28.251Z,1755881188.251 [DAT](INFO): DAT read: Rx Time:16:46:28.9600 

2025-08-22T16:46:28.252Z,1755881188.252 [DAT](INFO): Rx dataTimestamp_ set to:1755881188.251259
2025-08-22T16:46:28.253Z,1755881188.253 [DAT](INFO): DAT read: Bearing 311.3,   9.6 (Local)

2025-08-22T16:46:28.253Z,1755881188.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,   9.6 (Local)

2025-08-22T16:46:28.255Z,1755881188.255 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-08-22T16:46:28.262Z,1755881188.262 [DAT](INFO): DAT read: 16:46:28.9600 LVL= 31504, 23009, 32754, 32755, AGC= 65, IDX= 509,-0.08,-0.392, 1.312,-0.739, 0.154, PHS=-0.444, 1.203,-0.937, RAW= 342.7,   1.9, CAL= 342.2,  -1.0, ROT= 167.8,   1.0

2025-08-22T16:46:28.264Z,1755881188.264 [DAT](INFO): got valid direction response:
 16:46:28.9600 LVL= 31504, 23009, 32754, 32755, AGC= 65, IDX= 509,-0.08,-0.392, 1.312,-0.739, 0.154, PHS=-0.444, 1.203,-0.937, RAW= 342.7,   1.9, CAL= 342.2,  -1.0, ROT= 167.8,   1.0

2025-08-22T16:46:28.265Z,1755881188.265 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T16:46:28.267Z,1755881188.267 [DAT](INFO): direction in FSK: [-0.977267,0.211293,-0.017452]
2025-08-22T16:46:28.267Z,1755881188.267 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:28.274Z,1755881188.274 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.021065
2025-08-22T16:46:28.407Z,1755881188.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503965 s,
      deltaX: 0.299999 m,
      approachRate: 0.595278 m/s,
      rangeRepo size: 4

2025-08-22T16:46:28.409Z,1755881188.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233824 m,
      bearing: 136.630802 deg,
      lat: 36.779449 deg,
      lon: -121.859651 deg,
      deltaT: 0.503965 s,
      deltaX: 0.298285 m,
      approachRate: 0.591875 m/s,
      posRepo size: 4

2025-08-22T16:46:28.422Z,1755881188.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:28.503Z,1755881188.503 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.250031
2025-08-22T16:46:28.755Z,1755881188.755 [DAT](INFO): DAT read: Rx Time:16:46:29.4599 

2025-08-22T16:46:28.756Z,1755881188.756 [DAT](INFO): Rx dataTimestamp_ set to:1755881188.755365
2025-08-22T16:46:28.758Z,1755881188.758 [DAT](INFO): DAT read: Bearing 311.2,   9.9 (Local)

2025-08-22T16:46:28.759Z,1755881188.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,   9.9 (Local)

2025-08-22T16:46:28.763Z,1755881188.763 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:28.770Z,1755881188.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:28.774Z,1755881188.774 [DAT](INFO): DAT read: 16:46:29.4599 LVL= 29872, 25329, 32754, 32755, AGC= 65, IDX= 508, 0.24, 0.179, 1.844,-0.169, 0.715, PHS=-0.435, 1.173,-0.929, RAW= 343.0,   2.0, CAL= 342.5,  -0.9, ROT= 167.5,   0.9

2025-08-22T16:46:28.776Z,1755881188.776 [DAT](INFO): got valid direction response:
 16:46:29.4599 LVL= 29872, 25329, 32754, 32755, AGC= 65, IDX= 508, 0.24, 0.179, 1.844,-0.169, 0.715, PHS=-0.435, 1.173,-0.929, RAW= 343.0,   2.0, CAL= 342.5,  -0.9, ROT= 167.5,   0.9

2025-08-22T16:46:28.776Z,1755881188.776 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T16:46:28.782Z,1755881188.782 [DAT](INFO): direction in FSK: [-0.976176,0.216413,-0.015707]
2025-08-22T16:46:28.783Z,1755881188.783 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:28.820Z,1755881188.820 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.567053
2025-08-22T16:46:29.007Z,1755881189.007 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.754154
2025-08-22T16:46:29.230Z,1755881189.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504106 s,
      deltaX: -0.100000 m,
      approachRate: -0.198372 m/s,
      rangeRepo size: 4

2025-08-22T16:46:29.232Z,1755881189.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134523 m,
      bearing: 136.439325 deg,
      lat: 36.779448 deg,
      lon: -121.859651 deg,
      deltaT: 0.504106 s,
      deltaX: -0.099300 m,
      approachRate: -0.196983 m/s,
      posRepo size: 4

2025-08-22T16:46:29.233Z,1755881189.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:29.261Z,1755881189.261 [DAT](INFO): DAT read: Rx Time:16:46:29.9599 

2025-08-22T16:46:29.262Z,1755881189.262 [DAT](INFO): Rx dataTimestamp_ set to:1755881189.261053
2025-08-22T16:46:29.264Z,1755881189.264 [DAT](INFO): DAT read: Bearing 311.2,   9.8 (Local)

2025-08-22T16:46:29.265Z,1755881189.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.2,   9.8 (Local)

2025-08-22T16:46:29.268Z,1755881189.268 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:29.286Z,1755881189.286 [DAT](INFO): DAT read: 16:46:29.9599 LVL= 29536, 25185, 32242, 32755, AGC= 65, IDX= 509,-0.30,-1.584, 0.115,-1.939,-1.035, PHS=-0.447, 1.195,-0.948, RAW= 342.9,   2.1, CAL= 342.4,  -0.8, ROT= 167.6,   0.8

2025-08-22T16:46:29.288Z,1755881189.288 [DAT](INFO): got valid direction response:
 16:46:29.9599 LVL= 29536, 25185, 32242, 32755, AGC= 65, IDX= 509,-0.30,-1.584, 0.115,-1.939,-1.035, PHS=-0.447, 1.195,-0.948, RAW= 342.9,   2.1, CAL= 342.4,  -0.8, ROT= 167.6,   0.8

2025-08-22T16:46:29.289Z,1755881189.289 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T16:46:29.293Z,1755881189.293 [DAT](INFO): direction in FSK: [-0.976577,0.214714,-0.013962]
2025-08-22T16:46:29.293Z,1755881189.293 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:29.297Z,1755881189.297 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.043791
2025-08-22T16:46:29.511Z,1755881189.511 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.257839
2025-08-22T16:46:29.567Z,1755881189.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.505688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:29.570Z,1755881189.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134523 m,
      bearing: 136.591550 deg,
      lat: 36.779448 deg,
      lon: -121.859651 deg,
      deltaT: 0.505688 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:29.570Z,1755881189.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:29.765Z,1755881189.765 [DAT](INFO): DAT read: Rx Time:16:46:30.4599 

2025-08-22T16:46:29.765Z,1755881189.765 [DAT](INFO): Rx dataTimestamp_ set to:1755881189.764775
2025-08-22T16:46:29.767Z,1755881189.767 [DAT](INFO): DAT read: Bearing 311.7,   9.7 (Local)

2025-08-22T16:46:29.768Z,1755881189.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   9.7 (Local)

2025-08-22T16:46:29.771Z,1755881189.771 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.1

2025-08-22T16:46:29.778Z,1755881189.778 [DAT](INFO): DAT read: 16:46:30.4599 LVL= 29552, 24561, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.256, 0.425,-1.608,-0.726, PHS=-0.428, 1.196,-0.926, RAW= 342.9,   1.7, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-08-22T16:46:29.780Z,1755881189.780 [DAT](INFO): got valid direction response:
 16:46:30.4599 LVL= 29552, 24561, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.256, 0.425,-1.608,-0.726, PHS=-0.428, 1.196,-0.926, RAW= 342.9,   1.7, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-08-22T16:46:29.781Z,1755881189.781 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T16:46:29.783Z,1755881189.783 [DAT](INFO): direction in FSK: [-0.976045,0.216384,-0.022687]
2025-08-22T16:46:29.783Z,1755881189.783 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:29.789Z,1755881189.789 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.535952
2025-08-22T16:46:30.019Z,1755881190.019 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.765196
2025-08-22T16:46:30.046Z,1755881190.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503722 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:30.048Z,1755881190.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134523 m,
      bearing: 136.429600 deg,
      lat: 36.779448 deg,
      lon: -121.859651 deg,
      deltaT: 0.503722 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:30.049Z,1755881190.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:30.268Z,1755881190.268 [DAT](INFO): DAT read: Rx Time:16:46:30.9600 

2025-08-22T16:46:30.269Z,1755881190.269 [DAT](INFO): Rx dataTimestamp_ set to:1755881190.268645
2025-08-22T16:46:30.271Z,1755881190.271 [DAT](INFO): DAT read: Bearing 311.3,  10.1 (Local)

2025-08-22T16:46:30.272Z,1755881190.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,  10.1 (Local)

2025-08-22T16:46:30.275Z,1755881190.275 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.2

2025-08-22T16:46:30.320Z,1755881190.320 [DAT](INFO): DAT read: 16:46:30.9600 LVL= 32752, 23857, 32754, 32755, AGC= 66, IDX= 509, 0.33, 0.426, 2.101, 0.064, 0.965, PHS=-0.437, 1.181,-0.945, RAW= 343.2,   2.1, CAL= 342.8,  -0.8, ROT= 167.2,   0.8

2025-08-22T16:46:30.322Z,1755881190.322 [DAT](INFO): got valid direction response:
 16:46:30.9600 LVL= 32752, 23857, 32754, 32755, AGC= 66, IDX= 509, 0.33, 0.426, 2.101, 0.064, 0.965, PHS=-0.437, 1.181,-0.945, RAW= 343.2,   2.1, CAL= 342.8,  -0.8, ROT= 167.2,   0.8

2025-08-22T16:46:30.322Z,1755881190.322 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T16:46:30.323Z,1755881190.323 [DAT](INFO): direction in FSK: [-0.975054,0.221527,-0.013962]
2025-08-22T16:46:30.323Z,1755881190.323 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:30.331Z,1755881190.331 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.078337
2025-08-22T16:46:30.434Z,1755881190.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503870 s,
      deltaX: 0.100000 m,
      approachRate: 0.198465 m/s,
      rangeRepo size: 4

2025-08-22T16:46:30.436Z,1755881190.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233858 m,
      bearing: 136.279888 deg,
      lat: 36.779447 deg,
      lon: -121.859651 deg,
      deltaT: 0.503870 s,
      deltaX: 0.099335 m,
      approachRate: 0.197144 m/s,
      posRepo size: 4

2025-08-22T16:46:30.436Z,1755881190.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:30.521Z,1755881190.521 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.268583
2025-08-22T16:46:30.776Z,1755881190.776 [DAT](INFO): DAT read: Rx Time:16:46:31.4599 

2025-08-22T16:46:30.777Z,1755881190.777 [DAT](INFO): Rx dataTimestamp_ set to:1755881190.776662
2025-08-22T16:46:30.779Z,1755881190.779 [DAT](INFO): DAT read: Bearing 311.9,   9.8 (Local)

2025-08-22T16:46:30.780Z,1755881190.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,   9.8 (Local)

2025-08-22T16:46:30.783Z,1755881190.783 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:30.789Z,1755881190.789 [DAT](INFO): DAT read: 16:46:31.4599 LVL= 31600, 24417, 32754, 32755, AGC= 65, IDX= 509,-0.24,-2.728,-1.027,-3.089,-2.197, PHS=-0.430, 1.215,-0.937, RAW= 343.0,   1.6, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-08-22T16:46:30.834Z,1755881190.834 [DAT](INFO): got valid direction response:
 16:46:31.4599 LVL= 31600, 24417, 32754, 32755, AGC= 65, IDX= 509,-0.24,-2.728,-1.027,-3.089,-2.197, PHS=-0.430, 1.215,-0.937, RAW= 343.0,   1.6, CAL= 342.5,  -1.3, ROT= 167.5,   1.3

2025-08-22T16:46:30.835Z,1755881190.835 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T16:46:30.836Z,1755881190.836 [DAT](INFO): direction in FSK: [-0.976045,0.216384,-0.022687]
2025-08-22T16:46:30.836Z,1755881190.836 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:30.852Z,1755881190.852 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.598906
2025-08-22T16:46:30.861Z,1755881190.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.508017 s,
      deltaX: -0.100000 m,
      approachRate: -0.196845 m/s,
      rangeRepo size: 4

2025-08-22T16:46:30.867Z,1755881190.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134487 m,
      bearing: 136.535611 deg,
      lat: 36.779447 deg,
      lon: -121.859652 deg,
      deltaT: 0.508017 s,
      deltaX: -0.099371 m,
      approachRate: -0.195606 m/s,
      posRepo size: 4

2025-08-22T16:46:30.868Z,1755881190.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:31.027Z,1755881191.027 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.773788
2025-08-22T16:46:31.266Z,1755881191.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:31.281Z,1755881191.281 [DAT](INFO): DAT read: Rx Time:16:46:31.9601 

2025-08-22T16:46:31.282Z,1755881191.282 [DAT](INFO): Rx dataTimestamp_ set to:1755881191.281315
2025-08-22T16:46:31.284Z,1755881191.284 [DAT](INFO): DAT read: Bearing 311.5,   9.9 (Local)

2025-08-22T16:46:31.284Z,1755881191.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   9.9 (Local)

2025-08-22T16:46:31.287Z,1755881191.287 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.1

2025-08-22T16:46:31.307Z,1755881191.307 [DAT](INFO): DAT read: 16:46:31.9601 LVL= 31360, 23441, 32754, 32755, AGC= 66, IDX= 510,-0.01,-0.694, 0.999,-1.052,-0.152, PHS=-0.440, 1.195,-0.944, RAW= 343.0,   2.0, CAL= 342.5,  -0.9, ROT= 167.5,   0.9

2025-08-22T16:46:31.308Z,1755881191.308 [DAT](INFO): got valid direction response:
 16:46:31.9601 LVL= 31360, 23441, 32754, 32755, AGC= 66, IDX= 510,-0.01,-0.694, 0.999,-1.052,-0.152, PHS=-0.440, 1.195,-0.944, RAW= 343.0,   2.0, CAL= 342.5,  -0.9, ROT= 167.5,   0.9

2025-08-22T16:46:31.308Z,1755881191.308 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:46:31.321Z,1755881191.321 [DAT](INFO): direction in FSK: [-0.976176,0.216413,-0.015707]
2025-08-22T16:46:31.330Z,1755881191.330 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:31.337Z,1755881191.337 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.084042
2025-08-22T16:46:31.531Z,1755881191.531 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.277756
2025-08-22T16:46:31.590Z,1755881191.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504653 s,
      deltaX: 0.300001 m,
      approachRate: 0.594470 m/s,
      rangeRepo size: 4

2025-08-22T16:46:31.592Z,1755881191.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432638 m,
      bearing: 136.603950 deg,
      lat: 36.779447 deg,
      lon: -121.859652 deg,
      deltaT: 0.504653 s,
      deltaX: 0.298151 m,
      approachRate: 0.590804 m/s,
      posRepo size: 4

2025-08-22T16:46:31.593Z,1755881191.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:31.785Z,1755881191.785 [DAT](INFO): DAT read: Rx Time:16:46:32.4600 

2025-08-22T16:46:31.785Z,1755881191.785 [DAT](INFO): Rx dataTimestamp_ set to:1755881191.784898
2025-08-22T16:46:31.787Z,1755881191.787 [DAT](INFO): DAT read: Bearing 311.9,  10.3 (Local)

2025-08-22T16:46:31.787Z,1755881191.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  10.3 (Local)

2025-08-22T16:46:31.794Z,1755881191.794 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:31.799Z,1755881191.799 [DAT](INFO): DAT read: 16:46:32.4600 LVL= 29936, 25841, 32754, 32755, AGC= 66, IDX= 509, 0.14,-0.890, 0.798,-1.264,-0.364, PHS=-0.424, 1.207,-0.944, RAW= 343.4,   1.7, CAL= 342.9,  -1.2, ROT= 167.1,   1.2

2025-08-22T16:46:31.800Z,1755881191.800 [DAT](INFO): got valid direction response:
 16:46:32.4600 LVL= 29936, 25841, 32754, 32755, AGC= 66, IDX= 509, 0.14,-0.890, 0.798,-1.264,-0.364, PHS=-0.424, 1.207,-0.944, RAW= 343.4,   1.7, CAL= 342.9,  -1.2, ROT= 167.1,   1.2

2025-08-22T16:46:31.800Z,1755881191.800 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:46:31.801Z,1755881191.801 [DAT](INFO): direction in FSK: [-0.974547,0.223201,-0.020942]
2025-08-22T16:46:31.801Z,1755881191.801 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:31.813Z,1755881191.813 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.560017
2025-08-22T16:46:32.035Z,1755881192.035 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.781841
2025-08-22T16:46:32.079Z,1755881192.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503583 s,
      deltaX: -0.200001 m,
      approachRate: -0.397156 m/s,
      rangeRepo size: 4

2025-08-22T16:46:32.081Z,1755881192.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233896 m,
      bearing: 136.176357 deg,
      lat: 36.779447 deg,
      lon: -121.859652 deg,
      deltaT: 0.503583 s,
      deltaX: -0.198742 m,
      approachRate: -0.394656 m/s,
      posRepo size: 4

2025-08-22T16:46:32.081Z,1755881192.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:32.290Z,1755881192.290 [DAT](INFO): DAT read: Rx Time:16:46:32.9601 

2025-08-22T16:46:32.291Z,1755881192.291 [DAT](INFO): Rx dataTimestamp_ set to:1755881192.290257
2025-08-22T16:46:32.292Z,1755881192.292 [DAT](INFO): DAT read: Bearing 311.8,  10.6 (Local)

2025-08-22T16:46:32.292Z,1755881192.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  10.6 (Local)

2025-08-22T16:46:32.294Z,1755881192.294 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:32.300Z,1755881192.300 [DAT](INFO): DAT read: 16:46:32.9601 LVL= 32752, 23937, 32754, 32755, AGC= 65, IDX= 510, 0.24, 1.458, 3.112, 1.080, 1.976, PHS=-0.417, 1.181,-0.940, RAW= 343.7,   1.9, CAL= 343.2,  -1.1, ROT= 166.8,   1.1

2025-08-22T16:46:32.301Z,1755881192.301 [DAT](INFO): got valid direction response:
 16:46:32.9601 LVL= 32752, 23937, 32754, 32755, AGC= 65, IDX= 510, 0.24, 1.458, 3.112, 1.080, 1.976, PHS=-0.417, 1.181,-0.940, RAW= 343.7,   1.9, CAL= 343.2,  -1.1, ROT= 166.8,   1.1

2025-08-22T16:46:32.302Z,1755881192.302 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:46:32.303Z,1755881192.303 [DAT](INFO): direction in FSK: [-0.973400,0.228309,-0.019197]
2025-08-22T16:46:32.304Z,1755881192.304 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:32.364Z,1755881192.364 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.111340
2025-08-22T16:46:32.450Z,1755881192.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.505359 s,
      deltaX: 0.200001 m,
      approachRate: 0.395760 m/s,
      rangeRepo size: 4

2025-08-22T16:46:32.452Z,1755881192.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432632 m,
      bearing: 135.920881 deg,
      lat: 36.779447 deg,
      lon: -121.859651 deg,
      deltaT: 0.505359 s,
      deltaX: 0.198736 m,
      approachRate: 0.393257 m/s,
      posRepo size: 4

2025-08-22T16:46:32.453Z,1755881192.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:32.539Z,1755881192.539 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.285919
2025-08-22T16:46:32.791Z,1755881192.791 [DAT](INFO): DAT read: Rx Time:16:46:33.4600 

2025-08-22T16:46:32.792Z,1755881192.792 [DAT](INFO): Rx dataTimestamp_ set to:1755881192.791369
2025-08-22T16:46:32.793Z,1755881192.793 [DAT](INFO): DAT read: Bearing 311.5,  10.8 (Local)

2025-08-22T16:46:32.793Z,1755881192.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,  10.8 (Local)

2025-08-22T16:46:32.795Z,1755881192.795 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:32.801Z,1755881192.801 [DAT](INFO): DAT read: 16:46:33.4600 LVL= 30064, 25409, 32370, 32755, AGC= 66, IDX= 509, 0.32, 0.314, 1.970,-0.070, 0.843, PHS=-0.427, 1.172,-0.958, RAW= 343.8,   2.2, CAL= 343.4,  -0.7, ROT= 166.6,   0.7

2025-08-22T16:46:32.802Z,1755881192.802 [DAT](INFO): got valid direction response:
 16:46:33.4600 LVL= 30064, 25409, 32370, 32755, AGC= 66, IDX= 509, 0.32, 0.314, 1.970,-0.070, 0.843, PHS=-0.427, 1.172,-0.958, RAW= 343.8,   2.2, CAL= 343.4,  -0.7, ROT= 166.6,   0.7

2025-08-22T16:46:32.802Z,1755881192.802 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T16:46:32.803Z,1755881192.803 [DAT](INFO): direction in FSK: [-0.972703,0.231730,-0.012217]
2025-08-22T16:46:32.804Z,1755881192.804 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:32.813Z,1755881192.813 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.559994
2025-08-22T16:46:32.880Z,1755881192.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.501112 s,
      deltaX: -0.200001 m,
      approachRate: -0.399114 m/s,
      rangeRepo size: 4

2025-08-22T16:46:32.891Z,1755881192.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233891 m,
      bearing: 135.812459 deg,
      lat: 36.779447 deg,
      lon: -121.859651 deg,
      deltaT: 0.501112 s,
      deltaX: -0.198742 m,
      approachRate: -0.396602 m/s,
      posRepo size: 4

2025-08-22T16:46:32.891Z,1755881192.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:33.046Z,1755881193.046 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.793179
2025-08-22T16:46:33.247Z,1755881193.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:33.296Z,1755881193.296 [DAT](INFO): DAT read: Rx Time:16:46:33.9600 

2025-08-22T16:46:33.297Z,1755881193.297 [DAT](INFO): Rx dataTimestamp_ set to:1755881193.296618
2025-08-22T16:46:33.300Z,1755881193.300 [DAT](INFO): DAT read: Bearing 312.2,  10.7 (Local)

2025-08-22T16:46:33.300Z,1755881193.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  10.7 (Local)

2025-08-22T16:46:33.304Z,1755881193.304 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.1

2025-08-22T16:46:33.310Z,1755881193.310 [DAT](INFO): DAT read: 16:46:33.9600 LVL= 27584, 26609, 32754, 32755, AGC= 63, IDX= 510,-0.50,-1.266, 0.417,-1.655,-0.746, PHS=-0.417, 1.208,-0.953, RAW= 343.8,   1.7, CAL= 343.3,  -1.2, ROT= 166.7,   1.2

2025-08-22T16:46:33.311Z,1755881193.311 [DAT](INFO): got valid direction response:
 16:46:33.9600 LVL= 27584, 26609, 32754, 32755, AGC= 63, IDX= 510,-0.50,-1.266, 0.417,-1.655,-0.746, PHS=-0.417, 1.208,-0.953, RAW= 343.8,   1.7, CAL= 343.3,  -1.2, ROT= 166.7,   1.2

2025-08-22T16:46:33.312Z,1755881193.312 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T16:46:33.315Z,1755881193.315 [DAT](INFO): direction in FSK: [-0.972965,0.229999,-0.020942]
2025-08-22T16:46:33.315Z,1755881193.315 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:33.321Z,1755881193.321 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.068253
2025-08-22T16:46:33.547Z,1755881193.547 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.294025
2025-08-22T16:46:33.635Z,1755881193.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.505249 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:33.660Z,1755881193.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233925 m,
      bearing: 135.940229 deg,
      lat: 36.779447 deg,
      lon: -121.859651 deg,
      deltaT: 0.505249 s,
      deltaX: 0.000034 m,
      approachRate: 0.000068 m/s,
      posRepo size: 4

2025-08-22T16:46:33.666Z,1755881193.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:33.799Z,1755881193.799 [DAT](INFO): DAT read: Rx Time:16:46:34.4599 

2025-08-22T16:46:33.800Z,1755881193.800 [DAT](INFO): Rx dataTimestamp_ set to:1755881193.799392
2025-08-22T16:46:33.801Z,1755881193.801 [DAT](INFO): DAT read: Bearing 311.7,  10.9 (Local)

2025-08-22T16:46:33.802Z,1755881193.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,  10.9 (Local)

2025-08-22T16:46:33.804Z,1755881193.804 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:33.808Z,1755881193.808 [DAT](INFO): DAT read: 16:46:34.4599 LVL= 30064, 24657, 32706, 32755, AGC= 65, IDX= 509,-0.34,-2.790,-1.134, 3.107,-2.261, PHS=-0.427, 1.172,-0.959, RAW= 343.9,   2.3, CAL= 343.4,  -0.7, ROT= 166.6,   0.7

2025-08-22T16:46:33.810Z,1755881193.810 [DAT](INFO): got valid direction response:
 16:46:34.4599 LVL= 30064, 24657, 32706, 32755, AGC= 65, IDX= 509,-0.34,-2.790,-1.134, 3.107,-2.261, PHS=-0.427, 1.172,-0.959, RAW= 343.9,   2.3, CAL= 343.4,  -0.7, ROT= 166.6,   0.7

2025-08-22T16:46:33.810Z,1755881193.810 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T16:46:33.811Z,1755881193.811 [DAT](INFO): direction in FSK: [-0.972703,0.231730,-0.012217]
2025-08-22T16:46:33.811Z,1755881193.811 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:33.815Z,1755881193.815 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.562351
2025-08-22T16:46:34.059Z,1755881194.059 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.805805
2025-08-22T16:46:34.078Z,1755881194.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.502774 s,
      deltaX: -0.100000 m,
      approachRate: -0.198897 m/s,
      rangeRepo size: 4

2025-08-22T16:46:34.080Z,1755881194.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134554 m,
      bearing: 135.968546 deg,
      lat: 36.779447 deg,
      lon: -121.859652 deg,
      deltaT: 0.502774 s,
      deltaX: -0.099371 m,
      approachRate: -0.197645 m/s,
      posRepo size: 4

2025-08-22T16:46:34.081Z,1755881194.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:34.311Z,1755881194.311 [DAT](INFO): DAT read: Rx Time:16:46:34.9600 

2025-08-22T16:46:34.312Z,1755881194.312 [DAT](INFO): Rx dataTimestamp_ set to:1755881194.311266
2025-08-22T16:46:34.313Z,1755881194.313 [DAT](INFO): DAT read: Bearing 312.0,  10.6 (Local)

2025-08-22T16:46:34.313Z,1755881194.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  10.6 (Local)

2025-08-22T16:46:34.315Z,1755881194.315 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:34.320Z,1755881194.320 [DAT](INFO): DAT read: 16:46:34.9600 LVL= 27296, 24337, 32562, 32755, AGC= 64, IDX= 510,-0.18,-2.571,-0.858,-2.961,-2.034, PHS=-0.435, 1.220,-0.971, RAW= 343.6,   1.9, CAL= 343.1,  -1.0, ROT= 166.9,   1.0

2025-08-22T16:46:34.321Z,1755881194.321 [DAT](INFO): got valid direction response:
 16:46:34.9600 LVL= 27296, 24337, 32562, 32755, AGC= 64, IDX= 510,-0.18,-2.571,-0.858,-2.961,-2.034, PHS=-0.435, 1.220,-0.971, RAW= 343.6,   1.9, CAL= 343.1,  -1.0, ROT= 166.9,   1.0

2025-08-22T16:46:34.321Z,1755881194.321 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:46:34.336Z,1755881194.336 [DAT](INFO): direction in FSK: [-0.973828,0.226617,-0.017452]
2025-08-22T16:46:34.336Z,1755881194.336 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:34.359Z,1755881194.359 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.105446
2025-08-22T16:46:34.504Z,1755881194.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.511874 s,
      deltaX: 0.100000 m,
      approachRate: 0.195361 m/s,
      rangeRepo size: 4

2025-08-22T16:46:34.510Z,1755881194.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233994 m,
      bearing: 136.279208 deg,
      lat: 36.779447 deg,
      lon: -121.859652 deg,
      deltaT: 0.511874 s,
      deltaX: 0.099440 m,
      approachRate: 0.194266 m/s,
      posRepo size: 4

2025-08-22T16:46:34.514Z,1755881194.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:34.564Z,1755881194.564 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.310871
2025-08-22T16:46:34.811Z,1755881194.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:34.815Z,1755881194.815 [DAT](INFO): DAT read: Rx Time:16:46:35.4600 

2025-08-22T16:46:34.816Z,1755881194.816 [DAT](INFO): Rx dataTimestamp_ set to:1755881194.815362
2025-08-22T16:46:34.817Z,1755881194.817 [DAT](INFO): DAT read: Bearing 311.5,  11.2 (Local)

2025-08-22T16:46:34.817Z,1755881194.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,  11.2 (Local)

2025-08-22T16:46:34.824Z,1755881194.824 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:34.829Z,1755881194.829 [DAT](INFO): DAT read: 16:46:35.4600 LVL= 28400, 24561, 32754, 32755, AGC= 65, IDX= 509,-0.09, 3.113,-1.522, 2.724,-2.636, PHS=-0.432, 1.159,-0.967, RAW= 344.0,   2.5, CAL= 343.5,  -0.4, ROT= 166.5,   0.4

2025-08-22T16:46:34.846Z,1755881194.846 [DAT](INFO): got valid direction response:
 16:46:35.4600 LVL= 28400, 24561, 32754, 32755, AGC= 65, IDX= 509,-0.09, 3.113,-1.522, 2.724,-2.636, PHS=-0.432, 1.159,-0.967, RAW= 344.0,   2.5, CAL= 343.5,  -0.4, ROT= 166.5,   0.4

2025-08-22T16:46:34.847Z,1755881194.847 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:46:34.848Z,1755881194.848 [DAT](INFO): direction in FSK: [-0.972346,0.233440,-0.006981]
2025-08-22T16:46:34.848Z,1755881194.848 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:34.864Z,1755881194.864 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.610786
2025-08-22T16:46:35.070Z,1755881195.070 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.816551
2025-08-22T16:46:35.248Z,1755881195.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504096 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:35.272Z,1755881195.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233984 m,
      bearing: 136.084168 deg,
      lat: 36.779447 deg,
      lon: -121.859654 deg,
      deltaT: 0.504096 s,
      deltaX: -0.000010 m,
      approachRate: -0.000019 m/s,
      posRepo size: 4

2025-08-22T16:46:35.273Z,1755881195.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:35.320Z,1755881195.320 [DAT](INFO): DAT read: Rx Time:16:46:35.9601 

2025-08-22T16:46:35.320Z,1755881195.320 [DAT](INFO): Rx dataTimestamp_ set to:1755881195.320051
2025-08-22T16:46:35.322Z,1755881195.322 [DAT](INFO): DAT read: Bearing 312.3,  11.2 (Local)

2025-08-22T16:46:35.323Z,1755881195.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,  11.2 (Local)

2025-08-22T16:46:35.326Z,1755881195.326 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:35.332Z,1755881195.332 [DAT](INFO): DAT read: 16:46:35.9601 LVL= 29776, 23025, 32754, 32755, AGC= 64, IDX= 510, 0.01,-1.217, 0.447,-1.610,-0.702, PHS=-0.413, 1.194,-0.952, RAW= 344.0,   1.8, CAL= 343.5,  -1.1, ROT= 166.5,   1.1

2025-08-22T16:46:35.334Z,1755881195.334 [DAT](INFO): got valid direction response:
 16:46:35.9601 LVL= 29776, 23025, 32754, 32755, AGC= 64, IDX= 510, 0.01,-1.217, 0.447,-1.610,-0.702, PHS=-0.413, 1.194,-0.952, RAW= 344.0,   1.8, CAL= 343.5,  -1.1, ROT= 166.5,   1.1

2025-08-22T16:46:35.334Z,1755881195.334 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:46:35.336Z,1755881195.336 [DAT](INFO): direction in FSK: [-0.972191,0.233402,-0.019197]
2025-08-22T16:46:35.336Z,1755881195.336 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:35.344Z,1755881195.344 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.091270
2025-08-22T16:46:35.571Z,1755881195.571 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.317772
2025-08-22T16:46:35.699Z,1755881195.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504689 s,
      deltaX: 0.200001 m,
      approachRate: 0.396285 m/s,
      rangeRepo size: 4

2025-08-22T16:46:35.701Z,1755881195.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432726 m,
      bearing: 136.067485 deg,
      lat: 36.779446 deg,
      lon: -121.859654 deg,
      deltaT: 0.504689 s,
      deltaX: 0.198742 m,
      approachRate: 0.393791 m/s,
      posRepo size: 4

2025-08-22T16:46:35.701Z,1755881195.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:35.824Z,1755881195.824 [DAT](INFO): DAT read: Rx Time:16:46:36.4600 

2025-08-22T16:46:35.825Z,1755881195.825 [DAT](INFO): Rx dataTimestamp_ set to:1755881195.824374
2025-08-22T16:46:35.826Z,1755881195.826 [DAT](INFO): DAT read: Bearing 312.3,  11.4 (Local)

2025-08-22T16:46:35.826Z,1755881195.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,  11.4 (Local)

2025-08-22T16:46:35.828Z,1755881195.828 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:35.833Z,1755881195.833 [DAT](INFO): DAT read: 16:46:36.4600 LVL= 31376, 23521, 32754, 32755, AGC= 65, IDX= 509, 0.16,-2.061,-0.389,-2.461,-1.540, PHS=-0.419, 1.195,-0.965, RAW= 344.1,   2.0, CAL= 343.6,  -1.0, ROT= 166.4,   1.0

2025-08-22T16:46:35.834Z,1755881195.834 [DAT](INFO): got valid direction response:
 16:46:36.4600 LVL= 31376, 23521, 32754, 32755, AGC= 65, IDX= 509, 0.16,-2.061,-0.389,-2.461,-1.540, PHS=-0.419, 1.195,-0.965, RAW= 344.1,   2.0, CAL= 343.6,  -1.0, ROT= 166.4,   1.0

2025-08-22T16:46:35.835Z,1755881195.835 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:46:35.836Z,1755881195.836 [DAT](INFO): direction in FSK: [-0.971813,0.235106,-0.017452]
2025-08-22T16:46:35.836Z,1755881195.836 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:35.839Z,1755881195.839 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.586575
2025-08-22T16:46:36.077Z,1755881196.077 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.823833
2025-08-22T16:46:36.100Z,1755881196.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504323 s,
      deltaX: -0.200001 m,
      approachRate: -0.396573 m/s,
      rangeRepo size: 4

2025-08-22T16:46:36.102Z,1755881196.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233984 m,
      bearing: 136.035377 deg,
      lat: 36.779446 deg,
      lon: -121.859654 deg,
      deltaT: 0.504323 s,
      deltaX: -0.198742 m,
      approachRate: -0.394077 m/s,
      posRepo size: 4

2025-08-22T16:46:36.102Z,1755881196.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:36.330Z,1755881196.330 [DAT](INFO): DAT read: Rx Time:16:46:36.9601 

2025-08-22T16:46:36.331Z,1755881196.331 [DAT](INFO): Rx dataTimestamp_ set to:1755881196.330242
2025-08-22T16:46:36.332Z,1755881196.332 [DAT](INFO): DAT read: Bearing 312.8,  11.8 (Local)

2025-08-22T16:46:36.332Z,1755881196.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  11.8 (Local)

2025-08-22T16:46:36.334Z,1755881196.334 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:36.340Z,1755881196.340 [DAT](INFO): DAT read: 16:46:36.9601 LVL= 28912, 24689, 32754, 32755, AGC= 64, IDX= 510, 0.36,-0.961, 0.690,-1.372,-0.464, PHS=-0.395, 1.199,-0.952, RAW= 344.4,   1.5, CAL= 344.0,  -1.4, ROT= 166.0,   1.4

2025-08-22T16:46:36.341Z,1755881196.341 [DAT](INFO): got valid direction response:
 16:46:36.9601 LVL= 28912, 24689, 32754, 32755, AGC= 64, IDX= 510, 0.36,-0.961, 0.690,-1.372,-0.464, PHS=-0.395, 1.199,-0.952, RAW= 344.4,   1.5, CAL= 344.0,  -1.4, ROT= 166.0,   1.4

2025-08-22T16:46:36.367Z,1755881196.367 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:46:36.368Z,1755881196.368 [DAT](INFO): direction in FSK: [-0.970006,0.241850,-0.024432]
2025-08-22T16:46:36.368Z,1755881196.368 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:36.376Z,1755881196.376 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.123440
2025-08-22T16:46:36.507Z,1755881196.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.505868 s,
      deltaX: 0.200001 m,
      approachRate: 0.395362 m/s,
      rangeRepo size: 4

2025-08-22T16:46:36.509Z,1755881196.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432713 m,
      bearing: 135.660948 deg,
      lat: 36.779446 deg,
      lon: -121.859654 deg,
      deltaT: 0.505868 s,
      deltaX: 0.198729 m,
      approachRate: 0.392847 m/s,
      posRepo size: 4

2025-08-22T16:46:36.509Z,1755881196.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:36.579Z,1755881196.579 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.325951
2025-08-22T16:46:36.831Z,1755881196.831 [DAT](INFO): DAT read: Rx Time:16:46:37.4599 

2025-08-22T16:46:36.832Z,1755881196.832 [DAT](INFO): Rx dataTimestamp_ set to:1755881196.831378
2025-08-22T16:46:36.833Z,1755881196.833 [DAT](INFO): DAT read: Bearing 312.7,  11.7 (Local)

2025-08-22T16:46:36.833Z,1755881196.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7,  11.7 (Local)

2025-08-22T16:46:36.835Z,1755881196.835 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:36.840Z,1755881196.840 [DAT](INFO): DAT read: 16:46:37.4599 LVL= 30832, 24817, 32754, 32755, AGC= 64, IDX= 510,-0.35, 2.236,-2.350, 1.820, 2.751, PHS=-0.413, 1.227,-0.975, RAW= 344.2,   1.6, CAL= 343.7,  -1.3, ROT= 166.3,   1.3

2025-08-22T16:46:36.841Z,1755881196.841 [DAT](INFO): got valid direction response:
 16:46:37.4599 LVL= 30832, 24817, 32754, 32755, AGC= 64, IDX= 510,-0.35, 2.236,-2.350, 1.820, 2.751, PHS=-0.413, 1.227,-0.975, RAW= 344.2,   1.6, CAL= 343.7,  -1.3, ROT= 166.3,   1.3

2025-08-22T16:46:36.841Z,1755881196.841 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:46:36.863Z,1755881196.863 [DAT](INFO): direction in FSK: [-0.971299,0.236777,-0.022687]
2025-08-22T16:46:36.863Z,1755881196.863 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:36.896Z,1755881196.896 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.642941
2025-08-22T16:46:36.978Z,1755881196.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.501136 s,
      deltaX: -0.300001 m,
      approachRate: -0.598642 m/s,
      rangeRepo size: 4

2025-08-22T16:46:36.980Z,1755881196.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134600 m,
      bearing: 136.104999 deg,
      lat: 36.779446 deg,
      lon: -121.859654 deg,
      deltaT: 0.501136 s,
      deltaX: -0.298113 m,
      approachRate: -0.594874 m/s,
      posRepo size: 4

2025-08-22T16:46:36.980Z,1755881196.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:37.086Z,1755881197.086 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.832329
2025-08-22T16:46:37.335Z,1755881197.335 [DAT](INFO): DAT read: Rx Time:16:46:37.9599 

2025-08-22T16:46:37.336Z,1755881197.336 [DAT](INFO): Rx dataTimestamp_ set to:1755881197.335573
2025-08-22T16:46:37.337Z,1755881197.337 [DAT](INFO): DAT read: Bearing 312.6,  12.1 (Local)

2025-08-22T16:46:37.338Z,1755881197.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  12.1 (Local)

2025-08-22T16:46:37.340Z,1755881197.340 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed -0.1

2025-08-22T16:46:37.346Z,1755881197.346 [DAT](INFO): DAT read: 16:46:37.9599 LVL= 28480, 22945, 32754, 32755, AGC= 64, IDX= 510,-0.09, 1.921,-2.682, 1.495, 2.436, PHS=-0.413, 1.210,-0.985, RAW= 344.5,   1.9, CAL= 344.1,  -1.0, ROT= 165.9,   1.0

2025-08-22T16:46:37.347Z,1755881197.347 [DAT](INFO): got valid direction response:
 16:46:37.9599 LVL= 28480, 22945, 32754, 32755, AGC= 64, IDX= 510,-0.09, 1.921,-2.682, 1.495, 2.436, PHS=-0.413, 1.210,-0.985, RAW= 344.5,   1.9, CAL= 344.1,  -1.0, ROT= 165.9,   1.0

2025-08-22T16:46:37.348Z,1755881197.348 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T16:46:37.349Z,1755881197.349 [DAT](INFO): direction in FSK: [-0.969724,0.243578,-0.017452]
2025-08-22T16:46:37.349Z,1755881197.349 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:37.389Z,1755881197.389 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.135750
2025-08-22T16:46:37.512Z,1755881197.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504195 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:37.518Z,1755881197.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134577 m,
      bearing: 135.825695 deg,
      lat: 36.779446 deg,
      lon: -121.859655 deg,
      deltaT: 0.504195 s,
      deltaX: -0.000023 m,
      approachRate: -0.000045 m/s,
      posRepo size: 4

2025-08-22T16:46:37.519Z,1755881197.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:37.587Z,1755881197.587 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.334354
2025-08-22T16:46:37.839Z,1755881197.839 [DAT](INFO): DAT read: Rx Time:16:46:38.4599 

2025-08-22T16:46:37.840Z,1755881197.840 [DAT](INFO): Rx dataTimestamp_ set to:1755881197.839352
2025-08-22T16:46:37.841Z,1755881197.841 [DAT](INFO): DAT read: Bearing 312.4,  12.5 (Local)

2025-08-22T16:46:37.841Z,1755881197.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  12.5 (Local)

2025-08-22T16:46:37.858Z,1755881197.858 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:37.862Z,1755881197.862 [DAT](INFO): DAT read: 16:46:38.4599 LVL= 27888, 24049, 32754, 32755, AGC= 64, IDX= 509, 0.06, 2.024,-2.614, 1.595, 2.537, PHS=-0.411, 1.178,-0.986, RAW= 344.9,   2.3, CAL= 344.4,  -0.7, ROT= 165.6,   0.7

2025-08-22T16:46:37.863Z,1755881197.863 [DAT](INFO): got valid direction response:
 16:46:38.4599 LVL= 27888, 24049, 32754, 32755, AGC= 64, IDX= 509, 0.06, 2.024,-2.614, 1.595, 2.537, PHS=-0.411, 1.178,-0.986, RAW= 344.9,   2.3, CAL= 344.4,  -0.7, ROT= 165.6,   0.7

2025-08-22T16:46:37.864Z,1755881197.864 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T16:46:37.865Z,1755881197.865 [DAT](INFO): direction in FSK: [-0.968511,0.248671,-0.012217]
2025-08-22T16:46:37.865Z,1755881197.865 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:37.884Z,1755881197.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503779 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:37.885Z,1755881197.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:37.888Z,1755881197.888 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.635132
2025-08-22T16:46:38.093Z,1755881198.093 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.839931
2025-08-22T16:46:38.287Z,1755881198.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:38.344Z,1755881198.344 [DAT](INFO): DAT read: Rx Time:16:46:38.9600 

2025-08-22T16:46:38.345Z,1755881198.345 [DAT](INFO): Rx dataTimestamp_ set to:1755881198.344408
2025-08-22T16:46:38.347Z,1755881198.347 [DAT](INFO): DAT read: Bearing 312.4,  12.7 (Local)

2025-08-22T16:46:38.347Z,1755881198.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  12.7 (Local)

2025-08-22T16:46:38.351Z,1755881198.351 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-08-22T16:46:38.356Z,1755881198.356 [DAT](INFO): DAT read: 16:46:38.9600 LVL= 25632, 19953, 32050, 32323, AGC= 63, IDX= 510, 0.25,-2.412,-0.776,-2.845,-1.900, PHS=-0.410, 1.169,-0.989, RAW= 345.0,   2.4, CAL= 344.6,  -0.5, ROT= 165.4,   0.5

2025-08-22T16:46:38.363Z,1755881198.363 [DAT](INFO): got valid direction response:
 16:46:38.9600 LVL= 25632, 19953, 32050, 32323, AGC= 63, IDX= 510, 0.25,-2.412,-0.776,-2.845,-1.900, PHS=-0.410, 1.169,-0.989, RAW= 345.0,   2.4, CAL= 344.6,  -0.5, ROT= 165.4,   0.5

2025-08-22T16:46:38.363Z,1755881198.363 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T16:46:38.365Z,1755881198.365 [DAT](INFO): direction in FSK: [-0.967672,0.252060,-0.008727]
2025-08-22T16:46:38.365Z,1755881198.365 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:38.373Z,1755881198.373 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.120163
2025-08-22T16:46:38.595Z,1755881198.595 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.341831
2025-08-22T16:46:38.606Z,1755881198.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.505056 s,
      deltaX: 0.100000 m,
      approachRate: 0.197999 m/s,
      rangeRepo size: 4

2025-08-22T16:46:38.608Z,1755881198.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233898 m,
      bearing: 135.552955 deg,
      lat: 36.779446 deg,
      lon: -121.859656 deg,
      deltaT: 1.008835 s,
      deltaX: 0.099321 m,
      approachRate: 0.098452 m/s,
      posRepo size: 4

2025-08-22T16:46:38.608Z,1755881198.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:38.847Z,1755881198.847 [DAT](INFO): DAT read: Rx Time:16:46:39.4599 

2025-08-22T16:46:38.848Z,1755881198.848 [DAT](INFO): Rx dataTimestamp_ set to:1755881198.847348
2025-08-22T16:46:38.849Z,1755881198.849 [DAT](INFO): DAT read: Bearing 312.5,  12.7 (Local)

2025-08-22T16:46:38.849Z,1755881198.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,  12.7 (Local)

2025-08-22T16:46:38.851Z,1755881198.851 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:38.857Z,1755881198.857 [DAT](INFO): DAT read: 16:46:39.4599 LVL= 27680, 26321, 32754, 32755, AGC= 64, IDX= 510,-0.41, 1.254, 2.914, 0.812, 1.770, PHS=-0.415, 1.189,-1.002, RAW= 345.0,   2.4, CAL= 344.5,  -0.6, ROT= 165.5,   0.6

2025-08-22T16:46:38.859Z,1755881198.859 [DAT](INFO): got valid direction response:
 16:46:39.4599 LVL= 27680, 26321, 32754, 32755, AGC= 64, IDX= 510,-0.41, 1.254, 2.914, 0.812, 1.770, PHS=-0.415, 1.189,-1.002, RAW= 345.0,   2.4, CAL= 344.5,  -0.6, ROT= 165.5,   0.6

2025-08-22T16:46:38.859Z,1755881198.859 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T16:46:38.860Z,1755881198.860 [DAT](INFO): direction in FSK: [-0.968095,0.250366,-0.010472]
2025-08-22T16:46:38.861Z,1755881198.861 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:38.871Z,1755881198.871 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.617928
2025-08-22T16:46:39.039Z,1755881199.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.502940 s,
      deltaX: -0.100000 m,
      approachRate: -0.198832 m/s,
      rangeRepo size: 4

2025-08-22T16:46:39.041Z,1755881199.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134527 m,
      bearing: 135.716649 deg,
      lat: 36.779446 deg,
      lon: -121.859656 deg,
      deltaT: 0.502940 s,
      deltaX: -0.099371 m,
      approachRate: -0.197580 m/s,
      posRepo size: 4

2025-08-22T16:46:39.041Z,1755881199.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:39.103Z,1755881199.103 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.849468
2025-08-22T16:46:39.352Z,1755881199.352 [DAT](INFO): DAT read: Rx Time:16:46:39.9600 

2025-08-22T16:46:39.352Z,1755881199.352 [DAT](INFO): Rx dataTimestamp_ set to:1755881199.352003
2025-08-22T16:46:39.354Z,1755881199.354 [DAT](INFO): DAT read: Bearing 312.8,  12.6 (Local)

2025-08-22T16:46:39.354Z,1755881199.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  12.6 (Local)

2025-08-22T16:46:39.356Z,1755881199.356 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:39.416Z,1755881199.416 [DAT](INFO): DAT read: 16:46:39.9600 LVL= 28624, 23537, 32754, 32755, AGC= 64, IDX= 511,-0.16, 2.063,-2.525, 1.616, 2.582, PHS=-0.417, 1.221,-1.010, RAW= 344.9,   2.1, CAL= 344.4,  -0.9, ROT= 165.6,   0.9

2025-08-22T16:46:39.417Z,1755881199.417 [DAT](INFO): got valid direction response:
 16:46:39.9600 LVL= 28624, 23537, 32754, 32755, AGC= 64, IDX= 511,-0.16, 2.063,-2.525, 1.616, 2.582, PHS=-0.417, 1.221,-1.010, RAW= 344.9,   2.1, CAL= 344.4,  -0.9, ROT= 165.6,   0.9

2025-08-22T16:46:39.422Z,1755881199.422 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T16:46:39.423Z,1755881199.423 [DAT](INFO): direction in FSK: [-0.968464,0.248659,-0.015707]
2025-08-22T16:46:39.423Z,1755881199.423 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:39.435Z,1755881199.435 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.181778
2025-08-22T16:46:39.503Z,1755881199.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -16.08146.48,       -2.75,   8.13,  0.00
2025-08-22T16:46:39.556Z,1755881199.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504655 s,
      deltaX: 0.100000 m,
      approachRate: 0.198156 m/s,
      rangeRepo size: 4

2025-08-22T16:46:39.562Z,1755881199.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233870 m,
      bearing: 135.834521 deg,
      lat: 36.779446 deg,
      lon: -121.859656 deg,
      deltaT: 0.504655 s,
      deltaX: 0.099342 m,
      approachRate: 0.196852 m/s,
      posRepo size: 4

2025-08-22T16:46:39.562Z,1755881199.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:39.603Z,1755881199.603 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.350239
2025-08-22T16:46:39.833Z,1755881199.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:39.855Z,1755881199.855 [DAT](INFO): DAT read: Rx Time:16:46:40.4600 

2025-08-22T16:46:39.856Z,1755881199.856 [DAT](INFO): Rx dataTimestamp_ set to:1755881199.855365
2025-08-22T16:46:39.857Z,1755881199.857 [DAT](INFO): DAT read: Bearing 313.1,  13.0 (Local)

2025-08-22T16:46:39.857Z,1755881199.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  13.0 (Local)

2025-08-22T16:46:39.859Z,1755881199.859 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:39.878Z,1755881199.878 [DAT](INFO): DAT read: 16:46:40.4600 LVL= 29872, 23953, 32754, 32755, AGC= 63, IDX= 510,-0.00, 1.728,-2.880, 1.269, 2.228, PHS=-0.398, 1.220,-1.003, RAW= 345.3,   1.8, CAL= 344.8,  -1.1, ROT= 165.2,   1.1

2025-08-22T16:46:39.880Z,1755881199.880 [DAT](INFO): got valid direction response:
 16:46:40.4600 LVL= 29872, 23953, 32754, 32755, AGC= 63, IDX= 510,-0.00, 1.728,-2.880, 1.269, 2.228, PHS=-0.398, 1.220,-1.003, RAW= 345.3,   1.8, CAL= 344.8,  -1.1, ROT= 165.2,   1.1

2025-08-22T16:46:39.880Z,1755881199.880 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T16:46:39.883Z,1755881199.883 [DAT](INFO): direction in FSK: [-0.966645,0.255399,-0.019197]
2025-08-22T16:46:39.883Z,1755881199.883 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:39.888Z,1755881199.888 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.635708
2025-08-22T16:46:40.109Z,1755881200.109 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.855904
2025-08-22T16:46:40.290Z,1755881200.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503362 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:40.292Z,1755881200.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233870 m,
      bearing: 135.491001 deg,
      lat: 36.779446 deg,
      lon: -121.859656 deg,
      deltaT: 0.503362 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:40.293Z,1755881200.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:40.360Z,1755881200.360 [DAT](INFO): DAT read: Rx Time:16:46:40.9601 

2025-08-22T16:46:40.361Z,1755881200.361 [DAT](INFO): Rx dataTimestamp_ set to:1755881200.360290
2025-08-22T16:46:40.362Z,1755881200.362 [DAT](INFO): DAT read: Bearing 313.6,  13.1 (Local)

2025-08-22T16:46:40.362Z,1755881200.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  13.1 (Local)

2025-08-22T16:46:40.364Z,1755881200.364 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:40.369Z,1755881200.369 [DAT](INFO): DAT read: 16:46:40.9601 LVL= 29680, 25489, 32754, 32755, AGC= 63, IDX= 511, 0.14,-2.673,-1.001,-3.139,-2.188, PHS=-0.383, 1.232,-0.995, RAW= 345.4,   1.5, CAL= 345.0,  -1.5, ROT= 165.0,   1.5

2025-08-22T16:46:40.370Z,1755881200.370 [DAT](INFO): got valid direction response:
 16:46:40.9601 LVL= 29680, 25489, 32754, 32755, AGC= 63, IDX= 511, 0.14,-2.673,-1.001,-3.139,-2.188, PHS=-0.383, 1.232,-0.995, RAW= 345.4,   1.5, CAL= 345.0,  -1.5, ROT= 165.0,   1.5

2025-08-22T16:46:40.371Z,1755881200.371 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T16:46:40.372Z,1755881200.372 [DAT](INFO): direction in FSK: [-0.965595,0.258730,-0.026177]
2025-08-22T16:46:40.372Z,1755881200.372 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:40.376Z,1755881200.376 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.122765
2025-08-22T16:46:40.611Z,1755881200.611 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.357746
2025-08-22T16:46:40.706Z,1755881200.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504925 s,
      deltaX: 0.200001 m,
      approachRate: 0.396100 m/s,
      rangeRepo size: 4

2025-08-22T16:46:40.708Z,1755881200.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432611 m,
      bearing: 135.266056 deg,
      lat: 36.779445 deg,
      lon: -121.859656 deg,
      deltaT: 0.504925 s,
      deltaX: 0.198742 m,
      approachRate: 0.393607 m/s,
      posRepo size: 4

2025-08-22T16:46:40.709Z,1755881200.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:40.863Z,1755881200.863 [DAT](INFO): DAT read: Rx Time:16:46:41.4600 

2025-08-22T16:46:40.864Z,1755881200.864 [DAT](INFO): Rx dataTimestamp_ set to:1755881200.863248
2025-08-22T16:46:40.865Z,1755881200.865 [DAT](INFO): DAT read: Bearing 313.4,  13.4 (Local)

2025-08-22T16:46:40.865Z,1755881200.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  13.4 (Local)

2025-08-22T16:46:40.867Z,1755881200.867 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:40.872Z,1755881200.872 [DAT](INFO): DAT read: 16:46:41.4600 LVL= 29600, 22225, 32754, 32755, AGC= 63, IDX= 510, 0.26, 2.794,-1.838, 2.328,-3.004, PHS=-0.383, 1.211,-0.995, RAW= 345.6,   1.7, CAL= 345.1,  -1.2, ROT= 164.9,   1.2

2025-08-22T16:46:40.873Z,1755881200.873 [DAT](INFO): got valid direction response:
 16:46:41.4600 LVL= 29600, 22225, 32754, 32755, AGC= 63, IDX= 510, 0.26, 2.794,-1.838, 2.328,-3.004, PHS=-0.383, 1.211,-0.995, RAW= 345.6,   1.7, CAL= 345.1,  -1.2, ROT= 164.9,   1.2

2025-08-22T16:46:40.873Z,1755881200.873 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T16:46:40.877Z,1755881200.877 [DAT](INFO): direction in FSK: [-0.965261,0.260447,-0.020942]
2025-08-22T16:46:40.877Z,1755881200.877 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:40.911Z,1755881200.911 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.657936
2025-08-22T16:46:41.058Z,1755881201.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502958 s,
      deltaX: -0.200001 m,
      approachRate: -0.397649 m/s,
      rangeRepo size: 4

2025-08-22T16:46:41.060Z,1755881201.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233870 m,
      bearing: 135.229568 deg,
      lat: 36.779445 deg,
      lon: -121.859656 deg,
      deltaT: 0.502958 s,
      deltaX: -0.198742 m,
      approachRate: -0.395146 m/s,
      posRepo size: 4

2025-08-22T16:46:41.061Z,1755881201.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:41.119Z,1755881201.119 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.865383
2025-08-22T16:46:41.367Z,1755881201.367 [DAT](INFO): DAT read: Rx Time:16:46:41.9600 

2025-08-22T16:46:41.368Z,1755881201.368 [DAT](INFO): Rx dataTimestamp_ set to:1755881201.367274
2025-08-22T16:46:41.369Z,1755881201.369 [DAT](INFO): DAT read: Bearing 313.8,  13.3 (Local)

2025-08-22T16:46:41.369Z,1755881201.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.8,  13.3 (Local)

2025-08-22T16:46:41.371Z,1755881201.371 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:41.376Z,1755881201.376 [DAT](INFO): DAT read: 16:46:41.9600 LVL= 30640, 25249, 32754, 32755, AGC= 63, IDX= 510, 0.42, 2.884,-1.736, 2.416,-2.921, PHS=-0.376, 1.230,-0.990, RAW= 345.5,   1.4, CAL= 345.1,  -1.6, ROT= 164.9,   1.6

2025-08-22T16:46:41.377Z,1755881201.377 [DAT](INFO): got valid direction response:
 16:46:41.9600 LVL= 30640, 25249, 32754, 32755, AGC= 63, IDX= 510, 0.42, 2.884,-1.736, 2.416,-2.921, PHS=-0.376, 1.230,-0.990, RAW= 345.5,   1.4, CAL= 345.1,  -1.6, ROT= 164.9,   1.6

2025-08-22T16:46:41.377Z,1755881201.377 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T16:46:41.379Z,1755881201.379 [DAT](INFO): direction in FSK: [-0.965096,0.260403,-0.027922]
2025-08-22T16:46:41.379Z,1755881201.379 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:41.382Z,1755881201.382 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.129639
2025-08-22T16:46:41.587Z,1755881201.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504026 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:41.589Z,1755881201.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233856 m,
      bearing: 135.214918 deg,
      lat: 36.779445 deg,
      lon: -121.859656 deg,
      deltaT: 0.504026 s,
      deltaX: -0.000013 m,
      approachRate: -0.000026 m/s,
      posRepo size: 4

2025-08-22T16:46:41.589Z,1755881201.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:41.624Z,1755881201.624 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.368233
2025-08-22T16:46:41.871Z,1755881201.871 [DAT](INFO): DAT read: Rx Time:16:46:42.4599 

2025-08-22T16:46:41.872Z,1755881201.872 [DAT](INFO): Rx dataTimestamp_ set to:1755881201.871621
2025-08-22T16:46:41.873Z,1755881201.873 [DAT](INFO): DAT read: Bearing 313.9,  13.1 (Local)

2025-08-22T16:46:41.874Z,1755881201.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  13.1 (Local)

2025-08-22T16:46:41.876Z,1755881201.876 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:41.880Z,1755881201.880 [DAT](INFO): DAT read: 16:46:42.4599 LVL= 30784, 26257, 32754, 32755, AGC= 63, IDX= 510,-0.39, 0.139, 1.843,-0.332, 0.627, PHS=-0.386, 1.261,-1.003, RAW= 345.3,   1.3, CAL= 344.8,  -1.7, ROT= 165.2,   1.7

2025-08-22T16:46:41.881Z,1755881201.881 [DAT](INFO): got valid direction response:
 16:46:42.4599 LVL= 30784, 26257, 32754, 32755, AGC= 63, IDX= 510,-0.39, 0.139, 1.843,-0.332, 0.627, PHS=-0.386, 1.261,-1.003, RAW= 345.3,   1.3, CAL= 344.8,  -1.7, ROT= 165.2,   1.7

2025-08-22T16:46:41.882Z,1755881201.882 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T16:46:41.883Z,1755881201.883 [DAT](INFO): direction in FSK: [-0.966398,0.255333,-0.029666]
2025-08-22T16:46:41.883Z,1755881201.883 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:41.887Z,1755881201.887 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.633801
2025-08-22T16:46:41.980Z,1755881201.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504347 s,
      deltaX: -0.100000 m,
      approachRate: -0.198277 m/s,
      rangeRepo size: 4

2025-08-22T16:46:41.986Z,1755881201.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134485 m,
      bearing: 135.545629 deg,
      lat: 36.779445 deg,
      lon: -121.859656 deg,
      deltaT: 0.504347 s,
      deltaX: -0.099371 m,
      approachRate: -0.197029 m/s,
      posRepo size: 4

2025-08-22T16:46:41.987Z,1755881201.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:42.162Z,1755881202.162 [DAT](INFO): DAT read: Rx Time:16:46:42.9600 

2025-08-22T16:46:42.164Z,1755881202.164 [DAT](INFO): Rx dataTimestamp_ set to:1755881202.162499
2025-08-22T16:46:42.168Z,1755881202.168 [DAT](INFO): DAT read: Bearing 313.9,  13.3 (Local)

2025-08-22T16:46:42.186Z,1755881202.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  13.3 (Local)

2025-08-22T16:46:42.189Z,1755881202.189 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:42.223Z,1755881202.223 [DAT](INFO): DAT read: 16:46:42.9600 LVL= 28896, 26241, 32754, 32755, AGC= 62, IDX= 511,-0.25, 1.030, 2.718, 0.557, 1.516, PHS=-0.384, 1.246,-1.004, RAW= 345.5,   1.4, CAL= 345.0,  -1.5, ROT= 165.0,   1.5

2025-08-22T16:46:42.224Z,1755881202.224 [DAT](INFO): got valid direction response:
 16:46:42.9600 LVL= 28896, 26241, 32754, 32755, AGC= 62, IDX= 511,-0.25, 1.030, 2.718, 0.557, 1.516, PHS=-0.384, 1.246,-1.004, RAW= 345.5,   1.4, CAL= 345.0,  -1.5, ROT= 165.0,   1.5

2025-08-22T16:46:42.224Z,1755881202.224 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T16:46:42.225Z,1755881202.225 [DAT](INFO): direction in FSK: [-0.965595,0.258730,-0.026177]
2025-08-22T16:46:42.231Z,1755881202.231 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:42.248Z,1755881202.248 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.994904
2025-08-22T16:46:42.387Z,1755881202.387 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.133904
2025-08-22T16:46:42.404Z,1755881202.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.290878 s,
      deltaX: 0.100000 m,
      approachRate: 0.343788 m/s,
      rangeRepo size: 4

2025-08-22T16:46:42.414Z,1755881202.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233698 m,
      bearing: 135.427947 deg,
      lat: 36.779445 deg,
      lon: -121.859656 deg,
      deltaT: 0.290878 s,
      deltaX: 0.099213 m,
      approachRate: 0.341080 m/s,
      posRepo size: 4

2025-08-22T16:46:42.415Z,1755881202.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:42.642Z,1755881202.642 [DAT](INFO): DAT read: Rx Time:16:46:43.4599 

2025-08-22T16:46:42.644Z,1755881202.644 [DAT](INFO): Rx dataTimestamp_ set to:1755881202.642712
2025-08-22T16:46:42.649Z,1755881202.649 [DAT](INFO): DAT read: Bearing 313.6,  13.3 (Local)

2025-08-22T16:46:42.651Z,1755881202.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  13.3 (Local)

2025-08-22T16:46:42.664Z,1755881202.664 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:42.667Z,1755881202.667 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-22T16:46:42.710Z,1755881202.710 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.457027
2025-08-22T16:46:42.792Z,1755881202.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.480213 s,
      deltaX: -0.100000 m,
      approachRate: -0.208242 m/s,
      rangeRepo size: 4

2025-08-22T16:46:42.792Z,1755881202.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:42.896Z,1755881202.896 [DAT](INFO): DAT read: 16:46:43.4599 LVL= 30272, 22241, 32754, 32755, AGC= 63, IDX= 510,-0.18,-0.462, 1.225,-0.931, 0.036, PHS=-0.396, 1.234,-1.011, RAW= 345.4,   1.7, CAL= 344.9,  -1.2, ROT= 165.1,   1.2

2025-08-22T16:46:42.898Z,1755881202.898 [DAT](INFO): got valid direction response:
 16:46:43.4599 LVL= 30272, 22241, 32754, 32755, AGC= 63, IDX= 510,-0.18,-0.462, 1.225,-0.931, 0.036, PHS=-0.396, 1.234,-1.011, RAW= 345.4,   1.7, CAL= 344.9,  -1.2, ROT= 165.1,   1.2

2025-08-22T16:46:42.898Z,1755881202.898 [DAT](INFO): #Rx 88: Read direction message, but no range.
2025-08-22T16:46:42.900Z,1755881202.900 [DAT](INFO): direction in FSK: [-0.966164,0.257076,-0.020942]
2025-08-22T16:46:42.913Z,1755881202.913 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.652420
2025-08-22T16:46:43.148Z,1755881203.148 [DAT](INFO): DAT read: Rx Time:16:46:43.9600 

2025-08-22T16:46:43.150Z,1755881203.150 [DAT](INFO): Rx dataTimestamp_ set to:1755881203.148525
2025-08-22T16:46:43.155Z,1755881203.155 [DAT](INFO): DAT read: Bearing 314.3,  12.7 (Local)

2025-08-22T16:46:43.156Z,1755881203.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3,  12.7 (Local)

2025-08-22T16:46:43.163Z,1755881203.163 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:43.175Z,1755881203.175 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-22T16:46:43.188Z,1755881203.188 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.934994
2025-08-22T16:46:43.267Z,1755881203.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.505813 s,
      deltaX: 0.100000 m,
      approachRate: 0.197702 m/s,
      rangeRepo size: 4

2025-08-22T16:46:43.269Z,1755881203.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233727 m,
      bearing: 135.660795 deg,
      lat: 36.779445 deg,
      lon: -121.859657 deg,
      deltaT: 0.986026 s,
      deltaX: 0.000029 m,
      approachRate: 0.000029 m/s,
      posRepo size: 4

2025-08-22T16:46:43.274Z,1755881203.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:43.399Z,1755881203.399 [DAT](INFO): DAT read: 16:46:43.9600 LVL= 30416, 26417, 32754, 32755, AGC= 62, IDX= 511,-0.04, 0.409, 2.134,-0.053, 0.901, PHS=-0.390, 1.278,-0.998, RAW= 344.9,   1.1, CAL= 344.5,  -1.9, ROT= 165.5,   1.9

2025-08-22T16:46:43.400Z,1755881203.400 [DAT](INFO): got valid direction response:
 16:46:43.9600 LVL= 30416, 26417, 32754, 32755, AGC= 62, IDX= 511,-0.04, 0.409, 2.134,-0.053, 0.901, PHS=-0.390, 1.278,-0.998, RAW= 344.9,   1.1, CAL= 344.5,  -1.9, ROT= 165.5,   1.9

2025-08-22T16:46:43.400Z,1755881203.400 [DAT](INFO): #Rx 90: Read direction message, but no range.
2025-08-22T16:46:43.401Z,1755881203.401 [DAT](INFO): direction in FSK: [-0.967615,0.250242,-0.033155]
2025-08-22T16:46:43.404Z,1755881203.404 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.151550
2025-08-22T16:46:43.650Z,1755881203.650 [DAT](INFO): DAT read: Rx Time:16:46:44.4600 

2025-08-22T16:46:43.652Z,1755881203.652 [DAT](INFO): Rx dataTimestamp_ set to:1755881203.650812
2025-08-22T16:46:43.656Z,1755881203.656 [DAT](INFO): DAT read: Bearing 314.4,  13.5 (Local)

2025-08-22T16:46:43.657Z,1755881203.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  13.5 (Local)

2025-08-22T16:46:43.670Z,1755881203.670 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:43.673Z,1755881203.673 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-08-22T16:46:43.702Z,1755881203.702 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.449574
2025-08-22T16:46:43.817Z,1755881203.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502287 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:43.819Z,1755881203.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233727 m,
      bearing: 135.970031 deg,
      lat: 36.779445 deg,
      lon: -121.859658 deg,
      deltaT: 0.502287 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:43.819Z,1755881203.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:43.903Z,1755881203.903 [DAT](INFO): DAT read: 16:46:44.4600 LVL= 28976, 25681, 32754, 32755, AGC= 61, IDX= 510, 0.06, 0.447, 2.137,-0.039, 0.921, PHS=-0.372, 1.261,-1.004, RAW= 345.7,   1.2, CAL= 345.2,  -1.8, ROT= 164.8,   1.8

2025-08-22T16:46:43.904Z,1755881203.904 [DAT](INFO): got valid direction response:
 16:46:44.4600 LVL= 28976, 25681, 32754, 32755, AGC= 61, IDX= 510, 0.06, 0.447, 2.137,-0.039, 0.921, PHS=-0.372, 1.261,-1.004, RAW= 345.7,   1.2, CAL= 345.2,  -1.8, ROT= 164.8,   1.8

2025-08-22T16:46:43.904Z,1755881203.904 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-08-22T16:46:43.906Z,1755881203.906 [DAT](INFO): direction in FSK: [-0.964540,0.262060,-0.031411]
2025-08-22T16:46:43.909Z,1755881203.909 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.656204
2025-08-22T16:46:44.156Z,1755881204.156 [DAT](INFO): DAT read: Rx Time:16:46:44.9601 

2025-08-22T16:46:44.159Z,1755881204.159 [DAT](INFO): Rx dataTimestamp_ set to:1755881204.157041
2025-08-22T16:46:44.164Z,1755881204.164 [DAT](INFO): DAT read: Bearing 314.5,  13.6 (Local)

2025-08-22T16:46:44.166Z,1755881204.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  13.6 (Local)

2025-08-22T16:46:44.202Z,1755881204.202 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:44.257Z,1755881204.257 [DAT](INFO): DAT read: 16:46:44.9601 LVL= 29840, 23425, 32754, 32755, AGC= 62, IDX= 511, 0.16, 1.575,-3.035, 1.092, 2.041, PHS=-0.365, 1.252,-0.993, RAW= 345.7,   1.1, CAL= 345.3,  -1.9, ROT= 164.7,   1.9

2025-08-22T16:46:44.266Z,1755881204.266 [DAT](INFO): got valid direction response:
 16:46:44.9601 LVL= 29840, 23425, 32754, 32755, AGC= 62, IDX= 511, 0.16, 1.575,-3.035, 1.092, 2.041, PHS=-0.365, 1.252,-0.993, RAW= 345.7,   1.1, CAL= 345.3,  -1.9, ROT= 164.7,   1.9

2025-08-22T16:46:44.267Z,1755881204.267 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T16:46:44.268Z,1755881204.268 [DAT](INFO): direction in FSK: [-0.964027,0.263728,-0.033155]
2025-08-22T16:46:44.268Z,1755881204.268 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:44.280Z,1755881204.280 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.026817
2025-08-22T16:46:44.372Z,1755881204.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.506229 s,
      deltaX: 0.200001 m,
      approachRate: 0.395080 m/s,
      rangeRepo size: 4

2025-08-22T16:46:44.382Z,1755881204.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432608 m,
      bearing: 135.291968 deg,
      lat: 36.779444 deg,
      lon: -121.859658 deg,
      deltaT: 0.506229 s,
      deltaX: 0.198881 m,
      approachRate: 0.392868 m/s,
      posRepo size: 4

2025-08-22T16:46:44.383Z,1755881204.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:44.403Z,1755881204.403 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.149956
2025-08-22T16:46:44.659Z,1755881204.659 [DAT](INFO): DAT read: Rx Time:16:46:45.4600 

2025-08-22T16:46:44.660Z,1755881204.660 [DAT](INFO): Rx dataTimestamp_ set to:1755881204.659265
2025-08-22T16:46:44.664Z,1755881204.664 [DAT](INFO): DAT read: Bearing 314.7,  13.5 (Local)

2025-08-22T16:46:44.666Z,1755881204.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7,  13.5 (Local)

2025-08-22T16:46:44.671Z,1755881204.671 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:44.674Z,1755881204.674 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-08-22T16:46:44.677Z,1755881204.677 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.423672
2025-08-22T16:46:44.780Z,1755881204.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502224 s,
      deltaX: -0.200001 m,
      approachRate: -0.398230 m/s,
      rangeRepo size: 4

2025-08-22T16:46:44.780Z,1755881204.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:44.912Z,1755881204.912 [DAT](INFO): DAT read: 16:46:45.4600 LVL= 31136, 26337, 32754, 32755, AGC= 62, IDX= 510, 0.29, 0.540, 2.242, 0.045, 1.008, PHS=-0.366, 1.279,-1.007, RAW= 345.8,   0.9, CAL= 345.3,  -2.0, ROT= 164.7,   2.0

2025-08-22T16:46:44.913Z,1755881204.913 [DAT](INFO): got valid direction response:
 16:46:45.4600 LVL= 31136, 26337, 32754, 32755, AGC= 62, IDX= 510, 0.29, 0.540, 2.242, 0.045, 1.008, PHS=-0.366, 1.279,-1.007, RAW= 345.8,   0.9, CAL= 345.3,  -2.0, ROT= 164.7,   2.0

2025-08-22T16:46:44.917Z,1755881204.917 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-08-22T16:46:44.918Z,1755881204.918 [DAT](INFO): direction in FSK: [-0.963970,0.263712,-0.034899]
2025-08-22T16:46:44.922Z,1755881204.922 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.669567
2025-08-22T16:46:45.139Z,1755881205.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:45.164Z,1755881205.164 [DAT](INFO): DAT read: Rx Time:16:46:45.9600 

2025-08-22T16:46:45.167Z,1755881205.167 [DAT](INFO): Rx dataTimestamp_ set to:1755881205.165868
2025-08-22T16:46:45.172Z,1755881205.172 [DAT](INFO): DAT read: Bearing 314.6,  13.2 (Local)

2025-08-22T16:46:45.178Z,1755881205.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.6,  13.2 (Local)

2025-08-22T16:46:45.205Z,1755881205.205 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:45.239Z,1755881205.239 [DAT](INFO): DAT read: 16:46:45.9600 LVL= 27216, 26849, 32754, 32755, AGC= 62, IDX= 511,-0.49,-1.276, 0.440,-1.758,-0.794, PHS=-0.380, 1.278,-1.008, RAW= 345.4,   1.1, CAL= 345.0,  -1.9, ROT= 165.0,   1.9

2025-08-22T16:46:45.250Z,1755881205.250 [DAT](INFO): got valid direction response:
 16:46:45.9600 LVL= 27216, 26849, 32754, 32755, AGC= 62, IDX= 511,-0.49,-1.276, 0.440,-1.758,-0.794, PHS=-0.380, 1.278,-1.008, RAW= 345.4,   1.1, CAL= 345.0,  -1.9, ROT= 165.0,   1.9

2025-08-22T16:46:45.251Z,1755881205.251 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T16:46:45.252Z,1755881205.252 [DAT](INFO): direction in FSK: [-0.965395,0.258677,-0.033155]
2025-08-22T16:46:45.252Z,1755881205.252 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:45.261Z,1755881205.261 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.008430
2025-08-22T16:46:45.411Z,1755881205.411 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.157799
2025-08-22T16:46:45.552Z,1755881205.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.506603 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:45.554Z,1755881205.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.234087 m,
      bearing: 135.675261 deg,
      lat: 36.779443 deg,
      lon: -121.859658 deg,
      deltaT: 1.008827 s,
      deltaX: -0.198521 m,
      approachRate: -0.196784 m/s,
      posRepo size: 4

2025-08-22T16:46:45.555Z,1755881205.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:45.669Z,1755881205.669 [DAT](INFO): DAT read: Rx Time:16:46:46.4599 

2025-08-22T16:46:45.671Z,1755881205.671 [DAT](INFO): Rx dataTimestamp_ set to:1755881205.670073
2025-08-22T16:46:45.675Z,1755881205.675 [DAT](INFO): DAT read: Bearing 314.1,  12.9 (Local)

2025-08-22T16:46:45.676Z,1755881205.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  12.9 (Local)

2025-08-22T16:46:45.680Z,1755881205.680 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:45.685Z,1755881205.685 [DAT](INFO): DAT read: 16:46:46.4599 LVL= 30176, 23969, 32754, 32755, AGC= 63, IDX= 510,-0.25, 2.950,-1.597, 2.476,-2.828, PHS=-0.403, 1.275,-1.024, RAW= 345.1,   1.5, CAL= 344.6,  -1.5, ROT= 165.4,   1.5

2025-08-22T16:46:45.691Z,1755881205.691 [DAT](INFO): got valid direction response:
 16:46:46.4599 LVL= 30176, 23969, 32754, 32755, AGC= 63, IDX= 510,-0.25, 2.950,-1.597, 2.476,-2.828, PHS=-0.403, 1.275,-1.024, RAW= 345.1,   1.5, CAL= 344.6,  -1.5, ROT= 165.4,   1.5

2025-08-22T16:46:45.692Z,1755881205.692 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T16:46:45.693Z,1755881205.693 [DAT](INFO): direction in FSK: [-0.967378,0.251983,-0.026177]
2025-08-22T16:46:45.693Z,1755881205.693 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:45.697Z,1755881205.697 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.443916
2025-08-22T16:46:45.914Z,1755881205.914 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.661713
2025-08-22T16:46:45.963Z,1755881205.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504205 s,
      deltaX: -0.100000 m,
      approachRate: -0.198333 m/s,
      rangeRepo size: 4

2025-08-22T16:46:45.970Z,1755881205.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134714 m,
      bearing: 136.155493 deg,
      lat: 36.779443 deg,
      lon: -121.859660 deg,
      deltaT: 0.504205 s,
      deltaX: -0.099373 m,
      approachRate: -0.197088 m/s,
      posRepo size: 4

2025-08-22T16:46:45.970Z,1755881205.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:46.173Z,1755881206.173 [DAT](INFO): DAT read: Rx Time:16:46:46.9600 

2025-08-22T16:46:46.175Z,1755881206.175 [DAT](INFO): Rx dataTimestamp_ set to:1755881206.173772
2025-08-22T16:46:46.183Z,1755881206.183 [DAT](INFO): DAT read: Bearing 314.4,  12.9 (Local)

2025-08-22T16:46:46.184Z,1755881206.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  12.9 (Local)

2025-08-22T16:46:46.192Z,1755881206.192 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:46.262Z,1755881206.262 [DAT](INFO): DAT read: 16:46:46.9600 LVL= 32752, 27489, 32754, 32755, AGC= 63, IDX= 511,-0.09,-1.552, 0.174,-2.021,-1.055, PHS=-0.394, 1.275,-1.009, RAW= 345.1,   1.3, CAL= 344.6,  -1.7, ROT= 165.4,   1.7

2025-08-22T16:46:46.263Z,1755881206.263 [DAT](INFO): got valid direction response:
 16:46:46.9600 LVL= 32752, 27489, 32754, 32755, AGC= 63, IDX= 511,-0.09,-1.552, 0.174,-2.021,-1.055, PHS=-0.394, 1.275,-1.009, RAW= 345.1,   1.3, CAL= 344.6,  -1.7, ROT= 165.4,   1.7

2025-08-22T16:46:46.263Z,1755881206.263 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T16:46:46.264Z,1755881206.264 [DAT](INFO): direction in FSK: [-0.967283,0.251958,-0.029666]
2025-08-22T16:46:46.264Z,1755881206.264 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:46.285Z,1755881206.285 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.031998
2025-08-22T16:46:46.419Z,1755881206.419 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.165829
2025-08-22T16:46:46.436Z,1755881206.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503699 s,
      deltaX: 0.100000 m,
      approachRate: 0.198532 m/s,
      rangeRepo size: 4

2025-08-22T16:46:46.442Z,1755881206.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.234093 m,
      bearing: 136.166115 deg,
      lat: 36.779442 deg,
      lon: -121.859660 deg,
      deltaT: 0.503699 s,
      deltaX: 0.099379 m,
      approachRate: 0.197298 m/s,
      posRepo size: 4

2025-08-22T16:46:46.443Z,1755881206.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:46.675Z,1755881206.675 [DAT](INFO): DAT read: Rx Time:16:46:47.4600 

2025-08-22T16:46:46.676Z,1755881206.676 [DAT](INFO): Rx dataTimestamp_ set to:1755881206.675415
2025-08-22T16:46:46.680Z,1755881206.680 [DAT](INFO): DAT read: Bearing 314.5,  13.6 (Local)

2025-08-22T16:46:46.680Z,1755881206.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5,  13.6 (Local)

2025-08-22T16:46:46.682Z,1755881206.682 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:46.692Z,1755881206.692 [DAT](INFO): DAT read: 16:46:47.4600 LVL= 31520, 24401, 32754, 32755, AGC= 62, IDX= 510, 0.05,-1.374, 0.307,-1.862,-0.901, PHS=-0.371, 1.253,-1.004, RAW= 345.8,   1.2, CAL= 345.3,  -1.7, ROT= 164.7,   1.7

2025-08-22T16:46:46.693Z,1755881206.693 [DAT](INFO): got valid direction response:
 16:46:47.4600 LVL= 31520, 24401, 32754, 32755, AGC= 62, IDX= 510, 0.05,-1.374, 0.307,-1.862,-0.901, PHS=-0.371, 1.253,-1.004, RAW= 345.8,   1.2, CAL= 345.3,  -1.7, ROT= 164.7,   1.7

2025-08-22T16:46:46.694Z,1755881206.694 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T16:46:46.695Z,1755881206.695 [DAT](INFO): direction in FSK: [-0.964133,0.263757,-0.029666]
2025-08-22T16:46:46.695Z,1755881206.695 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:46.699Z,1755881206.699 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.445889
2025-08-22T16:46:46.872Z,1755881206.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.501643 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:46.878Z,1755881206.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.234093 m,
      bearing: 135.494828 deg,
      lat: 36.779442 deg,
      lon: -121.859660 deg,
      deltaT: 0.501643 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:46:46.878Z,1755881206.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:46.923Z,1755881206.923 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.670319
2025-08-22T16:46:47.180Z,1755881207.180 [DAT](INFO): DAT read: Rx Time:16:46:47.9601 

2025-08-22T16:46:47.180Z,1755881207.180 [DAT](INFO): Rx dataTimestamp_ set to:1755881207.179810
2025-08-22T16:46:47.184Z,1755881207.184 [DAT](INFO): DAT read: Bearing 313.9,  14.1 (Local)

2025-08-22T16:46:47.184Z,1755881207.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  14.1 (Local)

2025-08-22T16:46:47.188Z,1755881207.188 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:47.232Z,1755881207.232 [DAT](INFO): DAT read: 16:46:47.9601 LVL= 29392, 20849, 32754, 32483, AGC= 63, IDX= 511, 0.16, 0.412, 2.081,-0.094, 0.896, PHS=-0.382, 1.230,-1.033, RAW= 346.2,   1.9, CAL= 345.8,  -1.1, ROT= 164.2,   1.1

2025-08-22T16:46:47.240Z,1755881207.240 [DAT](INFO): got valid direction response:
 16:46:47.9601 LVL= 29392, 20849, 32754, 32483, AGC= 63, IDX= 511, 0.16, 0.412, 2.081,-0.094, 0.896, PHS=-0.382, 1.230,-1.033, RAW= 346.2,   1.9, CAL= 345.8,  -1.1, ROT= 164.2,   1.1

2025-08-22T16:46:47.250Z,1755881207.250 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T16:46:47.270Z,1755881207.270 [DAT](INFO): direction in FSK: [-0.962041,0.272230,-0.019197]
2025-08-22T16:46:47.270Z,1755881207.270 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:47.282Z,1755881207.282 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.020657
2025-08-22T16:46:47.415Z,1755881207.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504395 s,
      deltaX: 0.200001 m,
      approachRate: 0.396516 m/s,
      rangeRepo size: 4

2025-08-22T16:46:47.417Z,1755881207.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432823 m,
      bearing: 135.074295 deg,
      lat: 36.779442 deg,
      lon: -121.859660 deg,
      deltaT: 0.504395 s,
      deltaX: 0.198730 m,
      approachRate: 0.393998 m/s,
      posRepo size: 4

2025-08-22T16:46:47.417Z,1755881207.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:47.427Z,1755881207.427 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.173950
2025-08-22T16:46:47.680Z,1755881207.680 [DAT](INFO): DAT read: Rx Time:16:46:48.4600 

2025-08-22T16:46:47.681Z,1755881207.681 [DAT](INFO): Rx dataTimestamp_ set to:1755881207.680617
2025-08-22T16:46:47.683Z,1755881207.683 [DAT](INFO): DAT read: Bearing 314.3,  13.7 (Local)

2025-08-22T16:46:47.683Z,1755881207.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3,  13.7 (Local)

2025-08-22T16:46:47.685Z,1755881207.685 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:47.690Z,1755881207.690 [DAT](INFO): DAT read: 16:46:48.4600 LVL= 30992, 26417, 32754, 32755, AGC= 63, IDX= 510, 0.31,-0.926, 0.771,-1.424,-0.443, PHS=-0.381, 1.259,-1.025, RAW= 345.9,   1.5, CAL= 345.4,  -1.5, ROT= 164.6,   1.5

2025-08-22T16:46:47.691Z,1755881207.691 [DAT](INFO): got valid direction response:
 16:46:48.4600 LVL= 30992, 26417, 32754, 32755, AGC= 63, IDX= 510, 0.31,-0.926, 0.771,-1.424,-0.443, PHS=-0.381, 1.259,-1.025, RAW= 345.9,   1.5, CAL= 345.4,  -1.5, ROT= 164.6,   1.5

2025-08-22T16:46:47.691Z,1755881207.691 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T16:46:47.692Z,1755881207.692 [DAT](INFO): direction in FSK: [-0.963765,0.265465,-0.026177]
2025-08-22T16:46:47.692Z,1755881207.692 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:47.696Z,1755881207.696 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.443375
2025-08-22T16:46:47.828Z,1755881207.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.500807 s,
      deltaX: -0.200001 m,
      approachRate: -0.399357 m/s,
      rangeRepo size: 4

2025-08-22T16:46:47.834Z,1755881207.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.234079 m,
      bearing: 135.442279 deg,
      lat: 36.779442 deg,
      lon: -121.859661 deg,
      deltaT: 0.500807 s,
      deltaX: -0.198744 m,
      approachRate: -0.396847 m/s,
      posRepo size: 4

2025-08-22T16:46:47.834Z,1755881207.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:47.931Z,1755881207.931 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.678539
2025-08-22T16:46:48.106Z,1755881208.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:48.184Z,1755881208.184 [DAT](INFO): DAT read: Rx Time:16:46:48.9601 

2025-08-22T16:46:48.185Z,1755881208.185 [DAT](INFO): Rx dataTimestamp_ set to:1755881208.184625
2025-08-22T16:46:48.191Z,1755881208.191 [DAT](INFO): DAT read: Bearing 314.4,  13.9 (Local)

2025-08-22T16:46:48.192Z,1755881208.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  13.9 (Local)

2025-08-22T16:46:48.199Z,1755881208.199 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:48.244Z,1755881208.244 [DAT](INFO): DAT read: 16:46:48.9601 LVL= 27728, 25745, 32754, 32755, AGC= 63, IDX= 511, 0.49, 0.696, 2.389, 0.191, 1.173, PHS=-0.374, 1.261,-1.026, RAW= 346.0,   1.4, CAL= 345.6,  -1.6, ROT= 164.4,   1.6

2025-08-22T16:46:48.253Z,1755881208.253 [DAT](INFO): got valid direction response:
 16:46:48.9601 LVL= 27728, 25745, 32754, 32755, AGC= 63, IDX= 511, 0.49, 0.696, 2.389, 0.191, 1.173, PHS=-0.374, 1.261,-1.026, RAW= 346.0,   1.4, CAL= 345.6,  -1.6, ROT= 164.4,   1.6

2025-08-22T16:46:48.258Z,1755881208.258 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T16:46:48.259Z,1755881208.259 [DAT](INFO): direction in FSK: [-0.962787,0.268815,-0.027922]
2025-08-22T16:46:48.259Z,1755881208.259 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:48.265Z,1755881208.265 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.011826
2025-08-22T16:46:48.438Z,1755881208.438 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.184963
2025-08-22T16:46:48.562Z,1755881208.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504008 s,
      deltaX: 0.200001 m,
      approachRate: 0.396821 m/s,
      rangeRepo size: 4

2025-08-22T16:46:48.564Z,1755881208.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432718 m,
      bearing: 135.235898 deg,
      lat: 36.779442 deg,
      lon: -121.859660 deg,
      deltaT: 0.504008 s,
      deltaX: 0.198639 m,
      approachRate: 0.394119 m/s,
      posRepo size: 4

2025-08-22T16:46:48.565Z,1755881208.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:48.687Z,1755881208.687 [DAT](INFO): DAT read: Rx Time:16:46:49.4600 

2025-08-22T16:46:48.687Z,1755881208.687 [DAT](INFO): Rx dataTimestamp_ set to:1755881208.687008
2025-08-22T16:46:48.688Z,1755881208.688 [DAT](INFO): DAT read: Bearing 314.0,  12.9 (Local)

2025-08-22T16:46:48.689Z,1755881208.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  12.9 (Local)

2025-08-22T16:46:48.690Z,1755881208.690 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:48.691Z,1755881208.691 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-22T16:46:48.692Z,1755881208.692 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.439209
2025-08-22T16:46:48.907Z,1755881208.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.502383 s,
      deltaX: -0.200001 m,
      approachRate: -0.398104 m/s,
      rangeRepo size: 4

2025-08-22T16:46:48.907Z,1755881208.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:48.941Z,1755881208.941 [DAT](INFO): DAT read: 16:46:49.4600 LVL= 31376, 24273, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.835,-0.104,-2.306,-1.326, PHS=-0.407, 1 1.3

2025-08-22T16:46:48.942Z,1755881208.942 [DAT](INFO): unknown deviceResponse_: 16:46:49.4600 LVL= 31376, 24273, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.835,-0.104,-2.306,-1.326, PHS=-0.407, 1 1.3

2025-08-22T16:46:48.942Z,1755881208.942 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.689430
2025-08-22T16:46:49.191Z,1755881209.191 [DAT](INFO): DAT read: Rx Time:16:46:49.9600 

2025-08-22T16:46:49.192Z,1755881209.192 [DAT](INFO): Rx dataTimestamp_ set to:1755881209.191537
2025-08-22T16:46:49.193Z,1755881209.193 [DAT](INFO): DAT read: Bearing 314.4,  13.1 (Local)

2025-08-22T16:46:49.193Z,1755881209.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  13.1 (Local)

2025-08-22T16:46:49.195Z,1755881209.195 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:49.200Z,1755881209.200 [DAT](INFO): DAT read: 16:46:49.9600 LVL= 29168, 29041, 32754, 32755, AGC= 63, IDX= 511,-0.19,-1.954,-0.229,-2.437,-1.464, PHS=-0.388, 1.279,-1.017, RAW= 345.4,   1.2, CAL= 344.9,  -1.7, ROT= 165.1,   1.7

2025-08-22T16:46:49.201Z,1755881209.201 [DAT](INFO): got valid direction response:
 16:46:49.9600 LVL= 29168, 29041, 32754, 32755, AGC= 63, IDX= 511,-0.19,-1.954,-0.229,-2.437,-1.464, PHS=-0.388, 1.279,-1.017, RAW= 345.4,   1.2, CAL= 344.9,  -1.7, ROT= 165.1,   1.7

2025-08-22T16:46:49.201Z,1755881209.201 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T16:46:49.202Z,1755881209.202 [DAT](INFO): direction in FSK: [-0.965951,0.257020,-0.029666]
2025-08-22T16:46:49.203Z,1755881209.203 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:49.210Z,1755881209.210 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.957531
2025-08-22T16:46:49.417Z,1755881209.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504529 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:49.420Z,1755881209.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233936 m,
      bearing: 135.931598 deg,
      lat: 36.779442 deg,
      lon: -121.859660 deg,
      deltaT: 1.006912 s,
      deltaX: -0.198782 m,
      approachRate: -0.197417 m/s,
      posRepo size: 4

2025-08-22T16:46:49.421Z,1755881209.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:49.443Z,1755881209.443 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.189880
2025-08-22T16:46:49.695Z,1755881209.695 [DAT](INFO): DAT read: Rx Time:16:46:50.4599 

2025-08-22T16:46:49.696Z,1755881209.696 [DAT](INFO): Rx dataTimestamp_ set to:1755881209.695229
2025-08-22T16:46:49.697Z,1755881209.697 [DAT](INFO): DAT read: Bearing 314.0,  13.2 (Local)

2025-08-22T16:46:49.697Z,1755881209.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  13.2 (Local)

2025-08-22T16:46:49.699Z,1755881209.699 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-08-22T16:46:49.704Z,1755881209.704 [DAT](INFO): DAT read: 16:46:50.4599 LVL= 31120, 31617, 32754, 32755, AGC= 63, IDX= 510,-0.11, 2.761,-1.818, 2.276,-3.024, PHS=-0.396, 1.251,-1.027, RAW= 345.5,   1.7, CAL= 345.1,  -1.3, ROT= 164.9,   1.3

2025-08-22T16:46:49.705Z,1755881209.705 [DAT](INFO): got valid direction response:
 16:46:50.4599 LVL= 31120, 31617, 32754, 32755, AGC= 63, IDX= 510,-0.11, 2.761,-1.818, 2.276,-3.024, PHS=-0.396, 1.251,-1.027, RAW= 345.5,   1.7, CAL= 345.1,  -1.3, ROT= 164.9,   1.3

2025-08-22T16:46:49.705Z,1755881209.705 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T16:46:49.706Z,1755881209.706 [DAT](INFO): direction in FSK: [-0.965224,0.260437,-0.022687]
2025-08-22T16:46:49.706Z,1755881209.706 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:49.710Z,1755881209.710 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.456993
2025-08-22T16:46:49.723Z,1755881209.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:46:49.806Z,1755881209.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503692 s,
      deltaX: -0.100000 m,
      approachRate: -0.198535 m/s,
      rangeRepo size: 4

2025-08-22T16:46:49.808Z,1755881209.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134565 m,
      bearing: 135.804229 deg,
      lat: 36.779441 deg,
      lon: -121.859661 deg,
      deltaT: 0.503692 s,
      deltaX: -0.099371 m,
      approachRate: -0.197285 m/s,
      posRepo size: 4

2025-08-22T16:46:49.809Z,1755881209.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:49.947Z,1755881209.947 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.693920
2025-08-22T16:46:50.150Z,1755881210.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:46:50.199Z,1755881210.199 [DAT](INFO): DAT read: Rx Time:16:46:50.9602 

2025-08-22T16:46:50.200Z,1755881210.200 [DAT](INFO): Rx dataTimestamp_ set to:1755881210.199401
2025-08-22T16:46:50.201Z,1755881210.201 [DAT](INFO): DAT read: Bearing 293.5,  19.7 (Local)

2025-08-22T16:46:50.201Z,1755881210.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.5,  19.7 (Local)

2025-08-22T16:46:50.204Z,1755881210.204 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:50.213Z,1755881210.213 [DAT](INFO): DAT read: 16:46:50.9602 LVL= 30992, 23153, 32754, 32755, AGC= 64, IDX= 512,-0.06,-2.210,-1.091,-2.614,-1.582, PHS=-0.526, 0.535,-1.076, RAW= 349.6,  14.9, CAL= 350.2,  18.8, ROT= 159.8, -18.8

2025-08-22T16:46:50.224Z,1755881210.224 [DAT](INFO): got valid direction response:
 16:46:50.9602 LVL= 30992, 23153, 32754, 32755, AGC= 64, IDX= 512,-0.06,-2.210,-1.091,-2.614,-1.582, PHS=-0.526, 0.535,-1.076, RAW= 349.6,  14.9, CAL= 350.2,  18.8, ROT= 159.8, -18.8

2025-08-22T16:46:50.242Z,1755881210.242 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T16:46:50.245Z,1755881210.245 [DAT](INFO): direction in FSK: [-0.888424,0.326876,0.322266]
2025-08-22T16:46:50.254Z,1755881210.254 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:50.293Z,1755881210.293 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.039803
2025-08-22T16:46:50.451Z,1755881210.451 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.197865
2025-08-22T16:46:50.563Z,1755881210.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504172 s,
      deltaX: 0.400002 m,
      approachRate: 0.793383 m/s,
      rangeRepo size: 4

2025-08-22T16:46:50.565Z,1755881210.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.532078 m,
      bearing: 133.363611 deg,
      lat: 36.779441 deg,
      lon: -121.859663 deg,
      deltaT: 0.504172 s,
      deltaX: 0.397512 m,
      approachRate: 0.788446 m/s,
      posRepo size: 4

2025-08-22T16:46:50.566Z,1755881210.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-08-22T16:46:50.703Z,1755881210.703 [DAT](INFO): DAT read: Rx Time:16:46:51.4601 

2025-08-22T16:46:50.704Z,1755881210.704 [DAT](INFO): Rx dataTimestamp_ set to:1755881210.703254
2025-08-22T16:46:50.705Z,1755881210.705 [DAT](INFO): DAT read: Bearing 314.0,  13.1 (Local)

2025-08-22T16:46:50.705Z,1755881210.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.0,  13.1 (Local)

2025-08-22T16:46:50.707Z,1755881210.707 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:50.720Z,1755881210.720 [DAT](INFO): DAT read: 16:46:51.4601 LVL= 29280, 28529, 32754, 32755, AGC= 63, IDX= 511,-0.02,-1.590, 0.126,-2.076,-1.088, PHS=-0.400, 1.259,-1.031, RAW= 345.5,   1.7, CAL= 345.0,  -1.3, ROT= 165.0,   1.3

2025-08-22T16:46:50.722Z,1755881210.722 [DAT](INFO): got valid direction response:
 16:46:51.4601 LVL= 29280, 28529, 32754, 32755, AGC= 63, IDX= 511,-0.02,-1.590, 0.126,-2.076,-1.088, PHS=-0.400, 1.259,-1.031, RAW= 345.5,   1.7, CAL= 345.0,  -1.3, ROT= 165.0,   1.3

2025-08-22T16:46:50.723Z,1755881210.723 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:46:50.725Z,1755881210.725 [DAT](INFO): direction in FSK: [-0.965677,0.258753,-0.022687]
2025-08-22T16:46:50.725Z,1755881210.725 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:50.727Z,1755881210.727 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:46:50.760Z,1755881210.760 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.507523
2025-08-22T16:46:50.955Z,1755881210.955 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.702148
2025-08-22T16:46:50.991Z,1755881210.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503853 s,
      deltaX: -0.100000 m,
      approachRate: -0.198471 m/s,
      rangeRepo size: 4

2025-08-22T16:46:50.993Z,1755881210.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432707 m,
      bearing: 135.922492 deg,
      lat: 36.779441 deg,
      lon: -121.859663 deg,
      deltaT: 0.503853 s,
      deltaX: -0.099371 m,
      approachRate: -0.197222 m/s,
      posRepo size: 4

2025-08-22T16:46:50.994Z,1755881210.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:51.208Z,1755881211.208 [DAT](INFO): DAT read: Rx Time:16:46:51.9602 

2025-08-22T16:46:51.209Z,1755881211.209 [DAT](INFO): Rx dataTimestamp_ set to:1755881211.208032
2025-08-22T16:46:51.210Z,1755881211.210 [DAT](INFO): DAT read: Bearing 294.9,  16.0 (Local)

2025-08-22T16:46:51.211Z,1755881211.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.9,  16.0 (Local)

2025-08-22T16:46:51.213Z,1755881211.213 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:51.276Z,1755881211.276 [DAT](INFO): DAT read: 16:46:51.9602 LVL= 29632, 23681, 32754, 32755, AGC= 62, IDX= 512, 0.02,-1.117, 0.073,-1.422,-0.456, PHS=-0.560, 0.573,-1.010, RAW= 346.0,  14.0, CAL= 346.5,  17.4, ROT= 163.5, -17.4

2025-08-22T16:46:51.284Z,1755881211.284 [DAT](INFO): got valid direction response:
 16:46:51.9602 LVL= 29632, 23681, 32754, 32755, AGC= 62, IDX= 512, 0.02,-1.117, 0.073,-1.422,-0.456, PHS=-0.560, 0.573,-1.010, RAW= 346.0,  14.0, CAL= 346.5,  17.4, ROT= 163.5, -17.4

2025-08-22T16:46:51.285Z,1755881211.285 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:46:51.300Z,1755881211.300 [DAT](INFO): direction in FSK: [-0.914944,0.271019,0.299041]
2025-08-22T16:46:51.301Z,1755881211.301 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:51.322Z,1755881211.322 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.069527
2025-08-22T16:46:51.436Z,1755881211.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504778 s,
      deltaX: 0.100000 m,
      approachRate: 0.198108 m/s,
      rangeRepo size: 4

2025-08-22T16:46:51.442Z,1755881211.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.531975 m,
      bearing: 136.893019 deg,
      lat: 36.779441 deg,
      lon: -121.859664 deg,
      deltaT: 0.504778 s,
      deltaX: 0.099268 m,
      approachRate: 0.196657 m/s,
      posRepo size: 4

2025-08-22T16:46:51.443Z,1755881211.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-08-22T16:46:51.459Z,1755881211.459 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.206001
2025-08-22T16:46:51.711Z,1755881211.711 [DAT](INFO): DAT read: Rx Time:16:46:52.4601 

2025-08-22T16:46:51.712Z,1755881211.712 [DAT](INFO): Rx dataTimestamp_ set to:1755881211.711265
2025-08-22T16:46:51.713Z,1755881211.713 [DAT](INFO): DAT read: Bearing 312.4,  11.4 (Local)

2025-08-22T16:46:51.713Z,1755881211.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,  11.4 (Local)

2025-08-22T16:46:51.717Z,1755881211.717 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:51.725Z,1755881211.725 [DAT](INFO): DAT read: 16:46:52.4601 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511, 0.02,-0.590, 1.142,-1.001,-0.017, PHS=-0.471, 1.205,-1.028, RAW= 343.9,   3.0, CAL= 343.4,   0.1, ROT= 166.6,  -0.1

2025-08-22T16:46:51.727Z,1755881211.727 [DAT](INFO): got valid direction response:
 16:46:52.4601 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511, 0.02,-0.590, 1.142,-1.001,-0.017, PHS=-0.471, 1.205,-1.028, RAW= 343.9,   3.0, CAL= 343.4,   0.1, ROT= 166.6,  -0.1

2025-08-22T16:46:51.727Z,1755881211.727 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T16:46:51.729Z,1755881211.729 [DAT](INFO): direction in FSK: [-0.972774,0.231747,0.001745]
2025-08-22T16:46:51.731Z,1755881211.731 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:51.747Z,1755881211.747 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.492283
2025-08-22T16:46:51.838Z,1755881211.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503233 s,
      deltaX: -0.100000 m,
      approachRate: -0.198716 m/s,
      rangeRepo size: 4

2025-08-22T16:46:51.840Z,1755881211.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432604 m,
      bearing: 137.706575 deg,
      lat: 36.779441 deg,
      lon: -121.859665 deg,
      deltaT: 0.503233 s,
      deltaX: -0.099371 m,
      approachRate: -0.197465 m/s,
      posRepo size: 4

2025-08-22T16:46:51.840Z,1755881211.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:51.963Z,1755881211.963 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.710045
2025-08-22T16:46:52.217Z,1755881212.217 [DAT](INFO): DAT read: Rx Time:16:46:52.9602 

2025-08-22T16:46:52.218Z,1755881212.218 [DAT](INFO): Rx dataTimestamp_ set to:1755881212.217357
2025-08-22T16:46:52.220Z,1755881212.220 [DAT](INFO): DAT read: Bearing 312.0,  15.0 (Local)

2025-08-22T16:46:52.221Z,1755881212.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  15.0 (Local)

2025-08-22T16:46:52.230Z,1755881212.230 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:52.246Z,1755881212.246 [DAT](INFO): DAT read: 16:46:52.9602 LVL= 28656, 20065, 31698, 32755, AGC= 63, IDX= 512, 0.09,-0.789, 0.768,-1.303,-0.294, PHS=-0.393, 1.107,-1.052, RAW= 347.3,   3.6, CAL= 346.9,   0.9, ROT= 163.1,  -0.9

2025-08-22T16:46:52.247Z,1755881212.247 [DAT](INFO): got valid direction response:
 16:46:52.9602 LVL= 28656, 20065, 31698, 32755, AGC= 63, IDX= 512, 0.09,-0.789, 0.768,-1.303,-0.294, PHS=-0.393, 1.107,-1.052, RAW= 347.3,   3.6, CAL= 346.9,   0.9, ROT= 163.1,  -0.9

2025-08-22T16:46:52.247Z,1755881212.247 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T16:46:52.248Z,1755881212.248 [DAT](INFO): direction in FSK: [-0.956696,0.290666,0.015707]
2025-08-22T16:46:52.249Z,1755881212.249 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:52.265Z,1755881212.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:52.306Z,1755881212.306 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.044460
2025-08-22T16:46:52.467Z,1755881212.467 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.213840
2025-08-22T16:46:52.683Z,1755881212.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.506092 s,
      deltaX: 0.100000 m,
      approachRate: 0.197593 m/s,
      rangeRepo size: 4

2025-08-22T16:46:52.685Z,1755881212.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.531904 m,
      bearing: 134.327557 deg,
      lat: 36.779441 deg,
      lon: -121.859665 deg,
      deltaT: 0.506092 s,
      deltaX: 0.099300 m,
      approachRate: 0.196210 m/s,
      posRepo size: 4

2025-08-22T16:46:52.690Z,1755881212.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-08-22T16:46:52.721Z,1755881212.721 [DAT](INFO): DAT read: Rx Time:16:46:53.4601 

2025-08-22T16:46:52.721Z,1755881212.721 [DAT](INFO): Rx dataTimestamp_ set to:1755881212.721110
2025-08-22T16:46:52.724Z,1755881212.724 [DAT](INFO): DAT read: Bearing 312.8,  12.6 (Local)

2025-08-22T16:46:52.724Z,1755881212.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  12.6 (Local)

2025-08-22T16:46:52.728Z,1755881212.728 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:52.745Z,1755881212.745 [DAT](INFO): DAT read: 16:46:53.4601 LVL= 32752, 31729, 32754, 32755, AGC= 63, IDX= 511, 0.11,-0.107, 1.587,-0.565, 0.432, PHS=-0.437, 1.200,-1.041, RAW= 345.1,   2.8, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-08-22T16:46:52.751Z,1755881212.751 [DAT](INFO): got valid direction response:
 16:46:53.4601 LVL= 32752, 31729, 32754, 32755, AGC= 63, IDX= 511, 0.11,-0.107, 1.587,-0.565, 0.432, PHS=-0.437, 1.200,-1.041, RAW= 345.1,   2.8, CAL= 344.6,  -0.1, ROT= 165.4,   0.1

2025-08-22T16:46:52.752Z,1755881212.752 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T16:46:52.753Z,1755881212.753 [DAT](INFO): direction in FSK: [-0.967708,0.252069,-0.001745]
2025-08-22T16:46:52.753Z,1755881212.753 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:52.764Z,1755881212.764 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.510582
2025-08-22T16:46:52.971Z,1755881212.971 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.717991
2025-08-22T16:46:53.000Z,1755881213.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503753 s,
      deltaX: -0.100000 m,
      approachRate: -0.198511 m/s,
      rangeRepo size: 4

2025-08-22T16:46:53.023Z,1755881213.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432533 m,
      bearing: 136.471769 deg,
      lat: 36.779438 deg,
      lon: -121.859666 deg,
      deltaT: 0.503753 s,
      deltaX: -0.099371 m,
      approachRate: -0.197261 m/s,
      posRepo size: 4

2025-08-22T16:46:53.023Z,1755881213.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:53.224Z,1755881213.224 [DAT](INFO): DAT read: Rx Time:16:46:53.9601 

2025-08-22T16:46:53.225Z,1755881213.225 [DAT](INFO): Rx dataTimestamp_ set to:1755881213.224836
2025-08-22T16:46:53.235Z,1755881213.235 [DAT](INFO): DAT read: Bearing 313.6,  13.8 (Local)

2025-08-22T16:46:53.236Z,1755881213.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6,  13.8 (Local)

2025-08-22T16:46:53.251Z,1755881213.251 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:53.256Z,1755881213.256 [DAT](INFO): DAT read: 16:46:53.9601 LVL= 29568, 20881, 32754, 32755, AGC= 63, IDX= 511, 0.22,-0.669, 0.998,-1.187,-0.180, PHS=-0.387, 1.224,-1.051, RAW= 346.5,   2.1, CAL= 346.0,  -0.8, ROT= 164.0,   0.8

2025-08-22T16:46:53.257Z,1755881213.257 [DAT](INFO): got valid direction response:
 16:46:53.9601 LVL= 29568, 20881, 32754, 32755, AGC= 63, IDX= 511, 0.22,-0.669, 0.998,-1.187,-0.180, PHS=-0.387, 1.224,-1.051, RAW= 346.5,   2.1, CAL= 346.0,  -0.8, ROT= 164.0,   0.8

2025-08-22T16:46:53.257Z,1755881213.257 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T16:46:53.284Z,1755881213.284 [DAT](INFO): direction in FSK: [-0.961168,0.275610,-0.013962]
2025-08-22T16:46:53.285Z,1755881213.285 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:53.339Z,1755881213.339 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.085480
2025-08-22T16:46:53.475Z,1755881213.475 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.221916
2025-08-22T16:46:53.482Z,1755881213.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503726 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:53.484Z,1755881213.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432673 m,
      bearing: 134.982278 deg,
      lat: 36.779439 deg,
      lon: -121.859666 deg,
      deltaT: 0.503726 s,
      deltaX: 0.000139 m,
      approachRate: 0.000276 m/s,
      posRepo size: 4

2025-08-22T16:46:53.484Z,1755881213.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:53.728Z,1755881213.728 [DAT](INFO): DAT read: Rx Time:16:46:54.4600 

2025-08-22T16:46:53.729Z,1755881213.729 [DAT](INFO): Rx dataTimestamp_ set to:1755881213.728687
2025-08-22T16:46:53.732Z,1755881213.732 [DAT](INFO): DAT read: Bearing 313.4,  13.5 (Local)

2025-08-22T16:46:53.732Z,1755881213.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  13.5 (Local)

2025-08-22T16:46:53.740Z,1755881213.740 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:53.754Z,1755881213.754 [DAT](INFO): DAT read: 16:46:54.4600 LVL= 32752, 24865, 32754, 32755, AGC= 65, IDX= 510, 0.30,-1.471, 0.192,-1.977,-0.973, PHS=-0.396, 1.210,-1.047, RAW= 346.3,   2.4, CAL= 345.8,  -0.6, ROT= 164.2,   0.6

2025-08-22T16:46:53.755Z,1755881213.755 [DAT](INFO): got valid direction response:
 16:46:54.4600 LVL= 32752, 24865, 32754, 32755, AGC= 65, IDX= 510, 0.30,-1.471, 0.192,-1.977,-0.973, PHS=-0.396, 1.210,-1.047, RAW= 346.3,   2.4, CAL= 345.8,  -0.6, ROT= 164.2,   0.6

2025-08-22T16:46:53.756Z,1755881213.756 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T16:46:53.757Z,1755881213.757 [DAT](INFO): direction in FSK: [-0.962165,0.272265,-0.010472]
2025-08-22T16:46:53.757Z,1755881213.757 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:53.789Z,1755881213.789 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.535877
2025-08-22T16:46:53.844Z,1755881213.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503851 s,
      deltaX: -0.200001 m,
      approachRate: -0.396944 m/s,
      rangeRepo size: 4

2025-08-22T16:46:53.851Z,1755881213.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233931 m,
      bearing: 135.195096 deg,
      lat: 36.779439 deg,
      lon: -121.859663 deg,
      deltaT: 0.503851 s,
      deltaX: -0.198742 m,
      approachRate: -0.394446 m/s,
      posRepo size: 4

2025-08-22T16:46:53.851Z,1755881213.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:53.979Z,1755881213.979 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.725925
2025-08-22T16:46:54.221Z,1755881214.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:54.232Z,1755881214.232 [DAT](INFO): DAT read: Rx Time:16:46:54.9601 

2025-08-22T16:46:54.233Z,1755881214.233 [DAT](INFO): Rx dataTimestamp_ set to:1755881214.232333
2025-08-22T16:46:54.235Z,1755881214.235 [DAT](INFO): DAT read: Bearing 316.0,  13.0 (Local)

2025-08-22T16:46:54.235Z,1755881214.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.0,  13.0 (Local)

2025-08-22T16:46:54.244Z,1755881214.244 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:54.248Z,1755881214.248 [DAT](INFO): DAT read: 16:46:54.9601 LVL= 28592, 24977, 32754, 32755, AGC= 62, IDX= 512,-0.46, 2.560,-2.178, 2.110, 2.951, PHS=-0.289, 1.199,-0.885, RAW= 346.1,  -0.3, CAL= 345.7,  -3.3, ROT= 164.3,   3.3

2025-08-22T16:46:54.249Z,1755881214.249 [DAT](INFO): got valid direction response:
 16:46:54.9601 LVL= 28592, 24977, 32754, 32755, AGC= 62, IDX= 512,-0.46, 2.560,-2.178, 2.110, 2.951, PHS=-0.289, 1.199,-0.885, RAW= 346.1,  -0.3, CAL= 345.7,  -3.3, ROT= 164.3,   3.3

2025-08-22T16:46:54.250Z,1755881214.250 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T16:46:54.251Z,1755881214.251 [DAT](INFO): direction in FSK: [-0.961095,0.270152,-0.057564]
2025-08-22T16:46:54.251Z,1755881214.251 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:54.255Z,1755881214.255 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.001801
2025-08-22T16:46:54.483Z,1755881214.483 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.229778
2025-08-22T16:46:54.715Z,1755881214.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503646 s,
      deltaX: 0.200001 m,
      approachRate: 0.397106 m/s,
      rangeRepo size: 4

2025-08-22T16:46:54.723Z,1755881214.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432684 m,
      bearing: 134.942624 deg,
      lat: 36.779439 deg,
      lon: -121.859661 deg,
      deltaT: 0.503646 s,
      deltaX: 0.198753 m,
      approachRate: 0.394629 m/s,
      posRepo size: 4

2025-08-22T16:46:54.724Z,1755881214.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:54.736Z,1755881214.736 [DAT](INFO): DAT read: Rx Time:16:46:55.4600 

2025-08-22T16:46:54.737Z,1755881214.737 [DAT](INFO): Rx dataTimestamp_ set to:1755881214.736638
2025-08-22T16:46:54.739Z,1755881214.739 [DAT](INFO): DAT read: Bearing 312.6,  12.8 (Local)

2025-08-22T16:46:54.740Z,1755881214.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.6,  12.8 (Local)

2025-08-22T16:46:54.743Z,1755881214.743 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:54.747Z,1755881214.747 [DAT](INFO): DAT read: 16:46:55.4600 LVL= 32752, 27777, 32754, 32755, AGC= 65, IDX= 511,-0.28, 2.239,-2.345, 1.750, 2.775, PHS=-0.434, 1.208,-1.069, RAW= 345.7,   2.9, CAL= 345.2,  -0.0, ROT= 164.8,   0.0

2025-08-22T16:46:54.748Z,1755881214.748 [DAT](INFO): got valid direction response:
 16:46:55.4600 LVL= 32752, 27777, 32754, 32755, AGC= 65, IDX= 511,-0.28, 2.239,-2.345, 1.750, 2.775, PHS=-0.434, 1.208,-1.069, RAW= 345.7,   2.9, CAL= 345.2,  -0.0, ROT= 164.8,   0.0

2025-08-22T16:46:54.749Z,1755881214.749 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T16:46:54.752Z,1755881214.752 [DAT](INFO): direction in FSK: [-0.965017,0.262189,-0.000000]
2025-08-22T16:46:54.752Z,1755881214.752 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:54.756Z,1755881214.756 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.502926
2025-08-22T16:46:54.987Z,1755881214.987 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.733902
2025-08-22T16:46:55.025Z,1755881215.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504305 s,
      deltaX: -0.200001 m,
      approachRate: -0.396587 m/s,
      rangeRepo size: 4

2025-08-22T16:46:55.031Z,1755881215.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233940 m,
      bearing: 135.854957 deg,
      lat: 36.779439 deg,
      lon: -121.859663 deg,
      deltaT: 0.504305 s,
      deltaX: -0.198744 m,
      approachRate: -0.394094 m/s,
      posRepo size: 4

2025-08-22T16:46:55.031Z,1755881215.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:55.252Z,1755881215.252 [DAT](INFO): DAT read: Rx Time:16:46:55.9602 

2025-08-22T16:46:55.252Z,1755881215.252 [DAT](INFO): Rx dataTimestamp_ set to:1755881215.252173
2025-08-22T16:46:55.254Z,1755881215.254 [DAT](INFO): DAT read: Bearing 300.3,  16.8 (Local)

2025-08-22T16:46:55.254Z,1755881215.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.3,  16.8 (Local)

2025-08-22T16:46:55.256Z,1755881215.256 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:55.267Z,1755881215.267 [DAT](INFO): DAT read: 16:46:55.9602 LVL= 27872, 23601, 32754, 32755, AGC= 61, IDX= 512,-0.12, 1.757,-3.110, 1.277, 2.417, PHS=-0.558, 0.801,-1.184, RAW= 347.9,  10.7, CAL= 348.1,  12.2, ROT= 161.9, -12.2

2025-08-22T16:46:55.268Z,1755881215.268 [DAT](INFO): got valid direction response:
 16:46:55.9602 LVL= 27872, 23601, 32754, 32755, AGC= 61, IDX= 512,-0.12, 1.757,-3.110, 1.277, 2.417, PHS=-0.558, 0.801,-1.184, RAW= 347.9,  10.7, CAL= 348.1,  12.2, ROT= 161.9, -12.2

2025-08-22T16:46:55.268Z,1755881215.268 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:46:55.270Z,1755881215.270 [DAT](INFO): direction in FSK: [-0.929049,0.303660,0.211325]
2025-08-22T16:46:55.270Z,1755881215.270 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:55.274Z,1755881215.274 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.021229
2025-08-22T16:46:55.489Z,1755881215.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.515535 s,
      deltaX: 0.300001 m,
      approachRate: 0.581922 m/s,
      rangeRepo size: 4

2025-08-22T16:46:55.491Z,1755881215.491 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.237911
2025-08-22T16:46:55.495Z,1755881215.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.532057 m,
      bearing: 134.554400 deg,
      lat: 36.779439 deg,
      lon: -121.859663 deg,
      deltaT: 0.515535 s,
      deltaX: 0.298117 m,
      approachRate: 0.578267 m/s,
      posRepo size: 4

2025-08-22T16:46:55.495Z,1755881215.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-08-22T16:46:55.743Z,1755881215.743 [DAT](INFO): DAT read: Rx Time:16:46:56.4601 

2025-08-22T16:46:55.744Z,1755881215.744 [DAT](INFO): Rx dataTimestamp_ set to:1755881215.743370
2025-08-22T16:46:55.745Z,1755881215.745 [DAT](INFO): DAT read: Bearing 312.9,  13.1 (Local)

2025-08-22T16:46:55.745Z,1755881215.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.9,  13.1 (Local)

2025-08-22T16:46:55.748Z,1755881215.748 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:55.753Z,1755881215.753 [DAT](INFO): DAT read: 16:46:56.4601 LVL= 32752, 25233, 32754, 32755, AGC= 65, IDX= 511, 0.02,-3.048,-1.374, 2.729,-2.536, PHS=-0.410, 1.207,-1.061, RAW= 346.2,   2.6, CAL= 345.7,  -0.3, ROT= 164.3,   0.3

2025-08-22T16:46:55.758Z,1755881215.758 [DAT](INFO): got valid direction response:
 16:46:56.4601 LVL= 32752, 25233, 32754, 32755, AGC= 65, IDX= 511, 0.02,-3.048,-1.374, 2.729,-2.536, PHS=-0.410, 1.207,-1.061, RAW= 346.2,   2.6, CAL= 345.7,  -0.3, ROT= 164.3,   0.3

2025-08-22T16:46:55.758Z,1755881215.758 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T16:46:55.759Z,1755881215.759 [DAT](INFO): direction in FSK: [-0.962679,0.270597,-0.005236]
2025-08-22T16:46:55.759Z,1755881215.759 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:55.803Z,1755881215.803 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.550381
2025-08-22T16:46:55.908Z,1755881215.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.491197 s,
      deltaX: -0.100000 m,
      approachRate: -0.203585 m/s,
      rangeRepo size: 4

2025-08-22T16:46:55.910Z,1755881215.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432686 m,
      bearing: 135.278842 deg,
      lat: 36.779439 deg,
      lon: -121.859663 deg,
      deltaT: 0.491197 s,
      deltaX: -0.099371 m,
      approachRate: -0.202304 m/s,
      posRepo size: 4

2025-08-22T16:46:55.911Z,1755881215.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:55.995Z,1755881215.995 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.741898
2025-08-22T16:46:56.243Z,1755881216.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:56.247Z,1755881216.247 [DAT](INFO): DAT read: Rx Time:16:46:56.9601 

2025-08-22T16:46:56.248Z,1755881216.248 [DAT](INFO): Rx dataTimestamp_ set to:1755881216.247329
2025-08-22T16:46:56.249Z,1755881216.249 [DAT](INFO): DAT read: Bearing 313.9,  12.6 (Local)

2025-08-22T16:46:56.249Z,1755881216.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.9,  12.6 (Local)

2025-08-22T16:46:56.251Z,1755881216.251 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:56.256Z,1755881216.256 [DAT](INFO): DAT read: 16:46:56.9601 LVL= 30432, 26993, 32754, 32755, AGC= 62, IDX= 511, 0.18,-2.336,-0.637,-2.833,-1.847, PHS=-0.387, 1.255,-1.030, RAW= 345.8,   1.6, CAL= 345.4,  -1.4, ROT= 164.6,   1.4

2025-08-22T16:46:56.257Z,1755881216.257 [DAT](INFO): got valid direction response:
 16:46:56.9601 LVL= 30432, 26993, 32754, 32755, AGC= 62, IDX= 511, 0.18,-2.336,-0.637,-2.833,-1.847, PHS=-0.387, 1.255,-1.030, RAW= 345.8,   1.6, CAL= 345.4,  -1.4, ROT= 164.6,   1.4

2025-08-22T16:46:56.258Z,1755881216.258 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T16:46:56.259Z,1755881216.259 [DAT](INFO): direction in FSK: [-0.963808,0.265477,-0.024432]
2025-08-22T16:46:56.259Z,1755881216.259 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:56.263Z,1755881216.263 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.009823
2025-08-22T16:46:56.501Z,1755881216.501 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.247726
2025-08-22T16:46:56.728Z,1755881216.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503959 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:46:56.736Z,1755881216.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432608 m,
      bearing: 135.373586 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 0.503959 s,
      deltaX: -0.000078 m,
      approachRate: -0.000155 m/s,
      posRepo size: 4

2025-08-22T16:46:56.737Z,1755881216.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:56.751Z,1755881216.751 [DAT](INFO): DAT read: Rx Time:16:46:57.4600 

2025-08-22T16:46:56.752Z,1755881216.752 [DAT](INFO): Rx dataTimestamp_ set to:1755881216.751257
2025-08-22T16:46:56.753Z,1755881216.753 [DAT](INFO): DAT read: Bearing 313.3,  13.6 (Local)

2025-08-22T16:46:56.753Z,1755881216.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3,  13.6 (Local)

2025-08-22T16:46:56.755Z,1755881216.755 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:56.760Z,1755881216.760 [DAT](INFO): DAT read: 16:46:57.4600 LVL= 27024, 21217, 32226, 32755, AGC= 63, IDX= 510, 0.36, 2.822,-1.807, 2.295,-2.974, PHS=-0.385, 1.212,-1.058, RAW= 346.8,   2.3, CAL= 346.3,  -0.7, ROT= 163.7,   0.7

2025-08-22T16:46:56.761Z,1755881216.761 [DAT](INFO): got valid direction response:
 16:46:57.4600 LVL= 27024, 21217, 32226, 32755, AGC= 63, IDX= 510, 0.36, 2.822,-1.807, 2.295,-2.974, PHS=-0.385, 1.212,-1.058, RAW= 346.8,   2.3, CAL= 346.3,  -0.7, ROT= 163.7,   0.7

2025-08-22T16:46:56.761Z,1755881216.761 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T16:46:56.762Z,1755881216.762 [DAT](INFO): direction in FSK: [-0.959734,0.280646,-0.012217]
2025-08-22T16:46:56.762Z,1755881216.762 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:56.766Z,1755881216.766 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.513371
2025-08-22T16:46:57.003Z,1755881217.003 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.749863
2025-08-22T16:46:57.089Z,1755881217.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503928 s,
      deltaX: -0.200001 m,
      approachRate: -0.396884 m/s,
      rangeRepo size: 4

2025-08-22T16:46:57.091Z,1755881217.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233866 m,
      bearing: 134.570840 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 0.503928 s,
      deltaX: -0.198742 m,
      approachRate: -0.394386 m/s,
      posRepo size: 4

2025-08-22T16:46:57.091Z,1755881217.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:57.260Z,1755881217.260 [DAT](INFO): DAT read: Rx Time:16:46:57.9601 

2025-08-22T16:46:57.261Z,1755881217.261 [DAT](INFO): Rx dataTimestamp_ set to:1755881217.260238
2025-08-22T16:46:57.262Z,1755881217.262 [DAT](INFO): DAT read: Bearing 296.4,  18.5 (Local)

2025-08-22T16:46:57.262Z,1755881217.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.4,  18.5 (Local)

2025-08-22T16:46:57.264Z,1755881217.264 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:57.280Z,1755881217.280 [DAT](INFO): DAT read: 16:46:57.9601 LVL= 28448, 23857, 32754, 32755, AGC= 62, IDX= 512,-0.38, 1.343, 2.564, 0.890, 1.973, PHS=-0.528, 0.636,-1.127, RAW= 349.5,  13.1, CAL= 350.0,  15.9, ROT= 160.0, -15.9

2025-08-22T16:46:57.281Z,1755881217.281 [DAT](INFO): got valid direction response:
 16:46:57.9601 LVL= 28448, 23857, 32754, 32755, AGC= 62, IDX= 512,-0.38, 1.343, 2.564, 0.890, 1.973, PHS=-0.528, 0.636,-1.127, RAW= 349.5,  13.1, CAL= 350.0,  15.9, ROT= 160.0, -15.9

2025-08-22T16:46:57.286Z,1755881217.286 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T16:46:57.287Z,1755881217.287 [DAT](INFO): direction in FSK: [-0.903741,0.328935,0.273959]
2025-08-22T16:46:57.288Z,1755881217.288 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:57.297Z,1755881217.297 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:46:57.297Z,1755881217.297 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:46:57.297Z,1755881217.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:57.506Z,1755881217.506 [DAT](INFO): Reached modem response timeout
2025-08-22T16:46:57.507Z,1755881217.507 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:57.507Z,1755881217.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:57.566Z,1755881217.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.508981 s,
      deltaX: 0.200001 m,
      approachRate: 0.392943 m/s,
      rangeRepo size: 4

2025-08-22T16:46:57.568Z,1755881217.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432716 m,
      bearing: 133.007345 deg,
      lat: 36.779439 deg,
      lon: -121.859664 deg,
      deltaT: 0.508981 s,
      deltaX: 0.198851 m,
      approachRate: 0.390684 m/s,
      posRepo size: 4

2025-08-22T16:46:57.568Z,1755881217.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:57.760Z,1755881217.760 [DAT](INFO): DAT read: Rx Time:16:46:58.4600 

2025-08-22T16:46:57.761Z,1755881217.761 [DAT](INFO): Rx dataTimestamp_ set to:1755881217.760135
2025-08-22T16:46:57.762Z,1755881217.762 [DAT](INFO): DAT read: Bearing 313.3,  12.6 (Local)

2025-08-22T16:46:57.763Z,1755881217.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.3,  12.6 (Local)

2025-08-22T16:46:57.766Z,1755881217.766 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:46:57.772Z,1755881217.772 [DAT](INFO): DAT read: 16:46:58.4600 LVL= 25376, 23409, 32754, 32755, AGC= 62, IDX= 511,-0.18, 0.837, 2.553, 0.329, 1.347, PHS=-0.408, 1.251,-1.062, RAW= 345.9,   2.1, CAL= 345.4,  -0.8, ROT= 164.6,   0.8

2025-08-22T16:46:57.774Z,1755881217.774 [DAT](INFO): got valid direction response:
 16:46:58.4600 LVL= 25376, 23409, 32754, 32755, AGC= 62, IDX= 511,-0.18, 0.837, 2.553, 0.329, 1.347, PHS=-0.408, 1.251,-1.062, RAW= 345.9,   2.1, CAL= 345.4,  -0.8, ROT= 164.6,   0.8

2025-08-22T16:46:57.774Z,1755881217.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:46:57.775Z,1755881217.775 [DAT](INFO): direction in FSK: [-0.964001,0.265530,-0.013962]
2025-08-22T16:46:57.775Z,1755881217.775 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:57.783Z,1755881217.783 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:57.784Z,1755881217.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:57.971Z,1755881217.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.499897 s,
      deltaX: -0.200001 m,
      approachRate: -0.400084 m/s,
      rangeRepo size: 4

2025-08-22T16:46:57.973Z,1755881217.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233973 m,
      bearing: 135.315643 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 0.499897 s,
      deltaX: -0.198744 m,
      approachRate: -0.397570 m/s,
      posRepo size: 4

2025-08-22T16:46:57.974Z,1755881217.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:58.010Z,1755881218.010 [DAT](INFO): Reached modem response timeout
2025-08-22T16:46:58.010Z,1755881218.010 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:58.011Z,1755881218.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:58.263Z,1755881218.263 [DAT](INFO): DAT read: Rx Time:16:46:58.9602 

2025-08-22T16:46:58.263Z,1755881218.263 [DAT](INFO): Rx dataTimestamp_ set to:1755881218.262820
2025-08-22T16:46:58.265Z,1755881218.265 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:58.266Z,1755881218.266 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:46:58.267Z,1755881218.267 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:58.267Z,1755881218.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:58.486Z,1755881218.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.502685 s,
      deltaX: 0.300001 m,
      approachRate: 0.596797 m/s,
      rangeRepo size: 4

2025-08-22T16:46:58.486Z,1755881218.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:46:58.514Z,1755881218.514 [DAT](INFO): Reached modem response timeout
2025-08-22T16:46:58.515Z,1755881218.515 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:58.515Z,1755881218.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:58.767Z,1755881218.767 [DAT](INFO): DAT read: Rx Time:16:46:59.4601 

2025-08-22T16:46:58.768Z,1755881218.768 [DAT](INFO): Rx dataTimestamp_ set to:1755881218.767415
2025-08-22T16:46:58.769Z,1755881218.769 [DAT](INFO): DAT read: Bearing 313.1,  13.3 (Local)

2025-08-22T16:46:58.769Z,1755881218.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  13.3 (Local)

2025-08-22T16:46:58.771Z,1755881218.771 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:58.776Z,1755881218.776 [DAT](INFO): DAT read: 16:46:59.4601 LVL= 28976, 22753, 32754, 32755, AGC= 63, IDX= 511, 0.03, 2.930,-1.678, 2.400,-2.855, PHS=-0.396, 1.222,-1.072, RAW= 346.7,   2.4, CAL= 346.2,  -0.5, ROT= 163.8,   0.5

2025-08-22T16:46:58.778Z,1755881218.778 [DAT](INFO): got valid direction response:
 16:46:59.4601 LVL= 28976, 22753, 32754, 32755, AGC= 63, IDX= 511, 0.03, 2.930,-1.678, 2.400,-2.855, PHS=-0.396, 1.222,-1.072, RAW= 346.7,   2.4, CAL= 346.2,  -0.5, ROT= 163.8,   0.5

2025-08-22T16:46:58.779Z,1755881218.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:46:58.780Z,1755881218.780 [DAT](INFO): direction in FSK: [-0.960257,0.278981,-0.008727]
2025-08-22T16:46:58.780Z,1755881218.780 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:58.783Z,1755881218.783 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:58.784Z,1755881218.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:58.916Z,1755881218.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504595 s,
      deltaX: -0.100000 m,
      approachRate: -0.198179 m/s,
      rangeRepo size: 4

2025-08-22T16:46:58.922Z,1755881218.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432667 m,
      bearing: 134.490008 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 1.007280 s,
      deltaX: 0.198694 m,
      approachRate: 0.197258 m/s,
      posRepo size: 4

2025-08-22T16:46:58.923Z,1755881218.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:59.018Z,1755881219.018 [DAT](INFO): Reached modem response timeout
2025-08-22T16:46:59.019Z,1755881219.019 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:59.019Z,1755881219.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:59.258Z,1755881219.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:59.271Z,1755881219.271 [DAT](INFO): DAT read: Rx Time:16:46:59.9602 

2025-08-22T16:46:59.271Z,1755881219.271 [DAT](INFO): Rx dataTimestamp_ set to:1755881219.270741
2025-08-22T16:46:59.272Z,1755881219.272 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:46:59.273Z,1755881219.273 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:46:59.277Z,1755881219.277 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:59.278Z,1755881219.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:59.522Z,1755881219.522 [DAT](INFO): Reached modem response timeout
2025-08-22T16:46:59.522Z,1755881219.522 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:59.523Z,1755881219.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:46:59.734Z,1755881219.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503326 s,
      deltaX: 0.100000 m,
      approachRate: 0.198679 m/s,
      rangeRepo size: 4

2025-08-22T16:46:59.735Z,1755881219.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:46:59.775Z,1755881219.775 [DAT](INFO): DAT read: Rx Time:16:47:00.4601 

2025-08-22T16:46:59.776Z,1755881219.776 [DAT](INFO): Rx dataTimestamp_ set to:1755881219.775305
2025-08-22T16:46:59.777Z,1755881219.777 [DAT](INFO): DAT read: Bearing 313.1,  13.4 (Local)

2025-08-22T16:46:59.777Z,1755881219.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  13.4 (Local)

2025-08-22T16:46:59.780Z,1755881219.780 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-08-22T16:46:59.784Z,1755881219.784 [DAT](INFO): DAT read: 16:47:00.4601 LVL= 27424, 22081, 32754, 32755, AGC= 63, IDX= 511, 0.17,-2.250,-0.593,-2.782,-1.760, PHS=-0.389, 1.212,-1.066, RAW= 346.8,   2.4, CAL= 346.4,  -0.5, ROT= 163.6,   0.5

2025-08-22T16:46:59.785Z,1755881219.785 [DAT](INFO): got valid direction response:
 16:47:00.4601 LVL= 27424, 22081, 32754, 32755, AGC= 63, IDX= 511, 0.17,-2.250,-0.593,-2.782,-1.760, PHS=-0.389, 1.212,-1.066, RAW= 346.8,   2.4, CAL= 346.4,  -0.5, ROT= 163.6,   0.5

2025-08-22T16:46:59.786Z,1755881219.786 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:46:59.787Z,1755881219.787 [DAT](INFO): direction in FSK: [-0.959277,0.282331,-0.008727]
2025-08-22T16:46:59.787Z,1755881219.787 [DAT](INFO): publishing direction and range info
2025-08-22T16:46:59.790Z,1755881219.790 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:46:59.791Z,1755881219.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:00.026Z,1755881220.026 [DAT](INFO): Reached modem response timeout
2025-08-22T16:47:00.026Z,1755881220.026 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:00.027Z,1755881220.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:00.240Z,1755881220.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504564 s,
      deltaX: -0.100000 m,
      approachRate: -0.198192 m/s,
      rangeRepo size: 4

2025-08-22T16:47:00.246Z,1755881220.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432705 m,
      bearing: 134.261940 deg,
      lat: 36.779437 deg,
      lon: -121.859663 deg,
      deltaT: 1.007890 s,
      deltaX: 0.000038 m,
      approachRate: 0.000038 m/s,
      posRepo size: 4

2025-08-22T16:47:00.247Z,1755881220.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:00.279Z,1755881220.279 [DAT](INFO): DAT read: Rx Time:16:47:00.9602 

2025-08-22T16:47:00.280Z,1755881220.280 [DAT](INFO): Rx dataTimestamp_ set to:1755881220.279423
2025-08-22T16:47:00.282Z,1755881220.282 [DAT](INFO): DAT read: Bearing 303.4,  15.2 (Local)

2025-08-22T16:47:00.282Z,1755881220.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.4,  15.2 (Local)

2025-08-22T16:47:00.285Z,1755881220.285 [DAT](INFO): DAT read: Range 11 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-08-22T16:47:00.291Z,1755881220.291 [DAT](INFO): DAT read: 16:47:00.9602 LVL= 31792, 24289, 32754, 32755, AGC= 62, IDX= 512, 0.24,-2.091,-0.758,-2.502,-1.516, PHS=-0.473, 0.803,-1.030, RAW= 347.2,   8.6, CAL= 347.2,   8.9, ROT= 162.8,  -8.9

2025-08-22T16:47:00.292Z,1755881220.292 [DAT](INFO): got valid direction response:
 16:47:00.9602 LVL= 31792, 24289, 32754, 32755, AGC= 62, IDX= 512, 0.24,-2.091,-0.758,-2.502,-1.516, PHS=-0.473, 0.803,-1.030, RAW= 347.2,   8.6, CAL= 347.2,   8.9, ROT= 162.8,  -8.9

2025-08-22T16:47:00.292Z,1755881220.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:47:00.294Z,1755881220.294 [DAT](INFO): direction in FSK: [-0.943777,0.292148,0.154710]
2025-08-22T16:47:00.294Z,1755881220.294 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:00.297Z,1755881220.297 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:00.302Z,1755881220.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:00.530Z,1755881220.530 [DAT](INFO): Reached modem response timeout
2025-08-22T16:47:00.531Z,1755881220.531 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:00.531Z,1755881220.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:00.741Z,1755881220.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.504118 s,
      deltaX: 0.100000 m,
      approachRate: 0.198367 m/s,
      rangeRepo size: 4

2025-08-22T16:47:00.743Z,1755881220.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.532055 m,
      bearing: 134.690088 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 0.504118 s,
      deltaX: 0.099350 m,
      approachRate: 0.197077 m/s,
      posRepo size: 4

2025-08-22T16:47:00.743Z,1755881220.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m.
2025-08-22T16:47:00.783Z,1755881220.783 [DAT](INFO): DAT read: Rx Time:16:47:01.4600 

2025-08-22T16:47:00.784Z,1755881220.784 [DAT](INFO): Rx dataTimestamp_ set to:1755881220.783317
2025-08-22T16:47:00.785Z,1755881220.785 [DAT](INFO): DAT read: Bearing 313.2,  13.1 (Local)

2025-08-22T16:47:00.785Z,1755881220.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  13.1 (Local)

2025-08-22T16:47:00.787Z,1755881220.787 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:47:00.792Z,1755881220.792 [DAT](INFO): DAT read: 16:47:01.4600 LVL= 26352, 23377, 32754, 32755, AGC= 62, IDX= 511, 0.27,-2.153,-0.493,-2.674,-1.664, PHS=-0.387, 1.216,-1.054, RAW= 346.6,   2.3, CAL= 346.1,  -0.7, ROT= 163.9,   0.7

2025-08-22T16:47:00.793Z,1755881220.793 [DAT](INFO): got valid direction response:
 16:47:01.4600 LVL= 26352, 23377, 32754, 32755, AGC= 62, IDX= 511, 0.27,-2.153,-0.493,-2.674,-1.664, PHS=-0.387, 1.216,-1.054, RAW= 346.6,   2.3, CAL= 346.1,  -0.7, ROT= 163.9,   0.7

2025-08-22T16:47:00.793Z,1755881220.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:47:00.794Z,1755881220.794 [DAT](INFO): direction in FSK: [-0.960707,0.277294,-0.012217]
2025-08-22T16:47:00.794Z,1755881220.794 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:00.798Z,1755881220.798 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:00.798Z,1755881220.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:01.035Z,1755881221.035 [DAT](INFO): Reached modem response timeout
2025-08-22T16:47:01.035Z,1755881221.035 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:01.036Z,1755881221.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:01.171Z,1755881221.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503894 s,
      deltaX: -0.300001 m,
      approachRate: -0.595366 m/s,
      rangeRepo size: 4

2025-08-22T16:47:01.180Z,1755881221.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233940 m,
      bearing: 134.525421 deg,
      lat: 36.779437 deg,
      lon: -121.859665 deg,
      deltaT: 0.503894 s,
      deltaX: -0.298115 m,
      approachRate: -0.591622 m/s,
      posRepo size: 4

2025-08-22T16:47:01.181Z,1755881221.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:01.288Z,1755881221.288 [DAT](INFO): DAT read: Rx Time:16:47:01.9600 

2025-08-22T16:47:01.289Z,1755881221.289 [DAT](INFO): Rx dataTimestamp_ set to:1755881221.288672
2025-08-22T16:47:01.291Z,1755881221.291 [DAT](INFO): DAT read: Bearing 313.1,  13.3 (Local)

2025-08-22T16:47:01.292Z,1755881221.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.1,  13.3 (Local)

2025-08-22T16:47:01.295Z,1755881221.295 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-08-22T16:47:01.301Z,1755881221.301 [DAT](INFO): DAT read: 16:47:01.9600 LVL= 28400, 24513, 32754, 32755, AGC= 62, IDX= 511, 0.30,-1.739,-0.087,-2.267,-1.252, PHS=-0.385, 1.211,-1.059, RAW= 346.8,   2.3, CAL= 346.3,  -0.6, ROT= 163.7,   0.6

2025-08-22T16:47:01.309Z,1755881221.309 [DAT](INFO): got valid direction response:
 16:47:01.9600 LVL= 28400, 24513, 32754, 32755, AGC= 62, IDX= 511, 0.30,-1.739,-0.087,-2.267,-1.252, PHS=-0.385, 1.211,-1.059, RAW= 346.8,   2.3, CAL= 346.3,  -0.6, ROT= 163.7,   0.6

2025-08-22T16:47:01.309Z,1755881221.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:47:01.310Z,1755881221.310 [DAT](INFO): direction in FSK: [-0.959753,0.280651,-0.010472]
2025-08-22T16:47:01.311Z,1755881221.311 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:01.320Z,1755881221.320 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:01.320Z,1755881221.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:01.538Z,1755881221.538 [DAT](INFO): Reached modem response timeout
2025-08-22T16:47:01.538Z,1755881221.538 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:47:01.539Z,1755881221.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:01.585Z,1755881221.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.505355 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:47:01.592Z,1755881221.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.233868 m,
      bearing: 134.329062 deg,
      lat: 36.779437 deg,
      lon: -121.859664 deg,
      deltaT: 0.505355 s,
      deltaX: -0.000072 m,
      approachRate: -0.000143 m/s,
      posRepo size: 4

2025-08-22T16:47:01.592Z,1755881221.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:01.790Z,1755881221.790 [DAT](INFO): DAT read: user:274>

2025-08-22T16:47:01.791Z,1755881221.791 [DAT](INFO): DAT read: Command 'tr50' not found

2025-08-22T16:47:01.792Z,1755881221.792 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-08-22T16:47:01.792Z,1755881221.792 [DAT](INFO): DAT read: Error

2025-08-22T16:47:01.792Z,1755881221.792 [DAT](INFO): unknown deviceResponse_: Error

2025-08-22T16:47:01.793Z,1755881221.793 [DAT](INFO): DAT read: user:275>

2025-08-22T16:47:01.793Z,1755881221.793 [DAT](INFO): DAT read: Tx time:16:47:02.9462

2025-08-22T16:47:01.794Z,1755881221.794 [DAT](INFO): Ping request sent.
2025-08-22T16:47:01.794Z,1755881221.794 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:01.794Z,1755881221.794 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:01.795Z,1755881221.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766
2025-08-22T16:47:01.933Z,1755881221.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:02.043Z,1755881222.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248649
2025-08-22T16:47:02.295Z,1755881222.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501015
2025-08-22T16:47:02.312Z,1755881222.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:02.547Z,1755881222.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752790
2025-08-22T16:47:02.756Z,1755881222.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:02.799Z,1755881222.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005082
2025-08-22T16:47:03.050Z,1755881223.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256572
2025-08-22T16:47:03.131Z,1755881223.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:03.303Z,1755881223.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509529
2025-08-22T16:47:03.549Z,1755881223.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:03.555Z,1755881223.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760866
2025-08-22T16:47:03.807Z,1755881223.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012653
2025-08-22T16:47:03.922Z,1755881223.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:04.059Z,1755881224.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265137
2025-08-22T16:47:04.311Z,1755881224.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516691
2025-08-22T16:47:04.331Z,1755881224.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:04.563Z,1755881224.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769013
2025-08-22T16:47:04.780Z,1755881224.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:04.815Z,1755881224.815 [DAT](INFO): DAT read: Rx Time:16:47:05.3859

2025-08-22T16:47:04.816Z,1755881224.816 [DAT](INFO): Rx dataTimestamp_ set to:1755881224.815381
2025-08-22T16:47:04.817Z,1755881224.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022647
2025-08-22T16:47:05.066Z,1755881225.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272617
2025-08-22T16:47:05.148Z,1755881225.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:05.324Z,1755881225.324 [DAT](INFO): DAT read: 16:47:05.3859 LVL= 30512, 26417, 32754, 32755, AGC= 62, IDX= 489,-0.32, 0.167, 1.824,-0.301, 0.688, PHS=-0.420, 1.181,-1.033, RAW= 345.6,   2.8, CAL= 345.1,  -0.2, ROT= 164.9,   0.2

2025-08-22T16:47:05.325Z,1755881225.325 [DAT](INFO): got valid direction response:
 16:47:05.3859 LVL= 30512, 26417, 32754, 32755, AGC= 62, IDX= 489,-0.32, 0.167, 1.824,-0.301, 0.688, PHS=-0.420, 1.181,-1.033, RAW= 345.6,   2.8, CAL= 345.1,  -0.2, ROT= 164.9,   0.2

2025-08-22T16:47:05.326Z,1755881225.326 [DAT](INFO): DAT read: Bearing 312.1,  12.2 (Local)

2025-08-22T16:47:05.327Z,1755881225.327 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  12.2 (Local)

2025-08-22T16:47:05.328Z,1755881225.328 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m  (Round-trip  35.5 ms) speed  0.0 m/s

2025-08-22T16:47:05.329Z,1755881225.329 [DAT](INFO): DAT read: user:276>

2025-08-22T16:47:05.329Z,1755881225.329 [DAT](INFO): DAT read: Tx time:16:47:06.4962

2025-08-22T16:47:05.330Z,1755881225.330 [DAT](INFO): Ping request sent.
2025-08-22T16:47:05.330Z,1755881225.330 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:05.330Z,1755881225.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:47:05.331Z,1755881225.331 [DAT](INFO): direction in FSK: [-0.965467,0.260503,-0.003491]
2025-08-22T16:47:05.331Z,1755881225.331 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:05.332Z,1755881225.332 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:05.347Z,1755881225.347 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:05.347Z,1755881225.347 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:05.585Z,1755881225.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 4.029513 s,
      deltaX: 0.200001 m,
      approachRate: 0.049634 m/s,
      rangeRepo size: 4

2025-08-22T16:47:05.587Z,1755881225.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.432598 m,
      bearing: 135.445538 deg,
      lat: 36.779437 deg,
      lon: -121.859665 deg,
      deltaT: 4.029513 s,
      deltaX: 0.198730 m,
      approachRate: 0.049319 m/s,
      posRepo size: 4

2025-08-22T16:47:05.588Z,1755881225.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:05.950Z,1755881225.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:06.361Z,1755881226.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:06.767Z,1755881226.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:07.163Z,1755881227.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:07.599Z,1755881227.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:07.958Z,1755881227.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:08.342Z,1755881228.342 [DAT](INFO): DAT read: Rx Time:16:47:08.9358

2025-08-22T16:47:08.343Z,1755881228.343 [DAT](INFO): Rx dataTimestamp_ set to:1755881228.342673
2025-08-22T16:47:08.370Z,1755881228.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:08.822Z,1755881228.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m.
2025-08-22T16:47:08.852Z,1755881228.852 [DAT](INFO): DAT read: 16:47:08.9358 LVL= 32752, 27377, 32754, 32755, AGC= 63, IDX= 439, 0.49,-0.681, 0.959,-1.201,-0.211, PHS=-0.368, 1.215,-1.034, RAW= 346.8,   1.9, CAL= 346.3,  -1.1, ROT= 163.7,   1.1

2025-08-22T16:47:08.857Z,1755881228.857 [DAT](INFO): got valid direction response:
 16:47:08.9358 LVL= 32752, 27377, 32754, 32755, AGC= 63, IDX= 439, 0.49,-0.681, 0.959,-1.201,-0.211, PHS=-0.368, 1.215,-1.034, RAW= 346.8,   1.9, CAL= 346.3,  -1.1, ROT= 163.7,   1.1

2025-08-22T16:47:08.859Z,1755881228.859 [DAT](INFO): DAT read: Bearing 313.2,  13.4 (Local)

2025-08-22T16:47:08.859Z,1755881228.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  13.4 (Local)

2025-08-22T16:47:08.860Z,1755881228.860 [DAT](INFO): DAT read: Range 11 to 50 : 26.5 m  (Round-trip  35.4 ms) speed  0.0 m/s

2025-08-22T16:47:08.861Z,1755881228.861 [DAT](INFO): DAT read: user:277>

2025-08-22T16:47:08.866Z,1755881228.866 [DAT](INFO): DAT read: Tx time:16:47:10.0462

2025-08-22T16:47:08.866Z,1755881228.866 [DAT](INFO): Ping request sent.
2025-08-22T16:47:08.867Z,1755881228.867 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:08.867Z,1755881228.867 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T16:47:08.868Z,1755881228.868 [DAT](INFO): direction in FSK: [-0.959628,0.280615,-0.019197]
2025-08-22T16:47:08.868Z,1755881228.868 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:08.868Z,1755881228.868 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:08.881Z,1755881228.881 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:08.881Z,1755881228.881 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:09.224Z,1755881229.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.500000 m,
      deltaT: 3.527869 s,
      deltaX: -0.100000 m,
      approachRate: -0.028346 m/s,
      rangeRepo size: 4

2025-08-22T16:47:09.226Z,1755881229.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.333385 m,
      bearing: 133.898985 deg,
      lat: 36.779437 deg,
      lon: -121.859665 deg,
      deltaT: 3.527869 s,
      deltaX: -0.099213 m,
      approachRate: -0.028123 m/s,
      posRepo size: 4

2025-08-22T16:47:09.227Z,1755881229.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:09.612Z,1755881229.612 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,        4.85
2025-08-22T16:47:09.644Z,1755881229.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:09.978Z,1755881229.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:10.390Z,1755881230.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:10.808Z,1755881230.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:11.246Z,1755881231.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:11.673Z,1755881231.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:11.875Z,1755881231.875 [DAT](INFO): DAT read: Rx Time:16:47:12.4858

2025-08-22T16:47:11.875Z,1755881231.875 [DAT](INFO): Rx dataTimestamp_ set to:1755881231.874821
2025-08-22T16:47:12.026Z,1755881232.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:12.411Z,1755881232.411 [DAT](INFO): DAT read: 16:47:12.4858 LVL= 31808, 26609, 32754, 32755, AGC= 62, IDX= 440,-0.29,-3.096,-1.424, 2.697,-2.571, PHS=-0.423, 1.191,-1.059, RAW= 345.9,   2.9, CAL= 345.4,  -0.0, ROT= 164.6,   0.0

2025-08-22T16:47:12.412Z,1755881232.412 [DAT](INFO): got valid direction response:
 16:47:12.4858 LVL= 31808, 26609, 32754, 32755, AGC= 62, IDX= 440,-0.29,-3.096,-1.424, 2.697,-2.571, PHS=-0.423, 1.191,-1.059, RAW= 345.9,   2.9, CAL= 345.4,  -0.0, ROT= 164.6,   0.0

2025-08-22T16:47:12.413Z,1755881232.413 [DAT](INFO): DAT read: Bearing 312.1,  12.7 (Local)

2025-08-22T16:47:12.417Z,1755881232.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  12.7 (Local)

2025-08-22T16:47:12.419Z,1755881232.419 [DAT](INFO): DAT read: Range 11 to 50 : 26.5 m  (Round-trip  35.4 ms) speed  0.0 m/s

2025-08-22T16:47:12.420Z,1755881232.420 [DAT](INFO): DAT read: user:278>

2025-08-22T16:47:12.420Z,1755881232.420 [DAT](INFO): DAT read: Tx time:16:47:13.5962

2025-08-22T16:47:12.420Z,1755881232.420 [DAT](INFO): Ping request sent.
2025-08-22T16:47:12.421Z,1755881232.421 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:12.421Z,1755881232.421 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:47:12.430Z,1755881232.430 [DAT](INFO): direction in FSK: [-0.964095,0.265556,-0.000000]
2025-08-22T16:47:12.430Z,1755881232.430 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:12.431Z,1755881232.431 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:12.438Z,1755881232.438 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:12.438Z,1755881232.438 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:12.500Z,1755881232.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.500000 m,
      deltaT: 3.536337 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:47:12.506Z,1755881232.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.333452 m,
      bearing: 134.773920 deg,
      lat: 36.779433 deg,
      lon: -121.859667 deg,
      deltaT: 3.536337 s,
      deltaX: 0.000067 m,
      approachRate: 0.000019 m/s,
      posRepo size: 4

2025-08-22T16:47:12.507Z,1755881232.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:12.845Z,1755881232.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:13.242Z,1755881233.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:13.731Z,1755881233.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:14.041Z,1755881234.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:14.439Z,1755881234.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:14.855Z,1755881234.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:15.242Z,1755881235.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:15.406Z,1755881235.406 [DAT](INFO): DAT read: Rx Time:16:47:16.0355

2025-08-22T16:47:15.407Z,1755881235.407 [DAT](INFO): Rx dataTimestamp_ set to:1755881235.406646
2025-08-22T16:47:15.744Z,1755881235.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:16.052Z,1755881236.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.33 m.
2025-08-22T16:47:16.172Z,1755881236.172 [DAT](INFO): DAT read: 16:47:16.0355 LVL= 32752, 30849, 32754, 32755, AGC= 60, IDX= 438,-0.32, 2.193,-2.408, 1.678, 2.709, PHS=-0.414, 1.211,-1.075, RAW= 346.3,   2.8, CAL= 345.8,  -0.2, ROT= 164.2,   0.2

2025-08-22T16:47:16.179Z,1755881236.179 [DAT](INFO): got valid direction response:
 16:47:16.0355 LVL= 32752, 30849, 32754, 32755, AGC= 60, IDX= 438,-0.32, 2.193,-2.408, 1.678, 2.709, PHS=-0.414, 1.211,-1.075, RAW= 346.3,   2.8, CAL= 345.8,  -0.2, ROT= 164.2,   0.2

2025-08-22T16:47:16.181Z,1755881236.181 [DAT](INFO): DAT read: Bearing 312.5,  13.1 (Local)

2025-08-22T16:47:16.181Z,1755881236.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,  13.1 (Local)

2025-08-22T16:47:16.184Z,1755881236.184 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m  (Round-trip  35.2 ms) speed  0.0 m/s

2025-08-22T16:47:16.185Z,1755881236.185 [DAT](INFO): DAT read: user:279>

2025-08-22T16:47:16.187Z,1755881236.187 [DAT](INFO): DAT read: Tx time:16:47:17.1461

2025-08-22T16:47:16.187Z,1755881236.187 [DAT](INFO): Ping request sent.
2025-08-22T16:47:16.187Z,1755881236.187 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:16.187Z,1755881236.187 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:47:16.209Z,1755881236.209 [DAT](INFO): direction in FSK: [-0.962212,0.272279,-0.003491]
2025-08-22T16:47:16.210Z,1755881236.210 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:16.210Z,1755881236.210 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:16.213Z,1755881236.213 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:16.213Z,1755881236.213 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:16.480Z,1755881236.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 3.779936 s,
      deltaX: -0.100000 m,
      approachRate: -0.026456 m/s,
      rangeRepo size: 4

2025-08-22T16:47:16.486Z,1755881236.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.234055 m,
      bearing: 134.421541 deg,
      lat: 36.779430 deg,
      lon: -121.859669 deg,
      deltaT: 3.779936 s,
      deltaX: -0.099398 m,
      approachRate: -0.026296 m/s,
      posRepo size: 4

2025-08-22T16:47:16.486Z,1755881236.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:16.882Z,1755881236.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:17.283Z,1755881237.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:17.732Z,1755881237.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:18.115Z,1755881238.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:18.493Z,1755881238.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:18.918Z,1755881238.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:18.935Z,1755881238.935 [DAT](INFO): DAT read: Rx Time:16:47:19.5854

2025-08-22T16:47:18.935Z,1755881238.935 [DAT](INFO): Rx dataTimestamp_ set to:1755881238.934782
2025-08-22T16:47:19.295Z,1755881239.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.23 m.
2025-08-22T16:47:19.718Z,1755881239.718 [DAT](INFO): DAT read: 16:47:19.5854 LVL= 32752, 26913, 32754, 32755, AGC= 61, IDX= 436, 0.07,-0.587, 1.016,-1.087,-0.113, PHS=-0.373, 1.173,-1.019, RAW= 346.7,   2.3, CAL= 346.2,  -0.7, ROT= 163.8,   0.7

2025-08-22T16:47:19.755Z,1755881239.755 [DAT](INFO): got valid direction response:
 16:47:19.5854 LVL= 32752, 26913, 32754, 32755, AGC= 61, IDX= 436, 0.07,-0.587, 1.016,-1.087,-0.113, PHS=-0.373, 1.173,-1.019, RAW= 346.7,   2.3, CAL= 346.2,  -0.7, ROT= 163.8,   0.7

2025-08-22T16:47:19.756Z,1755881239.756 [DAT](INFO): DAT read: Bearing 313.2,  13.3 (Local)

2025-08-22T16:47:19.756Z,1755881239.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  13.3 (Local)

2025-08-22T16:47:19.762Z,1755881239.762 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m  (Round-trip  35.1 ms) speed  0.0 m/s

2025-08-22T16:47:19.763Z,1755881239.763 [DAT](INFO): DAT read: user:280>

2025-08-22T16:47:19.763Z,1755881239.763 [DAT](INFO): DAT read: Tx time:16:47:20.6961

2025-08-22T16:47:19.764Z,1755881239.764 [DAT](INFO): Ping request sent.
2025-08-22T16:47:19.764Z,1755881239.764 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:19.764Z,1755881239.764 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T16:47:19.765Z,1755881239.765 [DAT](INFO): direction in FSK: [-0.960222,0.278970,-0.012217]
2025-08-22T16:47:19.770Z,1755881239.770 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:19.770Z,1755881239.770 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:19.773Z,1755881239.773 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:19.773Z,1755881239.773 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:19.883Z,1755881239.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 3.529520 s,
      deltaX: -0.100000 m,
      approachRate: -0.028333 m/s,
      rangeRepo size: 4

2025-08-22T16:47:19.885Z,1755881239.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134689 m,
      bearing: 134.005872 deg,
      lat: 36.779428 deg,
      lon: -121.859672 deg,
      deltaT: 3.529520 s,
      deltaX: -0.099365 m,
      approachRate: -0.028153 m/s,
      posRepo size: 4

2025-08-22T16:47:19.898Z,1755881239.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:20.176Z,1755881240.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:20.546Z,1755881240.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:20.878Z,1755881240.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:47:20.976Z,1755881240.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:21.354Z,1755881241.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:21.822Z,1755881241.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:21.882Z,1755881241.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:47:22.191Z,1755881242.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:22.462Z,1755881242.462 [DAT](INFO): DAT read: Rx Time:16:47:23.1354

2025-08-22T16:47:22.463Z,1755881242.463 [DAT](INFO): Rx dataTimestamp_ set to:1755881242.462574
2025-08-22T16:47:22.580Z,1755881242.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:23.063Z,1755881243.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:23.224Z,1755881243.224 [DAT](INFO): DAT read: 16:47:23.1354 LVL= 26560, 23665, 32754, 32755, AGC= 59, IDX= 436, 0.09,-1.505, 0.076,-2.060,-1.055, PHS=-0.348, 1.176,-1.049, RAW= 347.9,   2.3, CAL= 347.5,  -0.7, ROT= 162.5,   0.7

2025-08-22T16:47:23.225Z,1755881243.225 [DAT](INFO): got valid direction response:
 16:47:23.1354 LVL= 26560, 23665, 32754, 32755, AGC= 59, IDX= 436, 0.09,-1.505, 0.076,-2.060,-1.055, PHS=-0.348, 1.176,-1.049, RAW= 347.9,   2.3, CAL= 347.5,  -0.7, ROT= 162.5,   0.7

2025-08-22T16:47:23.226Z,1755881243.226 [DAT](INFO): DAT read: Bearing 313.5,  14.5 (Local)

2025-08-22T16:47:23.227Z,1755881243.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,  14.5 (Local)

2025-08-22T16:47:23.228Z,1755881243.228 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m  (Round-trip  35.1 ms) speed  0.0 m/s

2025-08-22T16:47:23.229Z,1755881243.229 [DAT](INFO): DAT read: user:281>

2025-08-22T16:47:23.229Z,1755881243.229 [DAT](INFO): DAT read: Tx time:16:47:24.2461

2025-08-22T16:47:23.230Z,1755881243.230 [DAT](INFO): Ping request sent.
2025-08-22T16:47:23.230Z,1755881243.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:23.230Z,1755881243.230 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:47:23.231Z,1755881243.231 [DAT](INFO): direction in FSK: [-0.953646,0.300683,-0.012217]
2025-08-22T16:47:23.231Z,1755881243.231 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:23.232Z,1755881243.232 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:23.235Z,1755881243.235 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:23.235Z,1755881243.235 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:23.436Z,1755881243.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 3.526105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:47:23.443Z,1755881243.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.134731 m,
      bearing: 132.723507 deg,
      lat: 36.779427 deg,
      lon: -121.859672 deg,
      deltaT: 3.526105 s,
      deltaX: 0.000042 m,
      approachRate: 0.000012 m/s,
      posRepo size: 4

2025-08-22T16:47:23.443Z,1755881243.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:23.892Z,1755881243.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:24.250Z,1755881244.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:24.676Z,1755881244.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:47:24.684Z,1755881244.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:24.732Z,1755881244.732 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:47:24.733Z,1755881244.733 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:47:24.734Z,1755881244.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:47:24.983Z,1755881244.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753183
2025-08-22T16:47:25.088Z,1755881245.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:25.235Z,1755881245.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004760
2025-08-22T16:47:25.471Z,1755881245.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:25.487Z,1755881245.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256782
2025-08-22T16:47:25.739Z,1755881245.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509131
2025-08-22T16:47:25.931Z,1755881245.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:25.991Z,1755881245.991 [DAT](INFO): DAT read: Rx Time:16:47:26.6852

2025-08-22T16:47:25.992Z,1755881245.992 [DAT](INFO): Rx dataTimestamp_ set to:1755881245.991554
2025-08-22T16:47:25.993Z,1755881245.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762907
2025-08-22T16:47:26.243Z,1755881246.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012798
2025-08-22T16:47:26.300Z,1755881246.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:26.495Z,1755881246.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264743
2025-08-22T16:47:26.711Z,1755881246.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m.
2025-08-22T16:47:26.754Z,1755881246.754 [DAT](INFO): DAT read: 16:47:26.6852 LVL= 24048, 20945, 29906, 32755, AGC= 59, IDX= 435,-0.44, 2.486,-2.202, 1.895, 2.909, PHS=-0.321, 1.217,-1.058, RAW= 348.5,   1.6, CAL= 348.1,  -1.4, ROT= 161.9,   1.4

2025-08-22T16:47:26.755Z,1755881246.755 [DAT](INFO): got valid direction response:
 16:47:26.6852 LVL= 24048, 20945, 29906, 32755, AGC= 59, IDX= 435,-0.44, 2.486,-2.202, 1.895, 2.909, PHS=-0.321, 1.217,-1.058, RAW= 348.5,   1.6, CAL= 348.1,  -1.4, ROT= 161.9,   1.4

2025-08-22T16:47:26.756Z,1755881246.756 [DAT](INFO): DAT read: Bearing 314.4,  15.1 (Local)

2025-08-22T16:47:26.757Z,1755881246.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  15.1 (Local)

2025-08-22T16:47:26.760Z,1755881246.760 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.9 ms) speed  0.0 m/s

2025-08-22T16:47:26.768Z,1755881246.768 [DAT](INFO): DAT read: user:282>

2025-08-22T16:47:26.775Z,1755881246.775 [DAT](INFO): DAT read: Tx time:16:47:27.7961

2025-08-22T16:47:26.776Z,1755881246.776 [DAT](INFO): Ping request sent.
2025-08-22T16:47:26.777Z,1755881246.777 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:26.796Z,1755881246.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:47:26.815Z,1755881246.815 [DAT](INFO): direction in FSK: [-0.950232,0.310584,-0.024432]
2025-08-22T16:47:26.816Z,1755881246.816 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:26.817Z,1755881246.817 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:26.836Z,1755881246.836 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:26.837Z,1755881246.837 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:27.133Z,1755881247.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.529653 s,
      deltaX: -0.199999 m,
      approachRate: -0.056662 m/s,
      rangeRepo size: 4

2025-08-22T16:47:27.139Z,1755881247.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.936024 m,
      bearing: 132.276680 deg,
      lat: 36.779426 deg,
      lon: -121.859673 deg,
      deltaT: 3.529653 s,
      deltaX: -0.198708 m,
      approachRate: -0.056297 m/s,
      posRepo size: 4

2025-08-22T16:47:27.139Z,1755881247.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:27.506Z,1755881247.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:27.934Z,1755881247.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:28.290Z,1755881248.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:28.702Z,1755881248.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:29.122Z,1755881249.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:29.498Z,1755881249.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:29.775Z,1755881249.775 [DAT](INFO): DAT read: Rx Time:16:47:30.2351

2025-08-22T16:47:29.775Z,1755881249.775 [DAT](INFO): Rx dataTimestamp_ set to:1755881249.774781
2025-08-22T16:47:29.968Z,1755881249.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:30.284Z,1755881250.284 [DAT](INFO): DAT read: 16:47:30.2351 LVL= 23392, 20273, 32722, 32755, AGC= 57, IDX= 433,-0.31,-0.755, 0.795,-1.372,-0.338, PHS=-0.315, 1.178,-1.078, RAW= 349.4,   2.2, CAL= 349.0,  -0.8, ROT= 161.0,   0.8

2025-08-22T16:47:30.286Z,1755881250.286 [DAT](INFO): got valid direction response:
 16:47:30.2351 LVL= 23392, 20273, 32722, 32755, AGC= 57, IDX= 433,-0.31,-0.755, 0.795,-1.372,-0.338, PHS=-0.315, 1.178,-1.078, RAW= 349.4,   2.2, CAL= 349.0,  -0.8, ROT= 161.0,   0.8

2025-08-22T16:47:30.286Z,1755881250.286 [DAT](INFO): DAT read: Bearing 314.3,  16.0 (Local)

2025-08-22T16:47:30.287Z,1755881250.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.3,  16.0 (Local)

2025-08-22T16:47:30.288Z,1755881250.288 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.8 ms) speed  0.0 m/s

2025-08-22T16:47:30.289Z,1755881250.289 [DAT](INFO): DAT read: user:283>

2025-08-22T16:47:30.290Z,1755881250.290 [DAT](INFO): DAT read: Tx time:16:47:31.3477

2025-08-22T16:47:30.290Z,1755881250.290 [DAT](INFO): Ping request sent.
2025-08-22T16:47:30.290Z,1755881250.290 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:30.290Z,1755881250.290 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T16:47:30.291Z,1755881250.291 [DAT](INFO): direction in FSK: [-0.945426,0.325536,-0.013962]
2025-08-22T16:47:30.292Z,1755881250.292 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:30.292Z,1755881250.292 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:30.295Z,1755881250.295 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:30.295Z,1755881250.295 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:30.455Z,1755881250.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.530620 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:47:30.457Z,1755881250.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.936121 m,
      bearing: 131.654786 deg,
      lat: 36.779426 deg,
      lon: -121.859673 deg,
      deltaT: 3.530620 s,
      deltaX: 0.000097 m,
      approachRate: 0.000028 m/s,
      posRepo size: 4

2025-08-22T16:47:30.462Z,1755881250.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:30.943Z,1755881250.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:31.354Z,1755881251.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:31.756Z,1755881251.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:32.219Z,1755881252.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:32.616Z,1755881252.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:33.082Z,1755881253.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:33.303Z,1755881253.303 [DAT](INFO): DAT read: Rx Time:16:47:33.7865

2025-08-22T16:47:33.303Z,1755881253.303 [DAT](INFO): Rx dataTimestamp_ set to:1755881253.303036
2025-08-22T16:47:33.488Z,1755881253.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:47:33.812Z,1755881253.812 [DAT](INFO): DAT read: 16:47:33.7865 LVL= 26512, 21313, 32754, 32755, AGC= 59, IDX= 447,-0.17,-2.022,-0.525,-2.638,-1.613, PHS=-0.306, 1.134,-1.068, RAW= 349.9,   2.5, CAL= 349.5,  -0.5, ROT= 160.5,   0.5

2025-08-22T16:47:33.813Z,1755881253.813 [DAT](INFO): got valid direction response:
 16:47:33.7865 LVL= 26512, 21313, 32754, 32755, AGC= 59, IDX= 447,-0.17,-2.022,-0.525,-2.638,-1.613, PHS=-0.306, 1.134,-1.068, RAW= 349.9,   2.5, CAL= 349.5,  -0.5, ROT= 160.5,   0.5

2025-08-22T16:47:33.814Z,1755881253.814 [DAT](INFO): DAT read: Bearing 314.1,  16.7 (Local)

2025-08-22T16:47:33.814Z,1755881253.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  16.7 (Local)

2025-08-22T16:47:33.816Z,1755881253.816 [DAT](INFO): DAT read: Range 11 to 50 : 25.9 m  (Round-trip  34.6 ms) speed -0.1 m/s

2025-08-22T16:47:33.816Z,1755881253.816 [DAT](INFO): DAT read: user:284>

2025-08-22T16:47:33.817Z,1755881253.817 [DAT](INFO): DAT read: Tx time:16:47:34.8961

2025-08-22T16:47:33.829Z,1755881253.829 [DAT](INFO): Ping request sent.
2025-08-22T16:47:33.829Z,1755881253.829 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:33.831Z,1755881253.831 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:47:33.874Z,1755881253.874 [DAT](INFO): direction in FSK: [-0.942606,0.333794,-0.008727]
2025-08-22T16:47:33.874Z,1755881253.874 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:33.875Z,1755881253.875 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:33.891Z,1755881253.891 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:33.892Z,1755881253.892 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:34.067Z,1755881254.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.900000 m,
      deltaT: 3.527711 s,
      deltaX: -0.200001 m,
      approachRate: -0.056694 m/s,
      rangeRepo size: 4

2025-08-22T16:47:34.069Z,1755881254.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.737329 m,
      bearing: 131.384563 deg,
      lat: 36.779426 deg,
      lon: -121.859673 deg,
      deltaT: 3.527711 s,
      deltaX: -0.198792 m,
      approachRate: -0.056351 m/s,
      posRepo size: 4

2025-08-22T16:47:34.074Z,1755881254.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:34.459Z,1755881254.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:34.869Z,1755881254.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:35.297Z,1755881255.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:35.674Z,1755881255.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:36.092Z,1755881256.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:36.488Z,1755881256.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:36.843Z,1755881256.843 [DAT](INFO): DAT read: Rx Time:16:47:37.3348

2025-08-22T16:47:36.843Z,1755881256.843 [DAT](INFO): Rx dataTimestamp_ set to:1755881256.842761
2025-08-22T16:47:36.872Z,1755881256.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:37.315Z,1755881257.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.74 m.
2025-08-22T16:47:37.352Z,1755881257.352 [DAT](INFO): DAT read: 16:47:37.3348 LVL= 27584, 20721, 32754, 32755, AGC= 58, IDX= 430, 0.41,-2.179,-0.703,-2.819,-1.757, PHS=-0.320, 1.100,-1.106, RAW= 350.6,   3.4, CAL= 350.2,   0.6, ROT= 159.8,  -0.6

2025-08-22T16:47:37.354Z,1755881257.354 [DAT](INFO): got valid direction response:
 16:47:37.3348 LVL= 27584, 20721, 32754, 32755, AGC= 58, IDX= 430, 0.41,-2.179,-0.703,-2.819,-1.757, PHS=-0.320, 1.100,-1.106, RAW= 350.6,   3.4, CAL= 350.2,   0.6, ROT= 159.8,  -0.6

2025-08-22T16:47:37.355Z,1755881257.355 [DAT](INFO): DAT read: Bearing 313.2,  17.5 (Local)

2025-08-22T16:47:37.355Z,1755881257.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2,  17.5 (Local)

2025-08-22T16:47:37.357Z,1755881257.357 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m  (Round-trip  34.5 ms) speed  0.0 m/s

2025-08-22T16:47:37.358Z,1755881257.358 [DAT](INFO): DAT read: user:285>

2025-08-22T16:47:37.359Z,1755881257.359 [DAT](INFO): DAT read: Tx time:16:47:38.4477

2025-08-22T16:47:37.360Z,1755881257.360 [DAT](INFO): Ping request sent.
2025-08-22T16:47:37.360Z,1755881257.360 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:47:37.360Z,1755881257.360 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:47:37.366Z,1755881257.366 [DAT](INFO): direction in FSK: [-0.938442,0.345279,0.010472]
2025-08-22T16:47:37.367Z,1755881257.367 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:37.370Z,1755881257.370 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:37.375Z,1755881257.375 [DAT](INFO): publishing transmit ping time
2025-08-22T16:47:37.375Z,1755881257.375 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:37.712Z,1755881257.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.540443 s,
      deltaX: -0.100000 m,
      approachRate: -0.028245 m/s,
      rangeRepo size: 4

2025-08-22T16:47:37.718Z,1755881257.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.638067 m,
      bearing: 130.914703 deg,
      lat: 36.779425 deg,
      lon: -121.859673 deg,
      deltaT: 3.540443 s,
      deltaX: -0.099262 m,
      approachRate: -0.028037 m/s,
      posRepo size: 4

2025-08-22T16:47:37.719Z,1755881257.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:38.113Z,1755881258.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:38.508Z,1755881258.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:38.947Z,1755881258.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:39.352Z,1755881259.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:39.730Z,1755881259.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:40.200Z,1755881260.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:40.371Z,1755881260.371 [DAT](INFO): DAT read: Rx Time:16:47:40.8862

2025-08-22T16:47:40.371Z,1755881260.371 [DAT](INFO): Rx dataTimestamp_ set to:1755881260.370734
2025-08-22T16:47:40.555Z,1755881260.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.64 m.
2025-08-22T16:47:40.881Z,1755881260.881 [DAT](INFO): DAT read: 16:47:40.8861 LVL= 32752, 23025, 32754, 32755, AGC= 57, IDX= 445,-0.44, 0.626, 2.133, 0.004, 1.082, PHS=-0.354, 1.096,-1.122, RAW= 349.9,   3.9, CAL= 349.6,   1.4, ROT= 160.4,  -1.4

2025-08-22T16:47:40.882Z,1755881260.882 [DAT](INFO): got valid direction response:
 16:47:40.8861 LVL= 32752, 23025, 32754, 32755, AGC= 57, IDX= 445,-0.44, 0.626, 2.133, 0.004, 1.082, PHS=-0.354, 1.096,-1.122, RAW= 349.9,   3.9, CAL= 349.6,   1.4, ROT= 160.4,  -1.4

2025-08-22T16:47:40.883Z,1755881260.883 [DAT](INFO): DAT read: Bearing 312.3,  16.7 (Local)

2025-08-22T16:47:40.883Z,1755881260.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.3,  16.7 (Local)

2025-08-22T16:47:40.884Z,1755881260.884 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m  (Round-trip  34.3 ms) speed  0.0 m/s

2025-08-22T16:47:40.885Z,1755881260.885 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T16:47:40.889Z,1755881260.889 [DAT](INFO): direction in FSK: [-0.941776,0.335351,0.024432]
2025-08-22T16:47:40.892Z,1755881260.892 [DAT](INFO): publishing direction and range info
2025-08-22T16:47:41.065Z,1755881261.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 3.528464 s,
      deltaX: -0.099998 m,
      approachRate: -0.028341 m/s,
      rangeRepo size: 4

2025-08-22T16:47:41.071Z,1755881261.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.538496 m,
      bearing: 131.578360 deg,
      lat: 36.779424 deg,
      lon: -121.859674 deg,
      deltaT: 3.528464 s,
      deltaX: -0.099571 m,
      approachRate: -0.028219 m/s,
      posRepo size: 4

2025-08-22T16:47:41.072Z,1755881261.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:41.381Z,1755881261.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:41.747Z,1755881261.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:42.212Z,1755881262.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:42.573Z,1755881262.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:42.974Z,1755881262.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:43.437Z,1755881263.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:43.810Z,1755881263.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:44.254Z,1755881264.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:44.626Z,1755881264.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:45.084Z,1755881265.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:45.458Z,1755881265.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:45.834Z,1755881265.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:46.254Z,1755881266.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:46.657Z,1755881266.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:47.042Z,1755881267.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:47.558Z,1755881267.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:47.954Z,1755881267.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:48.349Z,1755881268.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:48.754Z,1755881268.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:49.211Z,1755881269.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:49.562Z,1755881269.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:49.947Z,1755881269.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:50.370Z,1755881270.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:50.762Z,1755881270.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:51.243Z,1755881271.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:51.586Z,1755881271.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:51.988Z,1755881271.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:52.006Z,1755881272.006 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:47:52.430Z,1755881272.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:52.846Z,1755881272.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:53.011Z,1755881273.011 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:47:53.275Z,1755881273.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:53.677Z,1755881273.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:54.062Z,1755881274.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:54.518Z,1755881274.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:54.885Z,1755881274.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:55.315Z,1755881275.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:55.692Z,1755881275.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:56.145Z,1755881276.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:56.574Z,1755881276.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:57.025Z,1755881277.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:57.442Z,1755881277.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:57.811Z,1755881277.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:58.218Z,1755881278.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:58.658Z,1755881278.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:59.126Z,1755881279.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:59.527Z,1755881279.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:47:59.899Z,1755881279.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:00.373Z,1755881280.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:00.716Z,1755881280.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:01.142Z,1755881281.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:01.534Z,1755881281.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:01.920Z,1755881281.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:02.386Z,1755881282.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:02.764Z,1755881282.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:03.204Z,1755881283.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:03.661Z,1755881283.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:03.995Z,1755881283.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:04.459Z,1755881284.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:04.818Z,1755881284.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:05.211Z,1755881285.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:05.666Z,1755881285.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:06.018Z,1755881286.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:06.486Z,1755881286.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:06.846Z,1755881286.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:07.228Z,1755881287.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:07.666Z,1755881287.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:08.054Z,1755881288.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:08.493Z,1755881288.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:08.843Z,1755881288.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:09.254Z,1755881289.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:09.760Z,1755881289.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:10.059Z,1755881290.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:10.529Z,1755881290.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:10.878Z,1755881290.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:11.270Z,1755881291.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:11.729Z,1755881291.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:12.098Z,1755881292.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:12.564Z,1755881292.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:12.978Z,1755881292.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:13.388Z,1755881293.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:13.813Z,1755881293.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:14.220Z,1755881294.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:14.649Z,1755881294.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:15.019Z,1755881295.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:15.430Z,1755881295.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:15.850Z,1755881295.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:16.234Z,1755881296.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:16.680Z,1755881296.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:17.105Z,1755881297.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:17.491Z,1755881297.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:17.927Z,1755881297.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:18.300Z,1755881298.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:18.740Z,1755881298.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:19.126Z,1755881299.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:19.511Z,1755881299.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:19.942Z,1755881299.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:20.318Z,1755881300.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:20.764Z,1755881300.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:21.142Z,1755881301.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:21.550Z,1755881301.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:21.967Z,1755881301.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:22.379Z,1755881302.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:22.803Z,1755881302.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:23.134Z,1755881303.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:48:23.186Z,1755881303.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:23.595Z,1755881303.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:24.007Z,1755881304.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:24.138Z,1755881304.138 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:48:24.412Z,1755881304.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:24.846Z,1755881304.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:48:24.848Z,1755881304.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:25.002Z,1755881305.002 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:48:25.003Z,1755881305.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:48:25.204Z,1755881305.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:25.255Z,1755881305.255 [DAT](INFO): DAT read: user:286>

2025-08-22T16:48:25.256Z,1755881305.256 [DAT](INFO): DAT read: Tx time:16:48:26.2958

2025-08-22T16:48:25.257Z,1755881305.257 [DAT](INFO): Ping request sent.
2025-08-22T16:48:25.257Z,1755881305.257 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:48:25.257Z,1755881305.257 [DAT](INFO): publishing transmit ping time
2025-08-22T16:48:25.258Z,1755881305.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001174
2025-08-22T16:48:25.506Z,1755881305.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249549
2025-08-22T16:48:25.610Z,1755881305.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:25.759Z,1755881305.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501672
2025-08-22T16:48:26.011Z,1755881306.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753869
2025-08-22T16:48:26.051Z,1755881306.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:26.262Z,1755881306.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005584
2025-08-22T16:48:26.407Z,1755881306.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:26.515Z,1755881306.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257652
2025-08-22T16:48:26.766Z,1755881306.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509558
2025-08-22T16:48:26.866Z,1755881306.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:27.019Z,1755881307.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761600
2025-08-22T16:48:27.233Z,1755881307.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:27.271Z,1755881307.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014149
2025-08-22T16:48:27.523Z,1755881307.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265597
2025-08-22T16:48:27.617Z,1755881307.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:27.775Z,1755881307.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517968
2025-08-22T16:48:28.027Z,1755881308.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769717
2025-08-22T16:48:28.085Z,1755881308.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:28.279Z,1755881308.279 [DAT](INFO): DAT read: Rx Time:16:48:28.7324

2025-08-22T16:48:28.279Z,1755881308.279 [DAT](INFO): Rx dataTimestamp_ set to:1755881308.278693
2025-08-22T16:48:28.280Z,1755881308.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022641
2025-08-22T16:48:28.432Z,1755881308.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:48:28.532Z,1755881308.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275254
2025-08-22T16:48:28.789Z,1755881308.789 [DAT](INFO): DAT read: 16:48:28.7324 LVL= 26656, 21569, 32754, 32755, AGC= 54, IDX= 424,-0.14,-0.506, 0.784,-1.285,-0.102, PHS=-0.302, 0.930,-1.227, RAW= 355.3,   6.4, CAL= 355.2,   5.5, ROT= 154.8,  -5.5

2025-08-22T16:48:28.790Z,1755881308.790 [DAT](INFO): got valid direction response:
 16:48:28.7324 LVL= 26656, 21569, 32754, 32755, AGC= 54, IDX= 424,-0.14,-0.506, 0.784,-1.285,-0.102, PHS=-0.302, 0.930,-1.227, RAW= 355.3,   6.4, CAL= 355.2,   5.5, ROT= 154.8,  -5.5

2025-08-22T16:48:28.791Z,1755881308.791 [DAT](INFO): DAT read: Bearing 309.1,  21.0 (Local)

2025-08-22T16:48:28.791Z,1755881308.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,  21.0 (Local)

2025-08-22T16:48:28.792Z,1755881308.792 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m  (Round-trip  32.4 ms) speed  0.0 m/s

2025-08-22T16:48:28.793Z,1755881308.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:48:28.810Z,1755881308.810 [DAT](INFO): direction in FSK: [-0.900661,0.423819,0.095846]
2025-08-22T16:48:28.810Z,1755881308.810 [DAT](INFO): publishing direction and range info
2025-08-22T16:48:28.917Z,1755881308.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 47.907518 s,
      deltaX: -1.400002 m,
      approachRate: -0.029223 m/s,
      rangeRepo size: 4

2025-08-22T16:48:28.923Z,1755881308.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.147167 m,
      bearing: 126.999403 deg,
      lat: 36.779422 deg,
      lon: -121.859675 deg,
      deltaT: 47.907518 s,
      deltaX: -1.391329 m,
      approachRate: -0.029042 m/s,
      posRepo size: 4

2025-08-22T16:48:28.924Z,1755881308.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:29.241Z,1755881309.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:29.635Z,1755881309.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:30.081Z,1755881310.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:30.445Z,1755881310.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:30.880Z,1755881310.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:31.250Z,1755881311.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:31.656Z,1755881311.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:32.124Z,1755881312.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:32.481Z,1755881312.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:32.909Z,1755881312.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:33.325Z,1755881313.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:33.764Z,1755881313.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:34.191Z,1755881314.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:34.567Z,1755881314.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:34.963Z,1755881314.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:35.359Z,1755881315.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:35.756Z,1755881315.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:36.208Z,1755881316.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:36.574Z,1755881316.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:36.995Z,1755881316.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:37.374Z,1755881317.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:37.781Z,1755881317.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:38.216Z,1755881318.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:38.592Z,1755881318.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:39.054Z,1755881319.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:39.418Z,1755881319.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:39.820Z,1755881319.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:40.248Z,1755881320.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:40.663Z,1755881320.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:41.079Z,1755881321.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:41.458Z,1755881321.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:41.866Z,1755881321.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:42.310Z,1755881322.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:42.706Z,1755881322.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:43.124Z,1755881323.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:43.504Z,1755881323.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:43.973Z,1755881323.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:44.331Z,1755881324.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:44.710Z,1755881324.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:45.176Z,1755881325.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:45.535Z,1755881325.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:46.038Z,1755881326.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:46.350Z,1755881326.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:46.780Z,1755881326.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:47.205Z,1755881327.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:47.563Z,1755881327.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:48.050Z,1755881328.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:48.455Z,1755881328.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:48.778Z,1755881328.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:49.236Z,1755881329.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:49.588Z,1755881329.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:50.068Z,1755881330.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:50.435Z,1755881330.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:50.811Z,1755881330.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:51.240Z,1755881331.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:51.606Z,1755881331.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:52.110Z,1755881332.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:52.438Z,1755881332.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:52.830Z,1755881332.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:53.259Z,1755881333.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:53.624Z,1755881333.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:54.048Z,1755881334.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:54.258Z,1755881334.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:48:54.455Z,1755881334.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:54.834Z,1755881334.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:55.260Z,1755881335.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:55.262Z,1755881335.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:48:55.652Z,1755881335.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:56.074Z,1755881336.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:56.495Z,1755881336.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:56.870Z,1755881336.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:57.287Z,1755881337.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:57.685Z,1755881337.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:58.069Z,1755881338.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:58.531Z,1755881338.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:58.882Z,1755881338.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:59.332Z,1755881339.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:48:59.683Z,1755881339.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:00.114Z,1755881340.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:00.535Z,1755881340.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:00.895Z,1755881340.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:01.327Z,1755881341.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:01.720Z,1755881341.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:02.110Z,1755881342.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:02.538Z,1755881342.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:02.934Z,1755881342.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:03.359Z,1755881343.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:03.724Z,1755881343.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:04.259Z,1755881344.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:04.562Z,1755881344.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:04.938Z,1755881344.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:05.363Z,1755881345.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:05.757Z,1755881345.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:06.173Z,1755881346.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:06.607Z,1755881346.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:06.982Z,1755881346.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:07.398Z,1755881347.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:07.766Z,1755881347.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:08.190Z,1755881348.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:08.601Z,1755881348.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:09.007Z,1755881349.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:09.417Z,1755881349.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:09.792Z,1755881349.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:10.216Z,1755881350.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:10.626Z,1755881350.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:11.034Z,1755881351.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:11.440Z,1755881351.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:11.833Z,1755881351.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:12.228Z,1755881352.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:12.641Z,1755881352.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:13.022Z,1755881353.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:13.498Z,1755881353.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:13.834Z,1755881353.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:14.243Z,1755881354.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:14.664Z,1755881354.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:15.062Z,1755881355.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:15.504Z,1755881355.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:15.851Z,1755881355.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:16.272Z,1755881356.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:16.682Z,1755881356.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:17.064Z,1755881357.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:17.529Z,1755881357.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:17.890Z,1755881357.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:18.274Z,1755881358.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:18.697Z,1755881358.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:19.089Z,1755881359.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:19.542Z,1755881359.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:19.895Z,1755881359.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:20.306Z,1755881360.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:20.724Z,1755881360.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:21.122Z,1755881361.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:21.569Z,1755881361.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:21.917Z,1755881361.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:22.330Z,1755881362.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:22.751Z,1755881362.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:23.123Z,1755881363.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:23.581Z,1755881363.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:23.993Z,1755881363.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:24.334Z,1755881364.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:24.772Z,1755881364.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:25.141Z,1755881365.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:49:25.143Z,1755881365.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:25.286Z,1755881365.286 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:49:25.287Z,1755881365.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:49:25.398Z,1755881365.398 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:49:25.541Z,1755881365.541 [DAT](INFO): DAT read: user:287>

2025-08-22T16:49:25.544Z,1755881365.544 [DAT](INFO): DAT read: Tx time:16:49:26.5456

2025-08-22T16:49:25.545Z,1755881365.545 [DAT](INFO): Ping request sent.
2025-08-22T16:49:25.545Z,1755881365.545 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:49:25.554Z,1755881365.554 [DAT](INFO): publishing transmit ping time
2025-08-22T16:49:25.556Z,1755881365.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.011034
2025-08-22T16:49:25.682Z,1755881365.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:25.790Z,1755881365.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245808
2025-08-22T16:49:26.001Z,1755881366.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:26.043Z,1755881366.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498270
2025-08-22T16:49:26.295Z,1755881366.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749876
2025-08-22T16:49:26.365Z,1755881366.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:26.403Z,1755881366.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:49:26.550Z,1755881366.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005348
2025-08-22T16:49:26.799Z,1755881366.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254035
2025-08-22T16:49:26.802Z,1755881366.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:27.051Z,1755881367.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505925
2025-08-22T16:49:27.168Z,1755881367.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:27.303Z,1755881367.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757914
2025-08-22T16:49:27.555Z,1755881367.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010189
2025-08-22T16:49:27.632Z,1755881367.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:27.807Z,1755881367.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261873
2025-08-22T16:49:28.059Z,1755881368.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513933
2025-08-22T16:49:28.108Z,1755881368.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:28.311Z,1755881368.311 [DAT](INFO): DAT read: Rx Time:16:49:28.9816

2025-08-22T16:49:28.311Z,1755881368.311 [DAT](INFO): Rx dataTimestamp_ set to:1755881368.310964
2025-08-22T16:49:28.312Z,1755881368.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767108
2025-08-22T16:49:28.480Z,1755881368.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:28.567Z,1755881368.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021938
2025-08-22T16:49:28.814Z,1755881368.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269725
2025-08-22T16:49:28.975Z,1755881368.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m.
2025-08-22T16:49:29.072Z,1755881369.072 [DAT](INFO): DAT read: 16:49:28.9816 LVL= 22176, 20337, 29042, 26403, AGC= 53, IDX= 435, 0.11,-0.111, 0.374,-1.562,-0.153, PHS= 0.144, 0.572,-1.453, RAW=  18.4,   8.0, CAL=  18.1,   8.2, ROT= 131.9,  -8.2

2025-08-22T16:49:29.073Z,1755881369.073 [DAT](INFO): got valid direction response:
 16:49:28.9816 LVL= 22176, 20337, 29042, 26403, AGC= 53, IDX= 435, 0.11,-0.111, 0.374,-1.562,-0.153, PHS= 0.144, 0.572,-1.453, RAW=  18.4,   8.0, CAL=  18.1,   8.2, ROT= 131.9,  -8.2

2025-08-22T16:49:29.074Z,1755881369.074 [DAT](INFO): DAT read: Bearing 300.8,  43.4 (Local)

2025-08-22T16:49:29.074Z,1755881369.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,  43.4 (Local)

2025-08-22T16:49:29.075Z,1755881369.075 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m  (Round-trip  31.9 ms) speed  0.0 m/s

2025-08-22T16:49:29.076Z,1755881369.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:49:29.077Z,1755881369.077 [DAT](INFO): direction in FSK: [-0.661005,0.736702,0.142629]
2025-08-22T16:49:29.077Z,1755881369.077 [DAT](INFO): publishing direction and range info
2025-08-22T16:49:29.295Z,1755881369.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 60.283643 s,
      deltaX: -0.400000 m,
      approachRate: -0.006635 m/s,
      rangeRepo size: 4

2025-08-22T16:49:29.298Z,1755881369.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.749380 m,
      bearing: 98.071665 deg,
      lat: 36.779418 deg,
      lon: -121.859675 deg,
      deltaT: 60.283643 s,
      deltaX: -0.397787 m,
      approachRate: -0.006599 m/s,
      posRepo size: 4

2025-08-22T16:49:29.298Z,1755881369.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:29.712Z,1755881369.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:30.100Z,1755881370.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:30.509Z,1755881370.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:31.036Z,1755881371.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:31.302Z,1755881371.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:31.752Z,1755881371.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:32.192Z,1755881372.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:32.591Z,1755881372.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:33.021Z,1755881373.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:33.395Z,1755881373.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:33.807Z,1755881373.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:34.218Z,1755881374.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:34.627Z,1755881374.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:35.048Z,1755881375.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:35.453Z,1755881375.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:35.847Z,1755881375.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:36.238Z,1755881376.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:36.652Z,1755881376.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:37.118Z,1755881377.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:37.494Z,1755881377.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:37.936Z,1755881377.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:38.291Z,1755881378.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:38.700Z,1755881378.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:39.124Z,1755881379.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:39.507Z,1755881379.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:39.951Z,1755881379.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:40.312Z,1755881380.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:40.730Z,1755881380.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:41.151Z,1755881381.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:41.531Z,1755881381.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:41.984Z,1755881381.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:42.348Z,1755881382.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:42.734Z,1755881382.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:43.196Z,1755881383.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:43.557Z,1755881383.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:43.983Z,1755881383.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:44.351Z,1755881384.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:44.756Z,1755881384.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:45.199Z,1755881385.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:45.562Z,1755881385.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:46.060Z,1755881386.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:46.379Z,1755881386.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:46.790Z,1755881386.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:47.213Z,1755881387.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:47.584Z,1755881387.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:48.024Z,1755881388.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:48.420Z,1755881388.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:48.794Z,1755881388.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:49.225Z,1755881389.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:49.611Z,1755881389.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:50.054Z,1755881390.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:50.424Z,1755881390.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:50.820Z,1755881390.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:51.246Z,1755881391.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:51.647Z,1755881391.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:52.083Z,1755881392.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:52.435Z,1755881392.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:52.850Z,1755881392.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:53.268Z,1755881393.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:53.646Z,1755881393.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:54.108Z,1755881394.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:54.466Z,1755881394.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:54.857Z,1755881394.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:55.299Z,1755881395.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:55.675Z,1755881395.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:56.086Z,1755881396.086 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720371592,35.0, +10.4,   0.0, 0
2025-08-22T16:49:56.102Z,1755881396.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:56.478Z,1755881396.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:56.534Z,1755881396.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:49:56.900Z,1755881396.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:57.312Z,1755881397.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:57.538Z,1755881397.538 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:49:57.707Z,1755881397.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:58.139Z,1755881398.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:58.506Z,1755881398.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:58.920Z,1755881398.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:59.365Z,1755881399.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:49:59.721Z,1755881399.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:00.165Z,1755881400.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:00.538Z,1755881400.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:00.930Z,1755881400.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:01.376Z,1755881401.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:01.732Z,1755881401.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:02.211Z,1755881402.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:02.538Z,1755881402.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:02.943Z,1755881402.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:03.387Z,1755881403.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:03.750Z,1755881403.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:04.226Z,1755881404.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:04.571Z,1755881404.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:04.962Z,1755881404.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:05.426Z,1755881405.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:05.778Z,1755881405.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:06.256Z,1755881406.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:06.578Z,1755881406.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:07.004Z,1755881407.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:07.416Z,1755881407.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:07.807Z,1755881407.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:08.288Z,1755881408.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:08.619Z,1755881408.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:09.012Z,1755881409.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:09.444Z,1755881409.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:09.811Z,1755881409.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:10.292Z,1755881410.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:10.643Z,1755881410.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:11.056Z,1755881411.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:11.469Z,1755881411.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:11.850Z,1755881411.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:12.317Z,1755881412.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:12.667Z,1755881412.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:13.051Z,1755881413.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:13.494Z,1755881413.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:13.875Z,1755881413.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:14.336Z,1755881414.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:14.695Z,1755881414.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:15.071Z,1755881415.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:15.496Z,1755881415.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:15.888Z,1755881415.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:16.353Z,1755881416.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:16.702Z,1755881416.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:17.092Z,1755881417.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:17.517Z,1755881417.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:17.902Z,1755881417.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:18.313Z,1755881418.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:18.726Z,1755881418.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:19.114Z,1755881419.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:19.545Z,1755881419.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:19.916Z,1755881419.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:20.411Z,1755881420.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:20.747Z,1755881420.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:21.135Z,1755881421.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:21.552Z,1755881421.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:21.942Z,1755881421.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:22.391Z,1755881422.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:22.790Z,1755881422.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:23.155Z,1755881423.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:23.581Z,1755881423.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:23.955Z,1755881423.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:24.369Z,1755881424.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:24.782Z,1755881424.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:25.190Z,1755881425.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:50:25.192Z,1755881425.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:25.320Z,1755881425.320 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:50:25.320Z,1755881425.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:50:25.570Z,1755881425.570 [DAT](INFO): DAT read: user:288>

2025-08-22T16:50:25.571Z,1755881425.571 [DAT](INFO): DAT read: Tx time:16:50:26.5953

2025-08-22T16:50:25.571Z,1755881425.571 [DAT](INFO): Ping request sent.
2025-08-22T16:50:25.572Z,1755881425.572 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:50:25.572Z,1755881425.572 [DAT](INFO): publishing transmit ping time
2025-08-22T16:50:25.572Z,1755881425.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764
2025-08-22T16:50:25.633Z,1755881425.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:25.638Z,1755881425.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 23.90 m and bearing: 73.745964 deg. Not drifting fast enough.
2025-08-22T16:50:25.823Z,1755881425.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251792
2025-08-22T16:50:25.975Z,1755881425.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:25.977Z,1755881425.977 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T16:50:25.977Z,1755881425.977 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T16:50:25.978Z,1755881425.978 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T16:50:25.978Z,1755881425.978 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T16:50:26.075Z,1755881426.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503759
2025-08-22T16:50:26.327Z,1755881426.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755190
2025-08-22T16:50:26.410Z,1755881426.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:26.579Z,1755881426.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006913
2025-08-22T16:50:26.832Z,1755881426.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260140
2025-08-22T16:50:26.841Z,1755881426.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:27.082Z,1755881427.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510879
2025-08-22T16:50:27.205Z,1755881427.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:27.335Z,1755881427.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763331
2025-08-22T16:50:27.587Z,1755881427.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015050
2025-08-22T16:50:27.619Z,1755881427.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:27.658Z,1755881427.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:50:27.838Z,1755881427.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852
2025-08-22T16:50:28.015Z,1755881428.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:28.090Z,1755881428.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518876
2025-08-22T16:50:28.343Z,1755881428.343 [DAT](INFO): DAT read: Rx Time:16:50:29.0355

2025-08-22T16:50:28.343Z,1755881428.343 [DAT](INFO): Rx dataTimestamp_ set to:1755881428.342751
2025-08-22T16:50:28.344Z,1755881428.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772010
2025-08-22T16:50:28.427Z,1755881428.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:28.595Z,1755881428.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022913
2025-08-22T16:50:28.674Z,1755881428.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:50:28.846Z,1755881428.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274899
2025-08-22T16:50:28.860Z,1755881428.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m.
2025-08-22T16:50:29.104Z,1755881429.104 [DAT](INFO): DAT read: 16:50:29.0355 LVL= 22640, 18865, 26674, 29171, AGC= 55, IDX= 478,-0.29, 1.264, 0.926,-0.614, 0.667, PHS= 0.699, 0.303,-1.325, RAW=  40.6,   3.5, CAL=  40.5,   2.4, ROT= 109.5,  -2.4

2025-08-22T16:50:29.105Z,1755881429.105 [DAT](INFO): got valid direction response:
 16:50:29.0355 LVL= 22640, 18865, 26674, 29171, AGC= 55, IDX= 478,-0.29, 1.264, 0.926,-0.614, 0.667, PHS= 0.699, 0.303,-1.325, RAW=  40.6,   3.5, CAL=  40.5,   2.4, ROT= 109.5,  -2.4

2025-08-22T16:50:29.106Z,1755881429.106 [DAT](INFO): DAT read: Bearing 302.5,  68.6 (Local)

2025-08-22T16:50:29.106Z,1755881429.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.5,  68.6 (Local)

2025-08-22T16:50:29.107Z,1755881429.107 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m  (Round-trip  36.1 ms) speed  0.0 m/s

2025-08-22T16:50:29.108Z,1755881429.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:50:29.109Z,1755881429.109 [DAT](INFO): direction in FSK: [-0.333514,0.941815,0.041876]
2025-08-22T16:50:29.109Z,1755881429.109 [DAT](INFO): publishing direction and range info
2025-08-22T16:50:29.257Z,1755881429.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 60.031990 s,
      deltaX: 3.100000 m,
      approachRate: 0.051639 m/s,
      rangeRepo size: 4

2025-08-22T16:50:29.275Z,1755881429.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.830135 m,
      bearing: 63.419742 deg,
      lat: 36.779418 deg,
      lon: -121.859675 deg,
      deltaT: 60.031990 s,
      deltaX: 3.080755 m,
      approachRate: 0.051319 m/s,
      posRepo size: 4

2025-08-22T16:50:29.275Z,1755881429.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:29.634Z,1755881429.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:30.030Z,1755881430.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:30.441Z,1755881430.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:30.867Z,1755881430.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:31.340Z,1755881431.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:31.753Z,1755881431.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:32.163Z,1755881432.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:32.608Z,1755881432.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:32.963Z,1755881432.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:33.357Z,1755881433.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:33.781Z,1755881433.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:34.151Z,1755881434.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:34.615Z,1755881434.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:34.997Z,1755881434.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:35.358Z,1755881435.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:35.782Z,1755881435.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:36.188Z,1755881436.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:36.645Z,1755881436.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:37.020Z,1755881437.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:37.391Z,1755881437.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:37.841Z,1755881437.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:38.209Z,1755881438.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:38.658Z,1755881438.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:39.045Z,1755881439.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:39.415Z,1755881439.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:39.881Z,1755881439.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:40.241Z,1755881440.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:40.707Z,1755881440.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:41.123Z,1755881441.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:41.236Z,1755881441.236 [CTD_Seabird](ERROR): Failed to parse device response: 10.2656,3.72925,2401.19
2025-08-22T16:50:41.502Z,1755881441.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:41.921Z,1755881441.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:42.327Z,1755881442.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:42.750Z,1755881442.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:43.132Z,1755881443.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:43.504Z,1755881443.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:43.952Z,1755881443.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:44.324Z,1755881444.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:44.794Z,1755881444.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:45.150Z,1755881445.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:45.521Z,1755881445.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:45.943Z,1755881445.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:46.343Z,1755881446.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:46.764Z,1755881446.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:47.151Z,1755881447.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:47.554Z,1755881447.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:47.970Z,1755881447.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:48.342Z,1755881448.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:48.752Z,1755881448.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:49.187Z,1755881449.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:49.575Z,1755881449.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:49.994Z,1755881449.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:50.364Z,1755881450.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:50.858Z,1755881450.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:51.224Z,1755881451.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:51.615Z,1755881451.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:52.054Z,1755881452.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:52.410Z,1755881452.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:52.844Z,1755881452.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:53.242Z,1755881453.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:53.622Z,1755881453.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:54.043Z,1755881454.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:54.432Z,1755881454.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:54.862Z,1755881454.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:55.275Z,1755881455.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:55.644Z,1755881455.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:56.114Z,1755881456.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:56.466Z,1755881456.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:56.895Z,1755881456.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:57.309Z,1755881457.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:57.673Z,1755881457.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:58.109Z,1755881458.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:58.474Z,1755881458.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:58.798Z,1755881458.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:50:58.880Z,1755881458.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:59.333Z,1755881459.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:59.692Z,1755881459.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:50:59.802Z,1755881459.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:51:00.114Z,1755881460.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:00.501Z,1755881460.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:00.918Z,1755881460.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:01.349Z,1755881461.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:01.726Z,1755881461.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:02.141Z,1755881462.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:02.514Z,1755881462.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:02.920Z,1755881462.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:03.365Z,1755881463.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:03.728Z,1755881463.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:04.164Z,1755881464.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:04.534Z,1755881464.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:04.939Z,1755881464.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:05.373Z,1755881465.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:05.773Z,1755881465.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:06.191Z,1755881466.191 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  -16A
2025-08-22T16:51:06.206Z,1755881466.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:06.574Z,1755881466.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:06.965Z,1755881466.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:07.397Z,1755881467.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:07.777Z,1755881467.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:08.248Z,1755881468.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:08.785Z,1755881468.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:09.276Z,1755881469.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:09.648Z,1755881469.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:10.097Z,1755881470.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:10.484Z,1755881470.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:10.859Z,1755881470.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:11.312Z,1755881471.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:11.680Z,1755881471.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:12.072Z,1755881472.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:12.524Z,1755881472.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:12.886Z,1755881472.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:13.320Z,1755881473.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:13.690Z,1755881473.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:14.094Z,1755881474.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:14.518Z,1755881474.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:14.919Z,1755881474.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:15.339Z,1755881475.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:15.711Z,1755881475.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:16.126Z,1755881476.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:16.545Z,1755881476.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:16.925Z,1755881476.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:17.430Z,1755881477.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:17.759Z,1755881477.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:18.134Z,1755881478.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:18.564Z,1755881478.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:18.961Z,1755881478.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:19.387Z,1755881479.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:19.760Z,1755881479.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:20.167Z,1755881480.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:20.590Z,1755881480.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:20.963Z,1755881480.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:21.393Z,1755881481.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:21.794Z,1755881481.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:22.210Z,1755881482.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:22.632Z,1755881482.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:23.004Z,1755881483.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:23.465Z,1755881483.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:23.831Z,1755881483.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:24.255Z,1755881484.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:24.672Z,1755881484.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:25.031Z,1755881485.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:25.460Z,1755881485.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:51:25.462Z,1755881485.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:25.574Z,1755881485.574 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:51:25.574Z,1755881485.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:51:25.827Z,1755881485.827 [DAT](INFO): DAT read: user:289>

2025-08-22T16:51:25.827Z,1755881485.827 [DAT](INFO): DAT read: Tx time:16:51:26.8450

2025-08-22T16:51:25.828Z,1755881485.828 [DAT](INFO): Ping request sent.
2025-08-22T16:51:25.828Z,1755881485.828 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:51:25.828Z,1755881485.828 [DAT](INFO): publishing transmit ping time
2025-08-22T16:51:25.828Z,1755881485.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-22T16:51:25.838Z,1755881485.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:26.079Z,1755881486.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251676
2025-08-22T16:51:26.245Z,1755881486.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:26.335Z,1755881486.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506617
2025-08-22T16:51:26.583Z,1755881486.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754814
2025-08-22T16:51:26.677Z,1755881486.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:26.834Z,1755881486.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006748
2025-08-22T16:51:27.045Z,1755881487.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:27.087Z,1755881487.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259254
2025-08-22T16:51:27.341Z,1755881487.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513003
2025-08-22T16:51:27.482Z,1755881487.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:27.590Z,1755881487.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762720
2025-08-22T16:51:27.843Z,1755881487.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014793
2025-08-22T16:51:27.894Z,1755881487.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:28.097Z,1755881488.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269656
2025-08-22T16:51:28.258Z,1755881488.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:28.349Z,1755881488.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521106
2025-08-22T16:51:28.599Z,1755881488.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771054
2025-08-22T16:51:28.694Z,1755881488.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:28.851Z,1755881488.851 [DAT](INFO): DAT read: Rx Time:16:51:29.3246

2025-08-22T16:51:28.851Z,1755881488.851 [DAT](INFO): Rx dataTimestamp_ set to:1755881488.850771
2025-08-22T16:51:28.852Z,1755881488.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023892
2025-08-22T16:51:29.077Z,1755881489.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m.
2025-08-22T16:51:29.103Z,1755881489.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850
2025-08-22T16:51:29.372Z,1755881489.372 [DAT](INFO): DAT read: 16:51:29.3246 LVL= 29168, 27121, 32754, 30419, AGC= 73, IDX= 338,-0.28,-3.140,-1.425, 3.040,-2.588, PHS=-0.449, 1.208,-0.699, RAW= 336.9,  -0.7, CAL= 336.3,  -3.6, ROT= 173.7,   3.6

2025-08-22T16:51:29.396Z,1755881489.396 [DAT](INFO): got valid direction response:
 16:51:29.3246 LVL= 29168, 27121, 32754, 30419, AGC= 73, IDX= 338,-0.28,-3.140,-1.425, 3.040,-2.588, PHS=-0.449, 1.208,-0.699, RAW= 336.9,  -0.7, CAL= 336.3,  -3.6, ROT= 173.7,   3.6

2025-08-22T16:51:29.399Z,1755881489.399 [DAT](INFO): DAT read: Bearing 226.9,   6.5 (Local)

2025-08-22T16:51:29.400Z,1755881489.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.9,   6.5 (Local)

2025-08-22T16:51:29.430Z,1755881489.430 [DAT](INFO): DAT read: Range 11 to 50 : 56.5 m  (Round-trip  75.4 ms) speed -0.6 m/s

2025-08-22T16:51:29.430Z,1755881489.430 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:51:29.431Z,1755881489.431 [DAT](INFO): direction in FSK: [-0.992000,0.109518,-0.062791]
2025-08-22T16:51:29.432Z,1755881489.432 [DAT](INFO): publishing direction and range info
2025-08-22T16:51:29.558Z,1755881489.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.500000 m,
      deltaT: 60.255942 s,
      deltaX: 29.500000 m,
      approachRate: 0.489578 m/s,
      rangeRepo size: 4

2025-08-22T16:51:29.560Z,1755881489.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.142593 m,
      bearing: 66.467833 deg,
      lat: 36.779418 deg,
      lon: -121.859667 deg,
      deltaT: 60.255942 s,
      deltaX: 29.312458 m,
      approachRate: 0.486466 m/s,
      posRepo size: 4

2025-08-22T16:51:29.561Z,1755881489.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:29.906Z,1755881489.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:29.922Z,1755881489.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:51:30.294Z,1755881490.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:30.744Z,1755881490.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:30.926Z,1755881490.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:51:31.116Z,1755881491.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:31.540Z,1755881491.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:31.909Z,1755881491.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:32.313Z,1755881492.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:32.766Z,1755881492.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:33.142Z,1755881493.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:33.555Z,1755881493.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:33.940Z,1755881493.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:34.340Z,1755881494.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:34.768Z,1755881494.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:35.164Z,1755881495.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:35.591Z,1755881495.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:35.964Z,1755881495.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:36.364Z,1755881496.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:36.793Z,1755881496.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:37.174Z,1755881497.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:37.599Z,1755881497.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:37.975Z,1755881497.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:38.376Z,1755881498.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:38.811Z,1755881498.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:39.212Z,1755881499.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:39.623Z,1755881499.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:39.000Z,1755881500.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:40.401Z,1755881500.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:40.822Z,1755881500.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:41.231Z,1755881501.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:41.653Z,1755881501.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:42.026Z,1755881502.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:42.433Z,1755881502.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:42.851Z,1755881502.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:43.231Z,1755881503.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:43.701Z,1755881503.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:44.050Z,1755881504.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:44.434Z,1755881504.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:44.875Z,1755881504.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:45.250Z,1755881505.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:45.715Z,1755881505.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:46.049Z,1755881506.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:46.455Z,1755881506.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:46.877Z,1755881506.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:47.273Z,1755881507.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:47.748Z,1755881507.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:48.074Z,1755881508.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:48.475Z,1755881508.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:48.902Z,1755881508.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:49.307Z,1755881509.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:49.775Z,1755881509.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:50.112Z,1755881510.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:50.516Z,1755881510.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:50.940Z,1755881510.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:51.341Z,1755881511.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:51.810Z,1755881511.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:52.132Z,1755881512.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:52.542Z,1755881512.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:52.965Z,1755881512.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:53.349Z,1755881513.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:53.817Z,1755881513.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:54.198Z,1755881514.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:54.578Z,1755881514.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:54.990Z,1755881514.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:55.370Z,1755881515.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:55.829Z,1755881515.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:56.212Z,1755881516.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:56.605Z,1755881516.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:57.064Z,1755881517.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:57.392Z,1755881517.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:57.864Z,1755881517.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:58.226Z,1755881518.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:58.618Z,1755881518.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:59.044Z,1755881519.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:59.414Z,1755881519.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:51:59.886Z,1755881519.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:00.245Z,1755881520.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:00.632Z,1755881520.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:01.046Z,1755881521.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:52:01.050Z,1755881521.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:01.440Z,1755881521.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:01.890Z,1755881521.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:02.050Z,1755881522.050 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:52:02.288Z,1755881522.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:02.694Z,1755881522.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:03.074Z,1755881523.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:03.470Z,1755881523.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:03.941Z,1755881523.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:04.293Z,1755881524.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:04.689Z,1755881524.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:05.101Z,1755881525.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:05.478Z,1755881525.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:05.887Z,1755881525.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:06.317Z,1755881526.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:06.694Z,1755881526.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:07.117Z,1755881527.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:07.506Z,1755881527.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:07.922Z,1755881527.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:08.351Z,1755881528.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:08.725Z,1755881528.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:09.150Z,1755881529.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:09.513Z,1755881529.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:09.919Z,1755881529.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:10.351Z,1755881530.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:10.754Z,1755881530.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:11.228Z,1755881531.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:11.534Z,1755881531.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:11.950Z,1755881531.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:12.376Z,1755881532.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:12.766Z,1755881532.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:13.208Z,1755881533.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:13.551Z,1755881533.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:13.966Z,1755881533.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:14.383Z,1755881534.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:14.783Z,1755881534.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:15.204Z,1755881535.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:15.574Z,1755881535.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:15.980Z,1755881535.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:16.388Z,1755881536.388 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,8.0+186.99,       -7.56,  0.00
2025-08-22T16:52:16.404Z,1755881536.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:16.813Z,1755881536.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:17.236Z,1755881537.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:17.600Z,1755881537.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:18.016Z,1755881538.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:18.442Z,1755881538.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:18.847Z,1755881538.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:19.233Z,1755881539.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:19.634Z,1755881539.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:20.019Z,1755881540.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:20.439Z,1755881540.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:20.837Z,1755881540.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:21.244Z,1755881541.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:21.641Z,1755881541.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:22.039Z,1755881542.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:22.503Z,1755881542.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720394105,353,491

2025-08-22T16:52:22.518Z,1755881542.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:22.987Z,1755881542.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:23.488Z,1755881543.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:23.858Z,1755881543.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:24.282Z,1755881544.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:24.690Z,1755881544.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:25.069Z,1755881545.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:25.485Z,1755881545.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:52:25.487Z,1755881545.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:25.603Z,1755881545.603 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:52:25.603Z,1755881545.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:52:25.854Z,1755881545.854 [DAT](INFO): DAT read: user:290>

2025-08-22T16:52:25.855Z,1755881545.855 [DAT](INFO): DAT read: Tx time:16:52:26.8948

2025-08-22T16:52:25.856Z,1755881545.856 [DAT](INFO): Ping request sent.
2025-08-22T16:52:25.856Z,1755881545.856 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:52:25.856Z,1755881545.856 [DAT](INFO): publishing transmit ping time
2025-08-22T16:52:25.856Z,1755881545.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-22T16:52:25.886Z,1755881545.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:26.108Z,1755881546.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252445
2025-08-22T16:52:26.311Z,1755881546.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:26.360Z,1755881546.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503616
2025-08-22T16:52:26.611Z,1755881546.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755244
2025-08-22T16:52:26.684Z,1755881546.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:26.863Z,1755881546.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811
2025-08-22T16:52:27.093Z,1755881547.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:27.115Z,1755881547.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258905
2025-08-22T16:52:27.367Z,1755881547.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510935
2025-08-22T16:52:27.511Z,1755881547.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:27.618Z,1755881547.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762794
2025-08-22T16:52:27.871Z,1755881547.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927
2025-08-22T16:52:27.916Z,1755881547.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:28.123Z,1755881548.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923
2025-08-22T16:52:28.341Z,1755881548.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:28.380Z,1755881548.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521486
2025-08-22T16:52:28.626Z,1755881548.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770721
2025-08-22T16:52:28.734Z,1755881548.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:28.879Z,1755881548.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022879
2025-08-22T16:52:29.119Z,1755881549.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:29.131Z,1755881549.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274880
2025-08-22T16:52:29.383Z,1755881549.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526893
2025-08-22T16:52:29.533Z,1755881549.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:29.635Z,1755881549.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778939
2025-08-22T16:52:29.890Z,1755881549.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034508
2025-08-22T16:52:29.917Z,1755881549.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:30.143Z,1755881550.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287505
2025-08-22T16:52:30.395Z,1755881550.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538971
2025-08-22T16:52:30.428Z,1755881550.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:30.647Z,1755881550.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791788
2025-08-22T16:52:30.755Z,1755881550.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:30.899Z,1755881550.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042827
2025-08-22T16:52:31.155Z,1755881551.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299337
2025-08-22T16:52:31.203Z,1755881551.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:31.407Z,1755881551.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551217
2025-08-22T16:52:31.607Z,1755881551.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:31.660Z,1755881551.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803912
2025-08-22T16:52:31.911Z,1755881551.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054959
2025-08-22T16:52:31.972Z,1755881551.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:32.163Z,1755881552.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307474
2025-08-22T16:52:32.170Z,1755881552.170 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:52:32.415Z,1755881552.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558892
2025-08-22T16:52:32.434Z,1755881552.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:32.667Z,1755881552.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810915
2025-08-22T16:52:32.774Z,1755881552.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:32.919Z,1755881552.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062828
2025-08-22T16:52:33.171Z,1755881553.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315293
2025-08-22T16:52:33.174Z,1755881553.174 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:52:33.207Z,1755881553.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:33.424Z,1755881553.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568050
2025-08-22T16:52:33.617Z,1755881553.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:33.675Z,1755881553.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819386
2025-08-22T16:52:33.927Z,1755881553.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071130
2025-08-22T16:52:34.037Z,1755881554.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:34.179Z,1755881554.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323324
2025-08-22T16:52:34.435Z,1755881554.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578847
2025-08-22T16:52:34.453Z,1755881554.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:34.687Z,1755881554.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831274
2025-08-22T16:52:34.810Z,1755881554.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:34.939Z,1755881554.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082868
2025-08-22T16:52:35.190Z,1755881555.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334765
2025-08-22T16:52:35.227Z,1755881555.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:35.443Z,1755881555.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587756
2025-08-22T16:52:35.649Z,1755881555.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:35.695Z,1755881555.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839661
2025-08-22T16:52:35.946Z,1755881555.946 [DAT](INFO): Reached modem response timeout
2025-08-22T16:52:36.013Z,1755881556.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:36.456Z,1755881556.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:36.811Z,1755881556.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:37.219Z,1755881557.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:37.640Z,1755881557.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:38.023Z,1755881558.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:38.215Z,1755881558.215 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:52:38.215Z,1755881558.215 [DAT](INFO): response not received
2025-08-22T16:52:38.215Z,1755881558.215 [DAT](ERROR): No response from remote modem.
2025-08-22T16:52:38.489Z,1755881558.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:38.830Z,1755881558.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:39.224Z,1755881559.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:39.643Z,1755881559.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:40.032Z,1755881560.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:40.505Z,1755881560.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:40.867Z,1755881560.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:41.242Z,1755881561.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:41.666Z,1755881561.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:42.072Z,1755881562.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:42.524Z,1755881562.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:42.881Z,1755881562.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:43.275Z,1755881563.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:43.700Z,1755881563.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:44.084Z,1755881564.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:44.579Z,1755881564.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:44.934Z,1755881564.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:45.324Z,1755881565.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:45.752Z,1755881565.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:46.168Z,1755881566.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:46.626Z,1755881566.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:46.937Z,1755881566.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:47.355Z,1755881567.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:47.783Z,1755881567.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:48.147Z,1755881568.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:48.634Z,1755881568.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:48.985Z,1755881568.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:49.405Z,1755881569.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:49.832Z,1755881569.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:50.206Z,1755881570.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:50.669Z,1755881570.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:51.002Z,1755881571.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:51.438Z,1755881571.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:51.863Z,1755881571.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:52.231Z,1755881572.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:52.705Z,1755881572.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:53.022Z,1755881573.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:53.428Z,1755881573.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:53.862Z,1755881573.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:54.233Z,1755881574.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:54.696Z,1755881574.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:55.110Z,1755881575.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:55.455Z,1755881575.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:55.945Z,1755881575.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:56.334Z,1755881576.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:56.765Z,1755881576.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:57.147Z,1755881577.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:57.559Z,1755881577.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:57.973Z,1755881577.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:58.350Z,1755881578.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:58.818Z,1755881578.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:59.192Z,1755881579.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:52:59.581Z,1755881579.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:00.004Z,1755881580.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:00.371Z,1755881580.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:00.840Z,1755881580.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:01.219Z,1755881581.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:01.597Z,1755881581.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:02.054Z,1755881582.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:02.411Z,1755881582.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:02.872Z,1755881582.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:03.237Z,1755881583.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:03.298Z,1755881583.298 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:53:03.623Z,1755881583.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:04.078Z,1755881584.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:04.303Z,1755881584.303 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:53:04.444Z,1755881584.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:04.883Z,1755881584.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:05.249Z,1755881585.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:05.651Z,1755881585.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:06.082Z,1755881586.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:06.456Z,1755881586.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:06.922Z,1755881586.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:07.282Z,1755881587.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:07.665Z,1755881587.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:08.119Z,1755881588.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:08.481Z,1755881588.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:08.951Z,1755881588.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:09.284Z,1755881589.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:09.688Z,1755881589.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:10.167Z,1755881590.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:10.565Z,1755881590.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:11.054Z,1755881591.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:11.413Z,1755881591.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:11.819Z,1755881591.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:12.257Z,1755881592.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:12.633Z,1755881592.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:13.075Z,1755881593.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:13.436Z,1755881593.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:13.849Z,1755881593.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:14.278Z,1755881594.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:14.647Z,1755881594.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:15.076Z,1755881595.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:15.470Z,1755881595.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:15.858Z,1755881595.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:16.305Z,1755881596.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:16.667Z,1755881596.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:17.095Z,1755881597.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:17.473Z,1755881597.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:17.885Z,1755881597.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:18.332Z,1755881598.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:18.689Z,1755881598.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:19.120Z,1755881599.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:19.523Z,1755881599.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:19.902Z,1755881599.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:20.351Z,1755881600.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:20.714Z,1755881600.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:21.135Z,1755881601.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:21.537Z,1755881601.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:21.928Z,1755881601.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:22.369Z,1755881602.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:22.727Z,1755881602.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:23.190Z,1755881603.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:23.540Z,1755881603.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:23.955Z,1755881603.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:24.391Z,1755881604.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:24.749Z,1755881604.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:25.210Z,1755881605.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:25.563Z,1755881605.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:53:25.564Z,1755881605.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:25.615Z,1755881605.615 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:53:25.616Z,1755881605.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:53:25.866Z,1755881605.866 [DAT](INFO): DAT read: user:291>

2025-08-22T16:53:25.867Z,1755881605.867 [DAT](INFO): DAT read: Tx time:16:53:26.8946

2025-08-22T16:53:25.867Z,1755881605.867 [DAT](INFO): Ping request sent.
2025-08-22T16:53:25.868Z,1755881605.868 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:53:25.868Z,1755881605.868 [DAT](INFO): publishing transmit ping time
2025-08-22T16:53:25.868Z,1755881605.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-22T16:53:26.004Z,1755881606.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:26.126Z,1755881606.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257329
2025-08-22T16:53:26.375Z,1755881606.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507002
2025-08-22T16:53:26.413Z,1755881606.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:26.627Z,1755881606.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759012
2025-08-22T16:53:26.790Z,1755881606.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:26.879Z,1755881606.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010918
2025-08-22T16:53:27.133Z,1755881607.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265302
2025-08-22T16:53:27.243Z,1755881607.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:27.383Z,1755881607.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514990
2025-08-22T16:53:27.597Z,1755881607.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:27.640Z,1755881607.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772344
2025-08-22T16:53:27.890Z,1755881607.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022839
2025-08-22T16:53:28.013Z,1755881608.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:28.145Z,1755881608.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277251
2025-08-22T16:53:28.395Z,1755881608.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526911
2025-08-22T16:53:28.433Z,1755881608.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:28.646Z,1755881608.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778848
2025-08-22T16:53:28.809Z,1755881608.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:28.899Z,1755881608.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031611
2025-08-22T16:53:29.157Z,1755881609.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285480
2025-08-22T16:53:29.248Z,1755881609.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:29.403Z,1755881609.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534887
2025-08-22T16:53:29.602Z,1755881609.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:29.655Z,1755881609.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787793
2025-08-22T16:53:29.907Z,1755881609.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038991
2025-08-22T16:53:30.013Z,1755881610.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:30.162Z,1755881610.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.293508
2025-08-22T16:53:30.415Z,1755881610.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547375
2025-08-22T16:53:30.448Z,1755881610.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:30.668Z,1755881610.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.800338
2025-08-22T16:53:30.809Z,1755881610.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:30.918Z,1755881610.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050831
2025-08-22T16:53:31.174Z,1755881611.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.305489
2025-08-22T16:53:31.258Z,1755881611.258 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720405110,35.0, +10.3,   0.0,1491.1,A,  0.00,  70.12,  79I,-32768,-32768,-32768,-32768,V
2025-08-22T16:53:31.273Z,1755881611.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:31.422Z,1755881611.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554843
2025-08-22T16:53:31.634Z,1755881611.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:31.676Z,1755881611.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807815
2025-08-22T16:53:31.927Z,1755881611.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058922
2025-08-22T16:53:32.051Z,1755881612.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:32.182Z,1755881612.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313544
2025-08-22T16:53:32.431Z,1755881612.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562928
2025-08-22T16:53:32.495Z,1755881612.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:32.683Z,1755881612.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814876
2025-08-22T16:53:32.847Z,1755881612.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:32.935Z,1755881612.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067173
2025-08-22T16:53:33.190Z,1755881613.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.321518
2025-08-22T16:53:33.306Z,1755881613.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:33.438Z,1755881613.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570865
2025-08-22T16:53:33.663Z,1755881613.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:33.690Z,1755881613.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822796
2025-08-22T16:53:33.943Z,1755881613.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075605
2025-08-22T16:53:34.049Z,1755881614.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:34.197Z,1755881614.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329155
2025-08-22T16:53:34.430Z,1755881614.430 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:53:34.446Z,1755881614.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578752
2025-08-22T16:53:34.527Z,1755881614.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:34.699Z,1755881614.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830952
2025-08-22T16:53:34.855Z,1755881614.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:34.953Z,1755881614.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084811
2025-08-22T16:53:35.204Z,1755881615.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336332
2025-08-22T16:53:35.323Z,1755881615.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:35.434Z,1755881615.434 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:53:35.456Z,1755881615.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588278
2025-08-22T16:53:35.673Z,1755881615.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:35.707Z,1755881615.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839602
2025-08-22T16:53:35.959Z,1755881615.959 [DAT](INFO): Reached modem response timeout
2025-08-22T16:53:36.084Z,1755881616.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:36.519Z,1755881616.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:36.876Z,1755881616.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:37.347Z,1755881617.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:37.680Z,1755881617.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:38.084Z,1755881618.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:38.227Z,1755881618.227 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:53:38.227Z,1755881618.227 [DAT](INFO): response not received
2025-08-22T16:53:38.227Z,1755881618.227 [DAT](ERROR): No response from remote modem.
2025-08-22T16:53:38.543Z,1755881618.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:38.906Z,1755881618.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:39.352Z,1755881619.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:39.740Z,1755881619.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:40.104Z,1755881620.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:40.539Z,1755881620.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:40.910Z,1755881620.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:41.405Z,1755881621.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:41.842Z,1755881621.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:42.202Z,1755881622.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:42.618Z,1755881622.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:43.031Z,1755881623.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:43.492Z,1755881623.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:43.823Z,1755881623.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:44.226Z,1755881624.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:44.655Z,1755881624.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:45.058Z,1755881625.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:45.543Z,1755881625.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:45.889Z,1755881625.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:46.314Z,1755881626.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:46.729Z,1755881626.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:47.111Z,1755881627.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:47.548Z,1755881627.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:47.927Z,1755881627.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:48.326Z,1755881628.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:48.757Z,1755881628.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:49.124Z,1755881629.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:49.555Z,1755881629.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:49.960Z,1755881629.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:50.332Z,1755881630.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:50.765Z,1755881630.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:51.151Z,1755881631.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:51.584Z,1755881631.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:51.980Z,1755881631.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:52.357Z,1755881632.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:52.775Z,1755881632.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:53.180Z,1755881633.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:53.610Z,1755881633.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:53.972Z,1755881633.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:54.378Z,1755881634.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:54.801Z,1755881634.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:55.190Z,1755881635.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:55.699Z,1755881635.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:56.168Z,1755881636.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:56.683Z,1755881636.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:57.059Z,1755881637.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:57.469Z,1755881637.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:57.871Z,1755881637.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:58.260Z,1755881638.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:58.732Z,1755881638.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:59.110Z,1755881639.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:53:59.508Z,1755881639.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:00.006Z,1755881640.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:00.450Z,1755881640.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:00.883Z,1755881640.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:01.299Z,1755881641.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:01.738Z,1755881641.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:02.096Z,1755881642.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:02.477Z,1755881642.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:02.898Z,1755881642.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:03.292Z,1755881643.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:03.745Z,1755881643.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:04.108Z,1755881644.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:04.486Z,1755881644.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:04.942Z,1755881644.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:05.299Z,1755881645.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:05.554Z,1755881645.554 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:54:05.775Z,1755881645.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:06.104Z,1755881646.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:06.507Z,1755881646.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:06.558Z,1755881646.558 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:54:06.964Z,1755881646.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:07.322Z,1755881647.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:07.798Z,1755881647.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:08.121Z,1755881648.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:08.531Z,1755881648.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:08.987Z,1755881648.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:09.347Z,1755881649.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:09.809Z,1755881649.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:10.253Z,1755881650.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:10.599Z,1755881650.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:11.080Z,1755881651.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:11.464Z,1755881651.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:11.957Z,1755881651.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:12.318Z,1755881652.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:12.730Z,1755881652.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:13.167Z,1755881653.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:13.525Z,1755881653.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:13.956Z,1755881653.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:14.350Z,1755881654.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:14.775Z,1755881654.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:15.191Z,1755881655.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:15.554Z,1755881655.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:15.975Z,1755881655.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:16.354Z,1755881656.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:16.759Z,1755881656.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:17.207Z,1755881657.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:17.562Z,1755881657.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:17.986Z,1755881657.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:18.394Z,1755881658.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:18.776Z,1755881658.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:19.236Z,1755881659.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:19.603Z,1755881659.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:20.012Z,1755881660.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:20.134Z,1755881660.134 [CTD_Seabird](ERROR): Failed to parse device response: 67.34,10.2474,3.772.97
2025-08-22T16:54:20.413Z,1755881660.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:20.797Z,1755881660.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:21.268Z,1755881661.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:21.612Z,1755881661.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:22.039Z,1755881662.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:22.419Z,1755881662.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:22.818Z,1755881662.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:23.256Z,1755881663.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:23.624Z,1755881663.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:24.070Z,1755881664.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:24.078Z,1755881664.078 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T16:44:23.8Z
2025-08-22T16:54:24.078Z,1755881664.078 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:54:24.078Z,1755881664.078 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:54:24.078Z,1755881664.078 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:54:24.079Z,1755881664.079 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:54:24.079Z,1755881664.079 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T16:54:24.435Z,1755881664.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:24.439Z,1755881664.439 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:54:24.439Z,1755881664.439 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:54:24.439Z,1755881664.439 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:54:24.439Z,1755881664.439 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:54:24.440Z,1755881664.440 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:54:25.018Z,1755881665.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:25.427Z,1755881665.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:25.760Z,1755881665.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:25.763Z,1755881665.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:25.886Z,1755881665.886 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:25.887Z,1755881665.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:26.138Z,1755881666.138 [DAT](INFO): DAT read: user:292>

2025-08-22T16:54:26.139Z,1755881666.139 [DAT](INFO): DAT read: Tx time:16:54:27.1444

2025-08-22T16:54:26.139Z,1755881666.139 [DAT](INFO): Ping request sent.
2025-08-22T16:54:26.140Z,1755881666.140 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:26.140Z,1755881666.140 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:26.140Z,1755881666.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-22T16:54:26.295Z,1755881666.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:26.391Z,1755881666.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251297
2025-08-22T16:54:26.589Z,1755881666.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:26.643Z,1755881666.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503609
2025-08-22T16:54:26.898Z,1755881666.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758230
2025-08-22T16:54:27.047Z,1755881667.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:27.147Z,1755881667.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007714
2025-08-22T16:54:27.399Z,1755881667.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258970
2025-08-22T16:54:27.428Z,1755881667.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:27.650Z,1755881667.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853
2025-08-22T16:54:27.782Z,1755881667.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:27.903Z,1755881667.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762920
2025-08-22T16:54:28.155Z,1755881668.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015236
2025-08-22T16:54:28.244Z,1755881668.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:28.407Z,1755881668.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267239
2025-08-22T16:54:28.601Z,1755881668.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:28.659Z,1755881668.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519771
2025-08-22T16:54:28.911Z,1755881668.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770906
2025-08-22T16:54:29.049Z,1755881669.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:29.164Z,1755881669.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024001
2025-08-22T16:54:29.415Z,1755881669.415 [DAT](INFO): DAT read: Rx Time:16:54:29.8667

2025-08-22T16:54:29.415Z,1755881669.415 [DAT](INFO): Rx dataTimestamp_ set to:1755881669.414821
2025-08-22T16:54:29.416Z,1755881669.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276056
2025-08-22T16:54:29.464Z,1755881669.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:29.670Z,1755881669.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529741
2025-08-22T16:54:29.806Z,1755881669.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:29.919Z,1755881669.919 [DAT](INFO): DAT read: Range 11 to 50 : 238.6 m  (Round-trip  318.2 ms) speed -0.8 m/s

2025-08-22T16:54:29.920Z,1755881669.920 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:54:30.247Z,1755881670.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.600006 m,
      deltaT: 180.564033 s,
      deltaX: 182.100006 m,
      approachRate: 1.008507 m/s,
      rangeRepo size: 4

2025-08-22T16:54:30.247Z,1755881670.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.14 m.
2025-08-22T16:54:30.248Z,1755881670.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 238.60 m. Resuming terminal guidance.
2025-08-22T16:54:30.248Z,1755881670.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T16:54:30.608Z,1755881670.608 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T16:54:30.608Z,1755881670.608 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:54:30.608Z,1755881670.608 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T16:54:30.610Z,1755881670.610 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 238.600006 m (mode  1.000000 count ).
2025-08-22T16:54:30.610Z,1755881670.610 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T16:54:30.610Z,1755881670.610 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T16:54:31.018Z,1755881671.018 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T16:54:31.018Z,1755881671.018 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T16:54:31.019Z,1755881671.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:31.179Z,1755881671.179 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:54:31.179Z,1755881671.179 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:54:31.179Z,1755881671.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:31.430Z,1755881671.430 [DAT](INFO): DAT read: user:293>

2025-08-22T16:54:31.431Z,1755881671.431 [DAT](INFO): DAT read: Tx time:16:54:32.4444

2025-08-22T16:54:31.431Z,1755881671.431 [DAT](INFO): Ping request sent.
2025-08-22T16:54:31.432Z,1755881671.432 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:31.432Z,1755881671.432 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:31.432Z,1755881671.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-22T16:54:31.453Z,1755881671.453 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T16:54:31.453Z,1755881671.453 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T16:54:31.683Z,1755881671.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250975
2025-08-22T16:54:31.823Z,1755881671.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T16:54:31.823Z,1755881671.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:54:31.823Z,1755881671.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T16:54:31.823Z,1755881671.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:54:31.935Z,1755881671.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503571
2025-08-22T16:54:32.187Z,1755881672.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755302
2025-08-22T16:54:32.439Z,1755881672.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006948
2025-08-22T16:54:32.691Z,1755881672.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997
2025-08-22T16:54:32.943Z,1755881672.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888
2025-08-22T16:54:33.045Z,1755881673.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:33.198Z,1755881673.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765928
2025-08-22T16:54:33.451Z,1755881673.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018955
2025-08-22T16:54:33.704Z,1755881673.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272828
2025-08-22T16:54:33.956Z,1755881673.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523976
2025-08-22T16:54:34.207Z,1755881674.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774916
2025-08-22T16:54:34.459Z,1755881674.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026895
2025-08-22T16:54:34.711Z,1755881674.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279689
2025-08-22T16:54:34.962Z,1755881674.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530846
2025-08-22T16:54:35.052Z,1755881675.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:35.214Z,1755881675.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782844
2025-08-22T16:54:35.467Z,1755881675.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035025
2025-08-22T16:54:35.719Z,1755881675.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287511
2025-08-22T16:54:35.971Z,1755881675.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539594
2025-08-22T16:54:36.223Z,1755881676.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791024
2025-08-22T16:54:36.474Z,1755881676.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042819
2025-08-22T16:54:36.698Z,1755881676.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:54:36.728Z,1755881676.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296030
2025-08-22T16:54:36.979Z,1755881676.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546937
2025-08-22T16:54:37.080Z,1755881677.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:37.231Z,1755881677.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798938
2025-08-22T16:54:37.483Z,1755881677.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051204
2025-08-22T16:54:37.704Z,1755881677.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:54:37.737Z,1755881677.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305453
2025-08-22T16:54:37.988Z,1755881677.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556012
2025-08-22T16:54:38.238Z,1755881678.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806875
2025-08-22T16:54:38.491Z,1755881678.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058941
2025-08-22T16:54:38.743Z,1755881678.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311457
2025-08-22T16:54:38.994Z,1755881678.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562849
2025-08-22T16:54:39.097Z,1755881679.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:39.247Z,1755881679.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815103
2025-08-22T16:54:39.499Z,1755881679.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066937
2025-08-22T16:54:39.752Z,1755881679.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320144
2025-08-22T16:54:40.003Z,1755881680.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571406
2025-08-22T16:54:40.254Z,1755881680.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822852
2025-08-22T16:54:40.511Z,1755881680.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078371
2025-08-22T16:54:40.759Z,1755881680.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326954
2025-08-22T16:54:41.010Z,1755881681.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578878
2025-08-22T16:54:41.120Z,1755881681.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:41.263Z,1755881681.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831559
2025-08-22T16:54:41.514Z,1755881681.514 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:41.514Z,1755881681.514 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:41.515Z,1755881681.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:41.766Z,1755881681.766 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:41.766Z,1755881681.766 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:41.767Z,1755881681.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:42.019Z,1755881682.019 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:42.019Z,1755881682.019 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:42.020Z,1755881682.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:42.271Z,1755881682.271 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:42.271Z,1755881682.271 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:42.271Z,1755881682.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:42.522Z,1755881682.522 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:42.522Z,1755881682.522 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:42.523Z,1755881682.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:42.774Z,1755881682.774 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:42.774Z,1755881682.774 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:42.775Z,1755881682.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:43.026Z,1755881683.026 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:43.026Z,1755881683.026 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:43.027Z,1755881683.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:43.144Z,1755881683.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:43.278Z,1755881683.278 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:43.278Z,1755881683.278 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:43.279Z,1755881683.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:43.530Z,1755881683.530 [DAT](INFO): Reached modem response timeout
2025-08-22T16:54:43.530Z,1755881683.530 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:54:43.531Z,1755881683.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:43.783Z,1755881683.783 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:54:43.783Z,1755881683.783 [DAT](INFO): response not received
2025-08-22T16:54:43.784Z,1755881683.784 [DAT](INFO): DAT read: user:294>

2025-08-22T16:54:43.785Z,1755881683.785 [DAT](INFO): DAT read: Tx time:16:54:44.8943

2025-08-22T16:54:43.785Z,1755881683.785 [DAT](INFO): Ping request sent.
2025-08-22T16:54:43.785Z,1755881683.785 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:43.786Z,1755881683.786 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:43.787Z,1755881683.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001194
2025-08-22T16:54:44.035Z,1755881684.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249133
2025-08-22T16:54:44.289Z,1755881684.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503222
2025-08-22T16:54:44.538Z,1755881684.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753119
2025-08-22T16:54:44.791Z,1755881684.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005180
2025-08-22T16:54:45.043Z,1755881685.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257171
2025-08-22T16:54:45.166Z,1755881685.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:45.298Z,1755881685.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511760
2025-08-22T16:54:45.547Z,1755881685.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761178
2025-08-22T16:54:45.799Z,1755881685.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013138
2025-08-22T16:54:46.051Z,1755881686.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265534
2025-08-22T16:54:46.305Z,1755881686.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519337
2025-08-22T16:54:46.555Z,1755881686.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769493
2025-08-22T16:54:46.807Z,1755881686.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022013
2025-08-22T16:54:47.059Z,1755881687.059 [DAT](INFO): DAT read: Rx Time:16:54:47.6321

2025-08-22T16:54:47.059Z,1755881687.059 [DAT](INFO): Rx dataTimestamp_ set to:1755881687.058803
2025-08-22T16:54:47.060Z,1755881687.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274290
2025-08-22T16:54:47.187Z,1755881687.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:47.314Z,1755881687.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527991
2025-08-22T16:54:47.568Z,1755881687.568 [DAT](INFO): DAT read: 16:54:47.6321 LVL= 19008, 14545, 15538, 18163, AGC= 70, IDX=  37,-0.32,-0.404, 1.067, 0.319,-0.151, PHS=-0.151, 1.263, 0.426, RAW= 306.1, -23.8, CAL= 305.8, -27.9, ROT= 204.2,  27.9

2025-08-22T16:54:47.570Z,1755881687.570 [DAT](INFO): got valid direction response:
 16:54:47.6321 LVL= 19008, 14545, 15538, 18163, AGC= 70, IDX=  37,-0.32,-0.404, 1.067, 0.319,-0.151, PHS=-0.151, 1.263, 0.426, RAW= 306.1, -23.8, CAL= 305.8, -27.9, ROT= 204.2,  27.9

2025-08-22T16:54:47.571Z,1755881687.571 [DAT](INFO): DAT read: Bearing 195.1, -21.4 (Local)

2025-08-22T16:54:47.571Z,1755881687.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.1, -21.4 (Local)

2025-08-22T16:54:47.573Z,1755881687.573 [DAT](INFO): DAT read: Range 11 to 50 : 250.2 m  (Round-trip  333.6 ms) speed -0.4 m/s

2025-08-22T16:54:47.574Z,1755881687.574 [DAT](INFO): DAT read: user:295>

2025-08-22T16:54:47.575Z,1755881687.575 [DAT](INFO): DAT read: Tx time:16:54:48.7443

2025-08-22T16:54:47.575Z,1755881687.575 [DAT](INFO): Ping request sent.
2025-08-22T16:54:47.575Z,1755881687.575 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:47.576Z,1755881687.576 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:54:47.577Z,1755881687.577 [DAT](INFO): direction in FSK: [-0.806100,-0.362276,-0.467930]
2025-08-22T16:54:47.577Z,1755881687.577 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:47.577Z,1755881687.577 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:47.584Z,1755881687.584 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:47.585Z,1755881687.585 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:47.694Z,1755881687.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 250.199997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-22T16:54:47.697Z,1755881687.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.614914 m,
      bearing: 60.886441 deg,
      lat: 36.779445 deg,
      lon: -121.859667 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-22T16:54:47.697Z,1755881687.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:47.704Z,1755881687.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 208.120224 m,
      bearing: 59.345520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 73.745964 deg,
      new cmd heading: 59.345520 deg.

2025-08-22T16:54:47.705Z,1755881687.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035775 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:48.046Z,1755881688.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:48.048Z,1755881688.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 208.364258 m,
      bearing: 59.297866 deg,
      approach rate: 0.684293 m/s,
      LOS rate: -0.133467 deg/s,
      cmd heading: 59.345519 deg,
      new cmd heading: 59.297866 deg.

2025-08-22T16:54:48.049Z,1755881688.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034943 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:48.466Z,1755881688.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:48.468Z,1755881688.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 208.639679 m,
      bearing: 59.244091 deg,
      approach rate: 0.655813 m/s,
      LOS rate: -0.127877 deg/s,
      cmd heading: 59.297865 deg,
      new cmd heading: 59.244091 deg.

2025-08-22T16:54:48.469Z,1755881688.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034004 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:48.857Z,1755881688.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:48.859Z,1755881688.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 208.892731 m,
      bearing: 59.192761 deg,
      approach rate: 0.647046 m/s,
      LOS rate: -0.131091 deg/s,
      cmd heading: 59.244091 deg,
      new cmd heading: 59.192761 deg.

2025-08-22T16:54:48.860Z,1755881688.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033109 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:49.268Z,1755881689.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:49.270Z,1755881689.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:49.272Z,1755881689.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 209.159958 m,
      bearing: 59.138725 deg,
      approach rate: 0.646357 m/s,
      LOS rate: -0.130533 deg/s,
      cmd heading: 59.192762 deg,
      new cmd heading: 59.138725 deg.

2025-08-22T16:54:49.274Z,1755881689.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.032165 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:49.329Z,1755881689.329 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:54:49.330Z,1755881689.330 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:54:49.331Z,1755881689.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:49.579Z,1755881689.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003536
2025-08-22T16:54:49.690Z,1755881689.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:49.693Z,1755881689.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 209.427704 m,
      bearing: 59.085564 deg,
      approach rate: 0.637369 m/s,
      LOS rate: -0.126388 deg/s,
      cmd heading: 59.138722 deg,
      new cmd heading: 59.085564 deg.

2025-08-22T16:54:49.694Z,1755881689.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031238 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:49.831Z,1755881689.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256055
2025-08-22T16:54:50.074Z,1755881690.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:50.076Z,1755881690.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 209.649231 m,
      bearing: 59.036122 deg,
      approach rate: 0.584188 m/s,
      LOS rate: -0.130246 deg/s,
      cmd heading: 59.085562 deg,
      new cmd heading: 59.036122 deg.

2025-08-22T16:54:50.077Z,1755881690.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030375 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:50.083Z,1755881690.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507522
2025-08-22T16:54:50.338Z,1755881690.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761777
2025-08-22T16:54:50.482Z,1755881690.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:50.484Z,1755881690.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 209.913406 m,
      bearing: 58.975734 deg,
      approach rate: 0.641204 m/s,
      LOS rate: -0.146387 deg/s,
      cmd heading: 59.036119 deg,
      new cmd heading: 58.975734 deg.

2025-08-22T16:54:50.485Z,1755881690.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029321 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:50.588Z,1755881690.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012241
2025-08-22T16:54:50.839Z,1755881690.839 [DAT](INFO): DAT read: Rx Time:16:54:51.4317

2025-08-22T16:54:50.840Z,1755881690.840 [DAT](INFO): Rx dataTimestamp_ set to:1755881690.839403
2025-08-22T16:54:50.840Z,1755881690.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264968
2025-08-22T16:54:50.885Z,1755881690.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:50.895Z,1755881690.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 210.159164 m,
      bearing: 58.917696 deg,
      approach rate: 0.609196 m/s,
      LOS rate: -0.143699 deg/s,
      cmd heading: 58.975733 deg,
      new cmd heading: 58.917696 deg.

2025-08-22T16:54:50.896Z,1755881690.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028308 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:51.091Z,1755881691.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515235
2025-08-22T16:54:51.304Z,1755881691.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:51.339Z,1755881691.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:51.370Z,1755881691.370 [DAT](INFO): DAT read: 16:54:51.4317 LVL= 32752, 25905, 31986, 32755, AGC= 66, IDX= 416, 0.38,-1.125, 1.080, 0.074, 0.181, PHS=-1.204, 0.944,-0.152, RAW= 300.7,   4.5, CAL= 298.3,   1.1, ROT= 211.7,  -1.1

2025-08-22T16:54:51.373Z,1755881691.373 [DAT](INFO): got valid direction response:
 16:54:51.4317 LVL= 32752, 25905, 31986, 32755, AGC= 66, IDX= 416, 0.38,-1.125, 1.080, 0.074, 0.181, PHS=-1.204, 0.944,-0.152, RAW= 300.7,   4.5, CAL= 298.3,   1.1, ROT= 211.7,  -1.1

2025-08-22T16:54:51.376Z,1755881691.376 [DAT](INFO): DAT read: Bearing 154.0, -32.8 (Local)

2025-08-22T16:54:51.377Z,1755881691.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -32.8 (Local)

2025-08-22T16:54:51.394Z,1755881691.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 210.394394 m,
      bearing: 58.860210 deg,
      approach rate: 0.530215 m/s,
      LOS rate: -0.129431 deg/s,
      cmd heading: 58.917697 deg,
      new cmd heading: 58.860210 deg.

2025-08-22T16:54:51.395Z,1755881691.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027304 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:51.398Z,1755881691.398 [DAT](INFO): DAT read: Range 11 to 50 : 212.4 m  (Round-trip  283.3 ms) speed -0.5 m/s

2025-08-22T16:54:51.399Z,1755881691.399 [DAT](INFO): DAT read: user:296>

2025-08-22T16:54:51.399Z,1755881691.399 [DAT](INFO): DAT read: Tx time:16:54:52.5458

2025-08-22T16:54:51.400Z,1755881691.400 [DAT](INFO): Ping request sent.
2025-08-22T16:54:51.400Z,1755881691.400 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:51.400Z,1755881691.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:54:51.401Z,1755881691.401 [DAT](INFO): direction in FSK: [-0.850654,-0.525375,0.019197]
2025-08-22T16:54:51.401Z,1755881691.401 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:51.410Z,1755881691.410 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:51.413Z,1755881691.413 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:51.413Z,1755881691.413 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:51.792Z,1755881691.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 212.399994 m,
 deltaT: 3.781466 s,
 deltaX: -37.800003 m,
 approachRate: -9.996124 m/s,
 rangeRepo size: 1
2025-08-22T16:54:51.793Z,1755881691.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:51.795Z,1755881691.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 210.681244 m,
      bearing: 58.790362 deg,
      approach rate: 0.619714 m/s,
      LOS rate: -0.150695 deg/s,
      cmd heading: 58.860207 deg,
      new cmd heading: 58.790362 deg.

2025-08-22T16:54:51.796Z,1755881691.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026085 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:52.148Z,1755881692.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:52.151Z,1755881692.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 210.895630 m,
      bearing: 58.732094 deg,
      approach rate: 0.601383 m/s,
      LOS rate: -0.163285 deg/s,
      cmd heading: 58.790362 deg,
      new cmd heading: 58.732094 deg.

2025-08-22T16:54:52.152Z,1755881692.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025068 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:52.613Z,1755881692.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:52.623Z,1755881692.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 211.134308 m,
      bearing: 58.664462 deg,
      approach rate: 0.513652 m/s,
      LOS rate: -0.145383 deg/s,
      cmd heading: 58.732093 deg,
      new cmd heading: 58.664462 deg.

2025-08-22T16:54:52.624Z,1755881692.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023888 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:52.975Z,1755881692.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:52.977Z,1755881692.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 211.348038 m,
      bearing: 58.601796 deg,
      approach rate: 0.590106 m/s,
      LOS rate: -0.172846 deg/s,
      cmd heading: 58.664461 deg,
      new cmd heading: 58.601796 deg.

2025-08-22T16:54:52.994Z,1755881692.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022794 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:53.428Z,1755881693.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:53.430Z,1755881693.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:53.433Z,1755881693.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 211.590012 m,
      bearing: 58.528434 deg,
      approach rate: 0.530888 m/s,
      LOS rate: -0.160770 deg/s,
      cmd heading: 58.601794 deg,
      new cmd heading: 58.528434 deg.

2025-08-22T16:54:53.446Z,1755881693.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021514 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:53.610Z,1755881693.610 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:54:53.610Z,1755881693.610 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:54:53.611Z,1755881693.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:53.810Z,1755881693.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:53.834Z,1755881693.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 211.786331 m,
      bearing: 58.468265 deg,
      approach rate: 0.516757 m/s,
      LOS rate: -0.158234 deg/s,
      cmd heading: 58.528437 deg,
      new cmd heading: 58.468265 deg.

2025-08-22T16:54:53.835Z,1755881693.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020464 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:53.866Z,1755881693.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465960
2025-08-22T16:54:54.115Z,1755881694.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715201
2025-08-22T16:54:54.205Z,1755881694.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:54.208Z,1755881694.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 211.992218 m,
      bearing: 58.403078 deg,
      approach rate: 0.521795 m/s,
      LOS rate: -0.165047 deg/s,
      cmd heading: 58.468263 deg,
      new cmd heading: 58.403078 deg.

2025-08-22T16:54:54.208Z,1755881694.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019326 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:54.367Z,1755881694.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966868
2025-08-22T16:54:54.618Z,1755881694.618 [DAT](INFO): DAT read: Rx Time:16:54:55.2362

2025-08-22T16:54:54.619Z,1755881694.619 [DAT](INFO): Rx dataTimestamp_ set to:1755881694.618676
2025-08-22T16:54:54.619Z,1755881694.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219858
2025-08-22T16:54:54.643Z,1755881694.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:54.645Z,1755881694.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 212.208496 m,
      bearing: 58.333433 deg,
      approach rate: 0.494300 m/s,
      LOS rate: -0.159009 deg/s,
      cmd heading: 58.403076 deg,
      new cmd heading: 58.333433 deg.

2025-08-22T16:54:54.646Z,1755881694.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018111 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:54.872Z,1755881694.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472375
2025-08-22T16:54:54.995Z,1755881694.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.61 m.
2025-08-22T16:54:54.997Z,1755881694.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 248.614914 m,
      nav range: 212.390335 m,
      bearing: 58.272980 deg,
      approach rate: 0.516057 m/s,
      LOS rate: -0.171418 deg/s,
      cmd heading: 58.333436 deg,
      new cmd heading: 58.272980 deg.

2025-08-22T16:54:55.000Z,1755881695.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017055 target range: 248.614914 and range: 250.20 m.
2025-08-22T16:54:55.144Z,1755881695.144 [DAT](INFO): DAT read: 16:54:55.2362 LVL= 32752, 24561, 30866, 31411, AGC= 67, IDX= 463, 0.25,-1.936, 0.198,-0.670,-0.600, PHS=-1.234, 0.843,-0.113, RAW= 297.4,   5.7, CAL= 295.1,   3.1, ROT= 214.9,  -3.1

2025-08-22T16:54:55.148Z,1755881695.148 [DAT](INFO): got valid direction response:
 16:54:55.2362 LVL= 32752, 24561, 30866, 31411, AGC= 67, IDX= 463, 0.25,-1.936, 0.198,-0.670,-0.600, PHS=-1.234, 0.843,-0.113, RAW= 297.4,   5.7, CAL= 295.1,   3.1, ROT= 214.9,  -3.1

2025-08-22T16:54:55.149Z,1755881695.149 [DAT](INFO): DAT read: Bearing 140.8, -35.7 (Local)

2025-08-22T16:54:55.150Z,1755881695.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.8, -35.7 (Local)

2025-08-22T16:54:55.151Z,1755881695.151 [DAT](INFO): DAT read: Range 11 to 50 : 214.6 m  (Round-trip  286.2 ms) speed -0.4 m/s

2025-08-22T16:54:55.152Z,1755881695.152 [DAT](INFO): DAT read: user:297>

2025-08-22T16:54:55.154Z,1755881695.154 [DAT](INFO): DAT read: Tx time:16:54:56.3443

2025-08-22T16:54:55.154Z,1755881695.154 [DAT](INFO): Ping request sent.
2025-08-22T16:54:55.154Z,1755881695.154 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:55.155Z,1755881695.155 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:54:55.156Z,1755881695.156 [DAT](INFO): direction in FSK: [-0.818952,-0.571308,0.054079]
2025-08-22T16:54:55.157Z,1755881695.157 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:55.157Z,1755881695.157 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:55.178Z,1755881695.178 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:55.179Z,1755881695.179 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:55.475Z,1755881695.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.600006 m,
      deltaT: 7.562056 s,
      deltaX: -35.599991 m,
      approachRate: -4.707713 m/s,
      rangeRepo size: 2

2025-08-22T16:54:55.477Z,1755881695.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.237717 m,
      bearing: 47.677020 deg,
      lat: 36.779459 deg,
      lon: -121.859667 deg,
      deltaT: 7.562056 s,
      deltaX: -35.377197 m,
      approachRate: -4.678251 m/s,
      posRepo size: 2

2025-08-22T16:54:55.477Z,1755881695.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:55.484Z,1755881695.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 213.395203 m,
      bearing: 57.841716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.171418 deg/s,
      cmd heading: 58.272982 deg,
      new cmd heading: 58.110196 deg.

2025-08-22T16:54:55.490Z,1755881695.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014214 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:55.885Z,1755881695.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:55.888Z,1755881695.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:55.890Z,1755881695.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 213.599518 m,
      bearing: 57.773503 deg,
      approach rate: 0.488957 m/s,
      LOS rate: -0.163087 deg/s,
      cmd heading: 58.110198 deg,
      new cmd heading: 57.973903 deg.

2025-08-22T16:54:55.891Z,1755881695.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011835 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:56.130Z,1755881696.130 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:54:56.130Z,1755881696.130 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:54:56.131Z,1755881696.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:54:56.265Z,1755881696.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:56.268Z,1755881696.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 213.795883 m,
      bearing: 57.708157 deg,
      approach rate: 0.520563 m/s,
      LOS rate: -0.173073 deg/s,
      cmd heading: 57.973901 deg,
      new cmd heading: 57.843330 deg.

2025-08-22T16:54:56.268Z,1755881696.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009557 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:56.383Z,1755881696.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228293
2025-08-22T16:54:56.635Z,1755881696.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480198
2025-08-22T16:54:56.710Z,1755881696.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:56.713Z,1755881696.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.000168 m,
      bearing: 57.634363 deg,
      approach rate: 0.458457 m/s,
      LOS rate: -0.165451 deg/s,
      cmd heading: 57.843328 deg,
      new cmd heading: 57.695881 deg.

2025-08-22T16:54:56.714Z,1755881696.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006983 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:56.886Z,1755881696.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732119
2025-08-22T16:54:57.041Z,1755881697.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:57.044Z,1755881697.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.150909 m,
      bearing: 57.577964 deg,
      approach rate: 0.456052 m/s,
      LOS rate: -0.170508 deg/s,
      cmd heading: 57.695878 deg,
      new cmd heading: 57.583160 deg.

2025-08-22T16:54:57.045Z,1755881697.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005016 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:57.139Z,1755881697.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984565
2025-08-22T16:54:57.391Z,1755881697.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236186
2025-08-22T16:54:57.527Z,1755881697.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:57.530Z,1755881697.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.384995 m,
      bearing: 57.492933 deg,
      approach rate: 0.481736 m/s,
      LOS rate: -0.174798 deg/s,
      cmd heading: 57.583160 deg,
      new cmd heading: 57.413285 deg.

2025-08-22T16:54:57.531Z,1755881697.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002051 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:57.643Z,1755881697.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488206
2025-08-22T16:54:57.860Z,1755881697.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:57.863Z,1755881697.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.542114 m,
      bearing: 57.433906 deg,
      approach rate: 0.471160 m/s,
      LOS rate: -0.176877 deg/s,
      cmd heading: 57.413286 deg,
      new cmd heading: 57.295319 deg.

2025-08-22T16:54:57.864Z,1755881697.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999992 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:57.895Z,1755881697.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740564
2025-08-22T16:54:58.147Z,1755881698.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992239
2025-08-22T16:54:58.272Z,1755881698.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:54:58.275Z,1755881698.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:58.277Z,1755881698.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.732422 m,
      bearing: 57.359920 deg,
      approach rate: 0.459419 m/s,
      LOS rate: -0.178451 deg/s,
      cmd heading: 57.295318 deg,
      new cmd heading: 57.147477 deg.

2025-08-22T16:54:58.278Z,1755881698.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997412 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:58.399Z,1755881698.399 [DAT](INFO): DAT read: Rx Time:16:54:59.0373

2025-08-22T16:54:58.399Z,1755881698.399 [DAT](INFO): Rx dataTimestamp_ set to:1755881698.398762
2025-08-22T16:54:58.400Z,1755881698.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245252
2025-08-22T16:54:58.650Z,1755881698.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496030
2025-08-22T16:54:58.729Z,1755881698.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:58.732Z,1755881698.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 214.936920 m,
      bearing: 57.280466 deg,
      approach rate: 0.449814 m/s,
      LOS rate: -0.174600 deg/s,
      cmd heading: 57.147479 deg,
      new cmd heading: 56.988723 deg.

2025-08-22T16:54:58.733Z,1755881698.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994641 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:58.906Z,1755881698.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751021
2025-08-22T16:54:59.078Z,1755881699.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.24 m.
2025-08-22T16:54:59.080Z,1755881699.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.237717 m,
      nav range: 215.085510 m,
      bearing: 57.218343 deg,
      approach rate: 0.426730 m/s,
      LOS rate: -0.178287 deg/s,
      cmd heading: 56.988725 deg,
      new cmd heading: 56.864564 deg.

2025-08-22T16:54:59.081Z,1755881699.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992474 target range: 213.237717 and range: 214.60 m.
2025-08-22T16:54:59.164Z,1755881699.164 [DAT](INFO): DAT read: 16:54:59.0373 LVL= 31984, 25137, 26706, 32755, AGC= 66, IDX= 458, 0.08, 1.581,-2.713,-3.107, 2.939, PHS=-1.256, 0.676, 0.193, RAW= 283.9,   4.5, CAL= 282.2,  -0.8, ROT= 227.8,   0.8

2025-08-22T16:54:59.165Z,1755881699.165 [DAT](INFO): got valid direction response:
 16:54:59.0373 LVL= 31984, 25137, 26706, 32755, AGC= 66, IDX= 458, 0.08, 1.581,-2.713,-3.107, 2.939, PHS=-1.256, 0.676, 0.193, RAW= 283.9,   4.5, CAL= 282.2,  -0.8, ROT= 227.8,   0.8

2025-08-22T16:54:59.167Z,1755881699.167 [DAT](INFO): DAT read: Bearing 136.8, -47.9 (Local)

2025-08-22T16:54:59.167Z,1755881699.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.8, -47.9 (Local)

2025-08-22T16:54:59.169Z,1755881699.169 [DAT](INFO): DAT read: Range 11 to 50 : 216.6 m  (Round-trip  288.8 ms) speed -0.4 m/s

2025-08-22T16:54:59.175Z,1755881699.175 [DAT](INFO): DAT read: user:298>

2025-08-22T16:54:59.176Z,1755881699.176 [DAT](INFO): DAT read: Tx time:16:55:00.1443

2025-08-22T16:54:59.177Z,1755881699.177 [DAT](INFO): Ping request sent.
2025-08-22T16:54:59.177Z,1755881699.177 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:54:59.186Z,1755881699.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:54:59.187Z,1755881699.187 [DAT](INFO): direction in FSK: [-0.671655,-0.740732,-0.013962]
2025-08-22T16:54:59.188Z,1755881699.188 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:59.188Z,1755881699.188 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:59.196Z,1755881699.196 [DAT](INFO): publishing transmit ping time
2025-08-22T16:54:59.196Z,1755881699.196 [DAT](INFO): publishing direction and range info
2025-08-22T16:54:59.552Z,1755881699.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.600006 m,
      deltaT: 4.030340 s,
      deltaX: 2.000000 m,
      approachRate: 0.496236 m/s,
      rangeRepo size: 3

2025-08-22T16:54:59.554Z,1755881699.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 215.228104 m,
      bearing: 50.425188 deg,
      lat: 36.779526 deg,
      lon: -121.859727 deg,
      deltaT: 4.030340 s,
      deltaX: 1.990387 m,
      approachRate: 0.493851 m/s,
      posRepo size: 3

2025-08-22T16:54:59.555Z,1755881699.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:54:59.574Z,1755881699.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 214.997742 m,
      bearing: 54.688682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178287 deg/s,
      cmd heading: 56.864562 deg,
      new cmd heading: 56.695613 deg.

2025-08-22T16:54:59.578Z,1755881699.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989525 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:54:59.912Z,1755881699.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:54:59.919Z,1755881699.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 215.156311 m,
      bearing: 54.626393 deg,
      approach rate: 0.439518 m/s,
      LOS rate: -0.172525 deg/s,
      cmd heading: 56.695614 deg,
      new cmd heading: 56.571128 deg.

2025-08-22T16:54:59.920Z,1755881699.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987352 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:00.336Z,1755881700.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:00.342Z,1755881700.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:00.344Z,1755881700.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 215.339005 m,
      bearing: 54.551989 deg,
      approach rate: 0.429139 m/s,
      LOS rate: -0.174623 deg/s,
      cmd heading: 56.571127 deg,
      new cmd heading: 56.422446 deg.

2025-08-22T16:55:00.350Z,1755881700.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984757 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:00.416Z,1755881700.416 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:00.416Z,1755881700.416 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:00.416Z,1755881700.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:00.666Z,1755881700.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489381
2025-08-22T16:55:00.754Z,1755881700.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:00.757Z,1755881700.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 215.539749 m,
      bearing: 54.472014 deg,
      approach rate: 0.481841 m/s,
      LOS rate: -0.191782 deg/s,
      cmd heading: 56.422448 deg,
      new cmd heading: 56.262648 deg.

2025-08-22T16:55:00.758Z,1755881700.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981968 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:00.919Z,1755881700.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741646
2025-08-22T16:55:01.177Z,1755881701.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999935
2025-08-22T16:55:01.254Z,1755881701.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:01.257Z,1755881701.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 215.742264 m,
      bearing: 54.385022 deg,
      approach rate: 0.404892 m/s,
      LOS rate: -0.173762 deg/s,
      cmd heading: 56.262649 deg,
      new cmd heading: 56.088828 deg.

2025-08-22T16:55:01.278Z,1755881701.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978935 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:01.426Z,1755881701.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249355
2025-08-22T16:55:01.679Z,1755881701.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502134
2025-08-22T16:55:01.836Z,1755881701.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:01.839Z,1755881701.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 215.986206 m,
      bearing: 54.276778 deg,
      approach rate: 0.419446 m/s,
      LOS rate: -0.185909 deg/s,
      cmd heading: 56.088827 deg,
      new cmd heading: 55.872585 deg.

2025-08-22T16:55:01.840Z,1755881701.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975161 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:01.931Z,1755881701.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753421
2025-08-22T16:55:02.183Z,1755881702.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006177
2025-08-22T16:55:02.305Z,1755881702.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:02.309Z,1755881702.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 216.165405 m,
      bearing: 54.194229 deg,
      approach rate: 0.382778 m/s,
      LOS rate: -0.176183 deg/s,
      cmd heading: 55.872587 deg,
      new cmd heading: 55.707626 deg.

2025-08-22T16:55:02.311Z,1755881702.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972282 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:02.435Z,1755881702.435 [DAT](INFO): DAT read: Rx Time:16:55:02.8396

2025-08-22T16:55:02.436Z,1755881702.436 [DAT](INFO): Rx dataTimestamp_ set to:1755881702.435336
2025-08-22T16:55:02.437Z,1755881702.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259410
2025-08-22T16:55:02.690Z,1755881702.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512007
2025-08-22T16:55:02.780Z,1755881702.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:02.783Z,1755881702.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.23 m.
2025-08-22T16:55:02.796Z,1755881702.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.228104 m,
      nav range: 216.356766 m,
      bearing: 54.106279 deg,
      approach rate: 0.400819 m/s,
      LOS rate: -0.184055 deg/s,
      cmd heading: 55.707627 deg,
      new cmd heading: 55.531883 deg.

2025-08-22T16:55:02.802Z,1755881702.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969214 target range: 215.228104 and range: 216.60 m.
2025-08-22T16:55:02.944Z,1755881702.944 [DAT](INFO): DAT read: 16:55:02.8396 LVL= 32752, 31937, 26290, 32115, AGC= 67, IDX= 450,-0.07,-2.574,-0.940,-0.540,-1.156, PHS=-1.316, 0.261, 0.572, RAW= 261.2,   5.5, CAL= 258.2,   2.9, ROT= 251.8,  -2.9

2025-08-22T16:55:02.945Z,1755881702.945 [DAT](INFO): got valid direction response:
 16:55:02.8396 LVL= 32752, 31937, 26290, 32115, AGC= 67, IDX= 450,-0.07,-2.574,-0.940,-0.540,-1.156, PHS=-1.316, 0.261, 0.572, RAW= 261.2,   5.5, CAL= 258.2,   2.9, ROT= 251.8,  -2.9

2025-08-22T16:55:02.946Z,1755881702.946 [DAT](INFO): DAT read: Bearing 120.6, -71.7 (Local)

2025-08-22T16:55:02.946Z,1755881702.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.6, -71.7 (Local)

2025-08-22T16:55:02.948Z,1755881702.948 [DAT](INFO): DAT read: Range 11 to 50 : 218.4 m  (Round-trip  291.2 ms) speed -0.4 m/s

2025-08-22T16:55:02.948Z,1755881702.948 [DAT](INFO): DAT read: user:299>

2025-08-22T16:55:02.949Z,1755881702.949 [DAT](INFO): DAT read: Tx time:16:55:03.9443

2025-08-22T16:55:02.949Z,1755881702.949 [DAT](INFO): Ping request sent.
2025-08-22T16:55:02.950Z,1755881702.950 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:02.950Z,1755881702.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:02.951Z,1755881702.951 [DAT](INFO): direction in FSK: [-0.311935,-0.948756,0.050593]
2025-08-22T16:55:02.951Z,1755881702.951 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:02.951Z,1755881702.951 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:02.955Z,1755881702.955 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:02.955Z,1755881702.955 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:03.183Z,1755881703.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.399994 m,
      deltaT: 3.783410 s,
      deltaX: 1.799988 m,
      approachRate: 0.475758 m/s,
      rangeRepo size: 4

2025-08-22T16:55:03.191Z,1755881703.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.015457 m,
      bearing: 65.014115 deg,
      lat: 36.779526 deg,
      lon: -121.859727 deg,
      deltaT: 3.783410 s,
      deltaX: 1.787354 m,
      approachRate: 0.472419 m/s,
      posRepo size: 4

2025-08-22T16:55:03.191Z,1755881703.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:03.198Z,1755881703.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 216.503387 m,
      bearing: 54.036193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.184055 deg/s,
      cmd heading: 55.531883 deg,
      new cmd heading: 55.386381 deg.

2025-08-22T16:55:03.199Z,1755881703.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966675 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:03.605Z,1755881703.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:03.608Z,1755881703.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 216.674347 m,
      bearing: 53.954840 deg,
      approach rate: 0.399476 m/s,
      LOS rate: -0.189944 deg/s,
      cmd heading: 55.386380 deg,
      new cmd heading: 55.223803 deg.

2025-08-22T16:55:03.609Z,1755881703.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963837 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:03.943Z,1755881703.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:03.947Z,1755881703.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 216.798111 m,
      bearing: 53.893421 deg,
      approach rate: 0.365462 m/s,
      LOS rate: -0.181258 deg/s,
      cmd heading: 55.223804 deg,
      new cmd heading: 55.101038 deg.

2025-08-22T16:55:03.948Z,1755881703.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961695 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:04.372Z,1755881704.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:04.375Z,1755881704.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 216.944382 m,
      bearing: 53.817735 deg,
      approach rate: 0.341566 m/s,
      LOS rate: -0.176621 deg/s,
      cmd heading: 55.101038 deg,
      new cmd heading: 54.949768 deg.

2025-08-22T16:55:04.375Z,1755881704.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959054 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:04.788Z,1755881704.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:04.796Z,1755881704.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:04.810Z,1755881704.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 217.095123 m,
      bearing: 53.741165 deg,
      approach rate: 0.355198 m/s,
      LOS rate: -0.180300 deg/s,
      cmd heading: 54.949767 deg,
      new cmd heading: 54.796733 deg.

2025-08-22T16:55:04.812Z,1755881704.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956383 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:04.954Z,1755881704.954 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:04.954Z,1755881704.954 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:04.955Z,1755881704.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:05.185Z,1755881705.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:05.189Z,1755881705.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 217.241333 m,
      bearing: 53.663663 deg,
      approach rate: 0.376473 m/s,
      LOS rate: -0.199424 deg/s,
      cmd heading: 54.796733 deg,
      new cmd heading: 54.641833 deg.

2025-08-22T16:55:05.190Z,1755881705.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953680 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:05.207Z,1755881705.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256952
2025-08-22T16:55:05.459Z,1755881705.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509113
2025-08-22T16:55:05.611Z,1755881705.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:05.614Z,1755881705.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 217.388992 m,
      bearing: 53.581887 deg,
      approach rate: 0.346199 m/s,
      LOS rate: -0.191600 deg/s,
      cmd heading: 54.641834 deg,
      new cmd heading: 54.478394 deg.

2025-08-22T16:55:05.615Z,1755881705.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950827 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:05.711Z,1755881705.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761617
2025-08-22T16:55:05.963Z,1755881705.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012941
2025-08-22T16:55:06.004Z,1755881706.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:06.011Z,1755881706.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 217.504120 m,
      bearing: 53.511983 deg,
      approach rate: 0.292942 m/s,
      LOS rate: -0.177774 deg/s,
      cmd heading: 54.478395 deg,
      new cmd heading: 54.338663 deg.

2025-08-22T16:55:06.012Z,1755881706.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.948389 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:06.214Z,1755881706.214 [DAT](INFO): DAT read: Rx Time:16:55:06.6416

2025-08-22T16:55:06.215Z,1755881706.215 [DAT](INFO): Rx dataTimestamp_ set to:1755881706.214653
2025-08-22T16:55:06.216Z,1755881706.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266243
2025-08-22T16:55:06.377Z,1755881706.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.02 m.
2025-08-22T16:55:06.380Z,1755881706.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.015457 m,
      nav range: 217.621063 m,
      bearing: 53.437605 deg,
      approach rate: 0.313928 m/s,
      LOS rate: -0.199557 deg/s,
      cmd heading: 54.338663 deg,
      new cmd heading: 54.189987 deg.

2025-08-22T16:55:06.381Z,1755881706.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945794 target range: 217.015457 and range: 218.40 m.
2025-08-22T16:55:06.467Z,1755881706.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517711
2025-08-22T16:55:06.724Z,1755881706.724 [DAT](INFO): DAT read: 16:55:06.6416 LVL= 32752, 32753, 28066, 32755, AGC= 66, IDX= 438,-0.01, 2.547,-2.441,-1.575,-2.425, PHS=-1.209, 0.029, 0.806, RAW= 247.5,   4.3, CAL= 244.8,   4.2, ROT= 265.2,  -4.2

2025-08-22T16:55:06.725Z,1755881706.725 [DAT](INFO): got valid direction response:
 16:55:06.6416 LVL= 32752, 32753, 28066, 32755, AGC= 66, IDX= 438,-0.01, 2.547,-2.441,-1.575,-2.425, PHS=-1.209, 0.029, 0.806, RAW= 247.5,   4.3, CAL= 244.8,   4.2, ROT= 265.2,  -4.2

2025-08-22T16:55:06.726Z,1755881706.726 [DAT](INFO): DAT read: Bearing  89.1, -84.9 (Local)

2025-08-22T16:55:06.726Z,1755881706.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.1, -84.9 (Local)

2025-08-22T16:55:06.728Z,1755881706.728 [DAT](INFO): DAT read: Range 11 to 50 : 219.8 m  (Round-trip  293.1 ms) speed -0.3 m/s

2025-08-22T16:55:06.728Z,1755881706.728 [DAT](INFO): DAT read: user:300>

2025-08-22T16:55:06.729Z,1755881706.729 [DAT](INFO): DAT read: Tx time:16:55:07.7443

2025-08-22T16:55:06.730Z,1755881706.730 [DAT](INFO): Ping request sent.
2025-08-22T16:55:06.730Z,1755881706.730 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:06.730Z,1755881706.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:06.731Z,1755881706.731 [DAT](INFO): direction in FSK: [-0.083453,-0.993817,0.073238]
2025-08-22T16:55:06.731Z,1755881706.731 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:06.731Z,1755881706.731 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:06.735Z,1755881706.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:06.735Z,1755881706.735 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:06.894Z,1755881706.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.800003 m,
      deltaT: 3.780047 s,
      deltaX: 1.400009 m,
      approachRate: 0.370368 m/s,
      rangeRepo size: 4

2025-08-22T16:55:06.896Z,1755881706.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 218.408569 m,
      bearing: 68.801748 deg,
      lat: 36.779526 deg,
      lon: -121.859727 deg,
      deltaT: 3.780047 s,
      deltaX: 1.393112 m,
      approachRate: 0.368544 m/s,
      posRepo size: 4

2025-08-22T16:55:06.897Z,1755881706.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:06.904Z,1755881706.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 217.770096 m,
      bearing: 53.342941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.199557 deg/s,
      cmd heading: 54.189987 deg,
      new cmd heading: 53.985366 deg.

2025-08-22T16:55:06.904Z,1755881706.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942222 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:07.241Z,1755881707.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:07.243Z,1755881707.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:07.246Z,1755881707.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 217.876801 m,
      bearing: 53.271688 deg,
      approach rate: 0.301491 m/s,
      LOS rate: -0.201223 deg/s,
      cmd heading: 53.985364 deg,
      new cmd heading: 53.842930 deg.

2025-08-22T16:55:07.247Z,1755881707.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939736 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:07.475Z,1755881707.475 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:07.475Z,1755881707.475 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:07.475Z,1755881707.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:07.702Z,1755881707.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:07.705Z,1755881707.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.002243 m,
      bearing: 53.187936 deg,
      approach rate: 0.273204 m/s,
      LOS rate: -0.182300 deg/s,
      cmd heading: 53.842931 deg,
      new cmd heading: 53.675524 deg.

2025-08-22T16:55:07.710Z,1755881707.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936815 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:07.727Z,1755881707.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996952
2025-08-22T16:55:07.838Z,1755881707.838 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:55:07.979Z,1755881707.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248943
2025-08-22T16:55:08.067Z,1755881708.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:08.070Z,1755881708.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.111588 m,
      bearing: 53.111107 deg,
      approach rate: 0.299891 m/s,
      LOS rate: -0.210609 deg/s,
      cmd heading: 53.675523 deg,
      new cmd heading: 53.521942 deg.

2025-08-22T16:55:08.071Z,1755881708.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934134 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:08.230Z,1755881708.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500768
2025-08-22T16:55:08.483Z,1755881708.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753321
2025-08-22T16:55:08.491Z,1755881708.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:08.494Z,1755881708.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.227341 m,
      bearing: 53.030164 deg,
      approach rate: 0.272949 m/s,
      LOS rate: -0.190764 deg/s,
      cmd heading: 53.521943 deg,
      new cmd heading: 53.360143 deg.

2025-08-22T16:55:08.495Z,1755881708.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931310 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:08.735Z,1755881708.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004889
2025-08-22T16:55:08.842Z,1755881708.842 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:55:08.892Z,1755881708.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:08.895Z,1755881708.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.334396 m,
      bearing: 52.948462 deg,
      approach rate: 0.266835 m/s,
      LOS rate: -0.203542 deg/s,
      cmd heading: 53.360143 deg,
      new cmd heading: 53.196819 deg.

2025-08-22T16:55:08.896Z,1755881708.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928460 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:08.988Z,1755881708.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258252
2025-08-22T16:55:09.238Z,1755881709.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508800
2025-08-22T16:55:09.270Z,1755881709.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:09.274Z,1755881709.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:09.281Z,1755881709.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.428299 m,
      bearing: 52.872604 deg,
      approach rate: 0.246627 m/s,
      LOS rate: -0.199147 deg/s,
      cmd heading: 53.196819 deg,
      new cmd heading: 53.045170 deg.

2025-08-22T16:55:09.299Z,1755881709.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925813 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:09.491Z,1755881709.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760837
2025-08-22T16:55:09.733Z,1755881709.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:09.741Z,1755881709.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.545639 m,
      bearing: 52.782161 deg,
      approach rate: 0.255034 m/s,
      LOS rate: -0.196470 deg/s,
      cmd heading: 53.045168 deg,
      new cmd heading: 52.864379 deg.

2025-08-22T16:55:09.743Z,1755881709.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012989
2025-08-22T16:55:09.743Z,1755881709.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922657 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:09.995Z,1755881709.995 [DAT](INFO): DAT read: Rx Time:16:55:10.4429

2025-08-22T16:55:09.996Z,1755881709.996 [DAT](INFO): Rx dataTimestamp_ set to:1755881709.995424
2025-08-22T16:55:09.997Z,1755881709.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266937
2025-08-22T16:55:10.085Z,1755881710.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:10.088Z,1755881710.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.626007 m,
      bearing: 52.712466 deg,
      approach rate: 0.228458 m/s,
      LOS rate: -0.198045 deg/s,
      cmd heading: 52.864380 deg,
      new cmd heading: 52.725042 deg.

2025-08-22T16:55:10.089Z,1755881710.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.920226 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:10.246Z,1755881710.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516824
2025-08-22T16:55:10.490Z,1755881710.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.41 m.
2025-08-22T16:55:10.493Z,1755881710.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.408569 m,
      nav range: 218.713425 m,
      bearing: 52.631787 deg,
      approach rate: 0.215597 m/s,
      LOS rate: -0.198898 deg/s,
      cmd heading: 52.725041 deg,
      new cmd heading: 52.563748 deg.

2025-08-22T16:55:10.494Z,1755881710.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917410 target range: 218.408569 and range: 219.80 m.
2025-08-22T16:55:10.504Z,1755881710.504 [DAT](INFO): DAT read: 16:55:10.4429 LVL= 32752, 32753, 31314, 32755, AGC= 65, IDX= 436,-0.24,-0.994, 0.322, 1.189, 0.366, PHS=-1.258, 0.001, 0.779, RAW= 247.8,   5.4, CAL= 245.5,   5.4, ROT= 264.5,  -5.4

2025-08-22T16:55:10.505Z,1755881710.505 [DAT](INFO): got valid direction response:
 16:55:10.4429 LVL= 32752, 32753, 31314, 32755, AGC= 65, IDX= 436,-0.24,-0.994, 0.322, 1.189, 0.366, PHS=-1.258, 0.001, 0.779, RAW= 247.8,   5.4, CAL= 245.5,   5.4, ROT= 264.5,  -5.4

2025-08-22T16:55:10.506Z,1755881710.506 [DAT](INFO): DAT read: Bearing  70.8, -83.7 (Local)

2025-08-22T16:55:10.507Z,1755881710.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8, -83.7 (Local)

2025-08-22T16:55:10.508Z,1755881710.508 [DAT](INFO): DAT read: Range 11 to 50 : 220.8 m  (Round-trip  294.5 ms) speed -0.4 m/s

2025-08-22T16:55:10.509Z,1755881710.509 [DAT](INFO): DAT read: user:301>

2025-08-22T16:55:10.510Z,1755881710.510 [DAT](INFO): DAT read: Tx time:16:55:11.5442

2025-08-22T16:55:10.510Z,1755881710.510 [DAT](INFO): Ping request sent.
2025-08-22T16:55:10.510Z,1755881710.510 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:10.510Z,1755881710.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:10.511Z,1755881710.511 [DAT](INFO): direction in FSK: [-0.095420,-0.990979,0.094108]
2025-08-22T16:55:10.511Z,1755881710.511 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:10.512Z,1755881710.512 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:10.519Z,1755881710.519 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:10.519Z,1755881710.519 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:10.928Z,1755881710.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.800003 m,
      deltaT: 3.780123 s,
      deltaX: 1.000000 m,
      approachRate: 0.264542 m/s,
      rangeRepo size: 4

2025-08-22T16:55:10.930Z,1755881710.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 219.404053 m,
      bearing: 58.623911 deg,
      lat: 36.779349 deg,
      lon: -121.859590 deg,
      deltaT: 3.780123 s,
      deltaX: 0.995483 m,
      approachRate: 0.263347 m/s,
      posRepo size: 4

2025-08-22T16:55:10.931Z,1755881710.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:10.950Z,1755881710.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.751755 m,
      bearing: 58.623117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.198898 deg/s,
      cmd heading: 52.563749 deg,
      new cmd heading: 52.389855 deg.

2025-08-22T16:55:10.951Z,1755881710.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914375 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:11.327Z,1755881711.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:11.329Z,1755881711.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:11.332Z,1755881711.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.797501 m,
      bearing: 58.542124 deg,
      approach rate: 0.113902 m/s,
      LOS rate: -0.201622 deg/s,
      cmd heading: 52.389856 deg,
      new cmd heading: 52.227904 deg.

2025-08-22T16:55:11.333Z,1755881711.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911549 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:11.506Z,1755881711.506 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:11.506Z,1755881711.506 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:11.507Z,1755881711.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:11.759Z,1755881711.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248697
2025-08-22T16:55:11.762Z,1755881711.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:11.764Z,1755881711.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.843231 m,
      bearing: 58.452934 deg,
      approach rate: 0.106790 m/s,
      LOS rate: -0.208232 deg/s,
      cmd heading: 52.227906 deg,
      new cmd heading: 52.049564 deg.

2025-08-22T16:55:11.765Z,1755881711.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908436 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:12.011Z,1755881712.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501136
2025-08-22T16:55:12.112Z,1755881712.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:12.115Z,1755881712.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.878342 m,
      bearing: 58.375125 deg,
      approach rate: 0.098986 m/s,
      LOS rate: -0.219331 deg/s,
      cmd heading: 52.049562 deg,
      new cmd heading: 51.893969 deg.

2025-08-22T16:55:12.116Z,1755881712.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905721 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:12.262Z,1755881712.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752498
2025-08-22T16:55:12.515Z,1755881712.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004777
2025-08-22T16:55:12.529Z,1755881712.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:12.532Z,1755881712.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.912415 m,
      bearing: 58.287778 deg,
      approach rate: 0.081732 m/s,
      LOS rate: -0.209491 deg/s,
      cmd heading: 51.893971 deg,
      new cmd heading: 51.719305 deg.

2025-08-22T16:55:12.533Z,1755881712.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902672 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:12.768Z,1755881712.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257950
2025-08-22T16:55:12.957Z,1755881712.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:12.960Z,1755881712.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.944916 m,
      bearing: 58.198677 deg,
      approach rate: 0.075967 m/s,
      LOS rate: -0.208229 deg/s,
      cmd heading: 51.719306 deg,
      new cmd heading: 51.541131 deg.

2025-08-22T16:55:12.960Z,1755881712.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899562 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:13.019Z,1755881713.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509213
2025-08-22T16:55:13.272Z,1755881713.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761871
2025-08-22T16:55:13.330Z,1755881713.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:13.332Z,1755881713.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:13.335Z,1755881713.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.968445 m,
      bearing: 58.120609 deg,
      approach rate: 0.062734 m/s,
      LOS rate: -0.208124 deg/s,
      cmd heading: 51.541130 deg,
      new cmd heading: 51.385012 deg.

2025-08-22T16:55:13.336Z,1755881713.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896838 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:13.522Z,1755881713.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012501
2025-08-22T16:55:13.775Z,1755881713.775 [DAT](INFO): DAT read: Rx Time:16:55:14.2438

2025-08-22T16:55:13.776Z,1755881713.776 [DAT](INFO): Rx dataTimestamp_ set to:1755881713.775616
2025-08-22T16:55:13.786Z,1755881713.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267237
2025-08-22T16:55:13.851Z,1755881713.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:13.858Z,1755881713.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 217.992081 m,
      bearing: 58.017314 deg,
      approach rate: 0.045520 m/s,
      LOS rate: -0.198914 deg/s,
      cmd heading: 51.385012 deg,
      new cmd heading: 51.178445 deg.

2025-08-22T16:55:13.859Z,1755881713.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893232 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:14.026Z,1755881714.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516492
2025-08-22T16:55:14.210Z,1755881714.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.40 m.
2025-08-22T16:55:14.212Z,1755881714.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.404053 m,
      nav range: 218.004761 m,
      bearing: 57.940367 deg,
      approach rate: 0.035369 m/s,
      LOS rate: -0.214621 deg/s,
      cmd heading: 51.178447 deg,
      new cmd heading: 51.024561 deg.

2025-08-22T16:55:14.213Z,1755881714.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890547 target range: 219.404053 and range: 220.80 m.
2025-08-22T16:55:14.291Z,1755881714.291 [DAT](INFO): DAT read: 16:55:14.2438 LVL= 28816, 28257, 24098, 29539, AGC= 66, IDX= 430, 0.43, 1.613, 2.801,-2.392, 2.853, PHS=-1.138,-0.007, 0.994, RAW= 242.0,   1.7, CAL= 238.6,   1.9, ROT= 271.4,  -1.9

2025-08-22T16:55:14.293Z,1755881714.293 [DAT](INFO): got valid direction response:
 16:55:14.2438 LVL= 28816, 28257, 24098, 29539, AGC= 66, IDX= 430, 0.43, 1.613, 2.801,-2.392, 2.853, PHS=-1.138,-0.007, 0.994, RAW= 242.0,   1.7, CAL= 238.6,   1.9, ROT= 271.4,  -1.9

2025-08-22T16:55:14.295Z,1755881714.295 [DAT](INFO): DAT read: Bearing 267.8, -88.4 (Local)

2025-08-22T16:55:14.295Z,1755881714.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.8, -88.4 (Local)

2025-08-22T16:55:14.297Z,1755881714.297 [DAT](INFO): DAT read: Range 11 to 50 : 221.6 m  (Round-trip  295.5 ms) speed  0.0 m/s

2025-08-22T16:55:14.298Z,1755881714.298 [DAT](INFO): DAT read: user:302>

2025-08-22T16:55:14.298Z,1755881714.298 [DAT](INFO): DAT read: Tx time:16:55:15.3442

2025-08-22T16:55:14.299Z,1755881714.299 [DAT](INFO): Ping request sent.
2025-08-22T16:55:14.299Z,1755881714.299 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:14.299Z,1755881714.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:14.300Z,1755881714.300 [DAT](INFO): direction in FSK: [0.024419,-0.999152,0.033155]
2025-08-22T16:55:14.300Z,1755881714.300 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:14.300Z,1755881714.300 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:14.305Z,1755881714.305 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:14.305Z,1755881714.305 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:14.612Z,1755881714.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.600006 m,
      deltaT: 3.780457 s,
      deltaX: 0.800003 m,
      approachRate: 0.211615 m/s,
      rangeRepo size: 4

2025-08-22T16:55:14.614Z,1755881714.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.196533 m,
      bearing: 54.317754 deg,
      lat: 36.779349 deg,
      lon: -121.859590 deg,
      deltaT: 3.780457 s,
      deltaX: 0.792480 m,
      approachRate: 0.209626 m/s,
      posRepo size: 4

2025-08-22T16:55:14.615Z,1755881714.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:14.618Z,1755881714.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.013000 m,
      bearing: 57.858705 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.214621 deg/s,
      cmd heading: 51.024563 deg,
      new cmd heading: 50.851981 deg.

2025-08-22T16:55:14.619Z,1755881714.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887534 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:15.056Z,1755881715.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:15.059Z,1755881715.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.022507 m,
      bearing: 57.767241 deg,
      approach rate: 0.021383 m/s,
      LOS rate: -0.205732 deg/s,
      cmd heading: 50.851981 deg,
      new cmd heading: 50.669061 deg.

2025-08-22T16:55:15.060Z,1755881715.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884342 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:15.427Z,1755881715.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:15.429Z,1755881715.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:15.432Z,1755881715.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.025650 m,
      bearing: 57.691248 deg,
      approach rate: 0.008425 m/s,
      LOS rate: -0.203673 deg/s,
      cmd heading: 50.669062 deg,
      new cmd heading: 50.517078 deg.

2025-08-22T16:55:15.433Z,1755881715.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881689 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:15.539Z,1755881715.539 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:15.539Z,1755881715.539 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:15.539Z,1755881715.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:15.791Z,1755881715.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492608
2025-08-22T16:55:15.856Z,1755881715.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:15.859Z,1755881715.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.032852 m,
      bearing: 57.603775 deg,
      approach rate: 0.016874 m/s,
      LOS rate: -0.204933 deg/s,
      cmd heading: 50.517076 deg,
      new cmd heading: 50.342137 deg.

2025-08-22T16:55:15.860Z,1755881715.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878636 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:16.042Z,1755881716.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743740
2025-08-22T16:55:16.222Z,1755881716.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:16.224Z,1755881716.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.028961 m,
      bearing: 57.528669 deg,
      approach rate: -0.010648 m/s,
      LOS rate: -0.205529 deg/s,
      cmd heading: 50.342138 deg,
      new cmd heading: 50.191925 deg.

2025-08-22T16:55:16.225Z,1755881716.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876014 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:16.295Z,1755881716.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995999
2025-08-22T16:55:16.547Z,1755881716.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248354
2025-08-22T16:55:16.634Z,1755881716.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:16.636Z,1755881716.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.019058 m,
      bearing: 57.444200 deg,
      approach rate: -0.024037 m/s,
      LOS rate: -0.205036 deg/s,
      cmd heading: 50.191925 deg,
      new cmd heading: 50.022980 deg.

2025-08-22T16:55:16.637Z,1755881716.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873066 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:16.799Z,1755881716.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499815
2025-08-22T16:55:17.051Z,1755881717.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751777
2025-08-22T16:55:17.139Z,1755881717.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:17.142Z,1755881717.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 218.006592 m,
      bearing: 57.341125 deg,
      approach rate: -0.024658 m/s,
      LOS rate: -0.203891 deg/s,
      cmd heading: 50.022980 deg,
      new cmd heading: 49.816820 deg.

2025-08-22T16:55:17.143Z,1755881717.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869467 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:17.302Z,1755881717.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003683
2025-08-22T16:55:17.455Z,1755881717.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:17.458Z,1755881717.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:17.460Z,1755881717.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.999298 m,
      bearing: 57.277825 deg,
      approach rate: -0.022901 m/s,
      LOS rate: -0.198762 deg/s,
      cmd heading: 49.816818 deg,
      new cmd heading: 49.690213 deg.

2025-08-22T16:55:17.461Z,1755881717.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867258 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:17.555Z,1755881717.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256543
2025-08-22T16:55:17.807Z,1755881717.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507741
2025-08-22T16:55:17.868Z,1755881717.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:17.891Z,1755881717.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.979172 m,
      bearing: 57.193385 deg,
      approach rate: -0.049000 m/s,
      LOS rate: -0.205596 deg/s,
      cmd heading: 49.690214 deg,
      new cmd heading: 49.521319 deg.

2025-08-22T16:55:17.892Z,1755881717.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864310 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:18.058Z,1755881718.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759673
2025-08-22T16:55:18.247Z,1755881718.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:18.271Z,1755881718.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.956116 m,
      bearing: 57.117085 deg,
      approach rate: -0.060875 m/s,
      LOS rate: -0.201478 deg/s,
      cmd heading: 49.521320 deg,
      new cmd heading: 49.368704 deg.

2025-08-22T16:55:18.273Z,1755881718.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861646 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:18.311Z,1755881718.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011848
2025-08-22T16:55:18.563Z,1755881718.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.263786
2025-08-22T16:55:18.650Z,1755881718.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:18.652Z,1755881718.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.926620 m,
      bearing: 57.036080 deg,
      approach rate: -0.073255 m/s,
      LOS rate: -0.201213 deg/s,
      cmd heading: 49.368703 deg,
      new cmd heading: 49.206672 deg.

2025-08-22T16:55:18.654Z,1755881718.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858818 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:18.815Z,1755881718.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515750
2025-08-22T16:55:19.067Z,1755881719.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768165
2025-08-22T16:55:19.076Z,1755881719.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:19.078Z,1755881719.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.896622 m,
      bearing: 56.950167 deg,
      approach rate: -0.070430 m/s,
      LOS rate: -0.201733 deg/s,
      cmd heading: 49.206670 deg,
      new cmd heading: 49.034821 deg.

2025-08-22T16:55:19.079Z,1755881719.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855819 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:19.320Z,1755881719.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.021414
2025-08-22T16:55:19.463Z,1755881719.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:19.466Z,1755881719.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:19.468Z,1755881719.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.864227 m,
      bearing: 56.870897 deg,
      approach rate: -0.083114 m/s,
      LOS rate: -0.203413 deg/s,
      cmd heading: 49.034819 deg,
      new cmd heading: 48.876257 deg.

2025-08-22T16:55:19.469Z,1755881719.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853052 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:19.571Z,1755881719.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.271783
2025-08-22T16:55:19.823Z,1755881719.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.523798
2025-08-22T16:55:19.908Z,1755881719.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:19.911Z,1755881719.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.837463 m,
      bearing: 56.784585 deg,
      approach rate: -0.060451 m/s,
      LOS rate: -0.194973 deg/s,
      cmd heading: 48.876257 deg,
      new cmd heading: 48.703613 deg.

2025-08-22T16:55:19.912Z,1755881719.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850038 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:20.075Z,1755881720.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775789
2025-08-22T16:55:20.308Z,1755881720.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:20.315Z,1755881720.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.805084 m,
      bearing: 56.710758 deg,
      approach rate: -0.080906 m/s,
      LOS rate: -0.184501 deg/s,
      cmd heading: 48.703613 deg,
      new cmd heading: 48.555936 deg.

2025-08-22T16:55:20.316Z,1755881720.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847461 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:20.327Z,1755881720.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.027890
2025-08-22T16:55:20.580Z,1755881720.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280497
2025-08-22T16:55:20.682Z,1755881720.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:20.684Z,1755881720.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.766815 m,
      bearing: 56.634508 deg,
      approach rate: -0.102566 m/s,
      LOS rate: -0.204394 deg/s,
      cmd heading: 48.555938 deg,
      new cmd heading: 48.403412 deg.

2025-08-22T16:55:20.701Z,1755881720.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844799 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:20.833Z,1755881720.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534029
2025-08-22T16:55:21.083Z,1755881721.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.783781
2025-08-22T16:55:21.102Z,1755881721.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:21.105Z,1755881721.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.721725 m,
      bearing: 56.554286 deg,
      approach rate: -0.107177 m/s,
      LOS rate: -0.190724 deg/s,
      cmd heading: 48.403413 deg,
      new cmd heading: 48.242936 deg.

2025-08-22T16:55:21.106Z,1755881721.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841998 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:21.335Z,1755881721.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036195
2025-08-22T16:55:21.483Z,1755881721.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:21.485Z,1755881721.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:21.487Z,1755881721.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.676270 m,
      bearing: 56.481595 deg,
      approach rate: -0.118819 m/s,
      LOS rate: -0.190051 deg/s,
      cmd heading: 48.242938 deg,
      new cmd heading: 48.097525 deg.

2025-08-22T16:55:21.488Z,1755881721.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839460 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:21.587Z,1755881721.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.287934
2025-08-22T16:55:21.840Z,1755881721.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.541244
2025-08-22T16:55:21.923Z,1755881721.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:21.926Z,1755881721.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.630051 m,
      bearing: 56.396935 deg,
      approach rate: -0.105370 m/s,
      LOS rate: -0.193048 deg/s,
      cmd heading: 48.097526 deg,
      new cmd heading: 47.928171 deg.

2025-08-22T16:55:21.927Z,1755881721.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836504 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:22.090Z,1755881722.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.791599
2025-08-22T16:55:22.305Z,1755881722.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:22.308Z,1755881722.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.580338 m,
      bearing: 56.323813 deg,
      approach rate: -0.130278 m/s,
      LOS rate: -0.191667 deg/s,
      cmd heading: 47.928172 deg,
      new cmd heading: 47.781894 deg.

2025-08-22T16:55:22.309Z,1755881722.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833951 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:22.343Z,1755881722.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.044356
2025-08-22T16:55:22.595Z,1755881722.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.295773
2025-08-22T16:55:22.694Z,1755881722.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:22.697Z,1755881722.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.525085 m,
      bearing: 56.249526 deg,
      approach rate: -0.142096 m/s,
      LOS rate: -0.191097 deg/s,
      cmd heading: 47.781893 deg,
      new cmd heading: 47.633282 deg.

2025-08-22T16:55:22.698Z,1755881722.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831358 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:22.850Z,1755881722.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.551001
2025-08-22T16:55:23.099Z,1755881723.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.800003
2025-08-22T16:55:23.120Z,1755881723.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:23.122Z,1755881723.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.460358 m,
      bearing: 56.167457 deg,
      approach rate: -0.151988 m/s,
      LOS rate: -0.192765 deg/s,
      cmd heading: 47.633282 deg,
      new cmd heading: 47.469095 deg.

2025-08-22T16:55:23.123Z,1755881723.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828492 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:23.354Z,1755881723.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.054612
2025-08-22T16:55:23.512Z,1755881723.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:23.514Z,1755881723.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:23.516Z,1755881723.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.397598 m,
      bearing: 56.094069 deg,
      approach rate: -0.159253 m/s,
      LOS rate: -0.186275 deg/s,
      cmd heading: 47.469094 deg,
      new cmd heading: 47.322277 deg.

2025-08-22T16:55:23.518Z,1755881723.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825930 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:23.604Z,1755881723.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.304948
2025-08-22T16:55:23.857Z,1755881723.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558000
2025-08-22T16:55:23.946Z,1755881723.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:23.948Z,1755881723.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.326324 m,
      bearing: 56.010803 deg,
      approach rate: -0.165101 m/s,
      LOS rate: -0.192944 deg/s,
      cmd heading: 47.322276 deg,
      new cmd heading: 47.155689 deg.

2025-08-22T16:55:23.949Z,1755881723.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823022 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:24.106Z,1755881724.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.807728
2025-08-22T16:55:24.330Z,1755881724.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:24.333Z,1755881724.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.260498 m,
      bearing: 55.939557 deg,
      approach rate: -0.170942 m/s,
      LOS rate: -0.185071 deg/s,
      cmd heading: 47.155688 deg,
      new cmd heading: 47.013154 deg.

2025-08-22T16:55:24.338Z,1755881724.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820534 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:24.358Z,1755881724.358 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:24.359Z,1755881724.359 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:24.359Z,1755881724.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:24.611Z,1755881724.611 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:24.611Z,1755881724.611 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:24.612Z,1755881724.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:24.716Z,1755881724.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:24.719Z,1755881724.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.188629 m,
      bearing: 55.867117 deg,
      approach rate: -0.186396 m/s,
      LOS rate: -0.187940 deg/s,
      cmd heading: 47.013155 deg,
      new cmd heading: 46.868227 deg.

2025-08-22T16:55:24.720Z,1755881724.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818005 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:24.864Z,1755881724.864 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:24.865Z,1755881724.865 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:24.866Z,1755881724.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:25.114Z,1755881725.114 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:25.115Z,1755881725.115 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:25.115Z,1755881725.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:25.172Z,1755881725.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:25.180Z,1755881725.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.111649 m,
      bearing: 55.789228 deg,
      approach rate: -0.168837 m/s,
      LOS rate: -0.170890 deg/s,
      cmd heading: 46.868225 deg,
      new cmd heading: 46.712392 deg.

2025-08-22T16:55:25.186Z,1755881725.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815285 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:25.366Z,1755881725.366 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:25.366Z,1755881725.366 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:25.367Z,1755881725.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:25.538Z,1755881725.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:25.540Z,1755881725.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:25.543Z,1755881725.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 217.034470 m,
      bearing: 55.716250 deg,
      approach rate: -0.209770 m/s,
      LOS rate: -0.198423 deg/s,
      cmd heading: 46.712391 deg,
      new cmd heading: 46.566383 deg.

2025-08-22T16:55:25.544Z,1755881725.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812737 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:25.619Z,1755881725.619 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:25.619Z,1755881725.619 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:25.620Z,1755881725.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:25.872Z,1755881725.872 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:25.873Z,1755881725.873 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:25.874Z,1755881725.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:25.985Z,1755881725.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:25.988Z,1755881725.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.951645 m,
      bearing: 55.639584 deg,
      approach rate: -0.187674 m/s,
      LOS rate: -0.173784 deg/s,
      cmd heading: 46.566382 deg,
      new cmd heading: 46.412993 deg.

2025-08-22T16:55:25.989Z,1755881725.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810060 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:26.122Z,1755881726.122 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:26.122Z,1755881726.122 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:26.123Z,1755881726.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:26.364Z,1755881726.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:26.367Z,1755881726.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.867691 m,
      bearing: 55.566490 deg,
      approach rate: -0.219328 m/s,
      LOS rate: -0.191030 deg/s,
      cmd heading: 46.412993 deg,
      new cmd heading: 46.266749 deg.

2025-08-22T16:55:26.368Z,1755881726.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807507 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:26.374Z,1755881726.374 [DAT](INFO): Reached modem response timeout
2025-08-22T16:55:26.375Z,1755881726.375 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:55:26.375Z,1755881726.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:26.627Z,1755881726.627 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:55:26.627Z,1755881726.627 [DAT](INFO): response not received
2025-08-22T16:55:26.628Z,1755881726.628 [DAT](INFO): DAT read: user:303>

2025-08-22T16:55:26.628Z,1755881726.628 [DAT](INFO): DAT read: Tx time:16:55:27.7942

2025-08-22T16:55:26.629Z,1755881726.629 [DAT](INFO): Ping request sent.
2025-08-22T16:55:26.629Z,1755881726.629 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:26.629Z,1755881726.629 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:26.630Z,1755881726.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000848
2025-08-22T16:55:26.786Z,1755881726.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:26.789Z,1755881726.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.780197 m,
      bearing: 55.494686 deg,
      approach rate: -0.209647 m/s,
      LOS rate: -0.172122 deg/s,
      cmd heading: 46.266749 deg,
      new cmd heading: 46.123082 deg.

2025-08-22T16:55:26.798Z,1755881726.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805000 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:26.882Z,1755881726.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252870
2025-08-22T16:55:27.131Z,1755881727.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501829
2025-08-22T16:55:27.198Z,1755881727.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:27.201Z,1755881727.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.679108 m,
      bearing: 55.416255 deg,
      approach rate: -0.242553 m/s,
      LOS rate: -0.188275 deg/s,
      cmd heading: 46.123082 deg,
      new cmd heading: 45.966147 deg.

2025-08-22T16:55:27.202Z,1755881727.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802261 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:27.383Z,1755881727.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753855
2025-08-22T16:55:27.568Z,1755881727.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:27.571Z,1755881727.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:27.573Z,1755881727.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.591263 m,
      bearing: 55.351667 deg,
      approach rate: -0.235906 m/s,
      LOS rate: -0.173518 deg/s,
      cmd heading: 45.966149 deg,
      new cmd heading: 45.836922 deg.

2025-08-22T16:55:27.574Z,1755881727.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800005 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:27.635Z,1755881727.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006012
2025-08-22T16:55:27.889Z,1755881727.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259910
2025-08-22T16:55:27.997Z,1755881727.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:28.004Z,1755881728.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.485703 m,
      bearing: 55.280148 deg,
      approach rate: -0.247545 m/s,
      LOS rate: -0.167798 deg/s,
      cmd heading: 45.836921 deg,
      new cmd heading: 45.693814 deg.

2025-08-22T16:55:28.005Z,1755881728.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797508 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:28.138Z,1755881728.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509644
2025-08-22T16:55:28.386Z,1755881728.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:28.388Z,1755881728.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.384598 m,
      bearing: 55.214888 deg,
      approach rate: -0.271521 m/s,
      LOS rate: -0.175341 deg/s,
      cmd heading: 45.693815 deg,
      new cmd heading: 45.563234 deg.

2025-08-22T16:55:28.389Z,1755881728.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795228 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:28.391Z,1755881728.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761948
2025-08-22T16:55:28.643Z,1755881728.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014323
2025-08-22T16:55:28.785Z,1755881728.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:28.787Z,1755881728.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.272079 m,
      bearing: 55.145553 deg,
      approach rate: -0.270846 m/s,
      LOS rate: -0.166984 deg/s,
      cmd heading: 45.563236 deg,
      new cmd heading: 45.424495 deg.

2025-08-22T16:55:28.788Z,1755881728.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792807 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:28.898Z,1755881728.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268040
2025-08-22T16:55:29.147Z,1755881729.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517792
2025-08-22T16:55:29.220Z,1755881729.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:29.223Z,1755881729.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.152603 m,
      bearing: 55.072745 deg,
      approach rate: -0.274310 m/s,
      LOS rate: -0.167255 deg/s,
      cmd heading: 45.424494 deg,
      new cmd heading: 45.278798 deg.

2025-08-22T16:55:29.224Z,1755881729.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790264 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:29.398Z,1755881729.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769740
2025-08-22T16:55:29.576Z,1755881729.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:29.578Z,1755881729.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:29.581Z,1755881729.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 216.046967 m,
      bearing: 55.013847 deg,
      approach rate: -0.295001 m/s,
      LOS rate: -0.164561 deg/s,
      cmd heading: 45.278799 deg,
      new cmd heading: 45.160945 deg.

2025-08-22T16:55:29.599Z,1755881729.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788207 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:29.652Z,1755881729.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022558
2025-08-22T16:55:29.906Z,1755881729.906 [DAT](INFO): DAT read: Rx Time:16:55:30.5187

2025-08-22T16:55:29.907Z,1755881729.907 [DAT](INFO): Rx dataTimestamp_ set to:1755881729.906113
2025-08-22T16:55:29.909Z,1755881729.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279563
2025-08-22T16:55:30.018Z,1755881730.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.20 m.
2025-08-22T16:55:30.021Z,1755881730.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.196533 m,
      nav range: 215.911850 m,
      bearing: 54.941806 deg,
      approach rate: -0.307205 m/s,
      LOS rate: -0.163896 deg/s,
      cmd heading: 45.160944 deg,
      new cmd heading: 45.016773 deg.

2025-08-22T16:55:30.022Z,1755881730.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785691 target range: 220.196533 and range: 221.60 m.
2025-08-22T16:55:30.159Z,1755881730.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529743
2025-08-22T16:55:30.428Z,1755881730.428 [DAT](INFO): DAT read: 16:55:30.5187 LVL= 29744, 29937, 15298, 32755, AGC= 69, IDX= 141, 0.47,-1.212,-1.647, 0.553,-0.617, PHS=-0.493,-0.985, 1.127, RAW= 197.1,   3.7, CAL= 197.3,   1.8, ROT= 312.7,  -1.8

2025-08-22T16:55:30.429Z,1755881730.429 [DAT](INFO): got valid direction response:
 16:55:30.5187 LVL= 29744, 29937, 15298, 32755, AGC= 69, IDX= 141, 0.47,-1.212,-1.647, 0.553,-0.617, PHS=-0.493,-0.985, 1.127, RAW= 197.1,   3.7, CAL= 197.3,   1.8, ROT= 312.7,  -1.8

2025-08-22T16:55:30.451Z,1755881730.451 [DAT](INFO): DAT read: Bearing 231.4, -46.8 (Local)

2025-08-22T16:55:30.451Z,1755881730.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.4, -46.8 (Local)

2025-08-22T16:55:30.453Z,1755881730.453 [DAT](INFO): DAT read: Range 11 to 50 : 240.3 m  (Round-trip  320.4 ms) speed -0.1 m/s

2025-08-22T16:55:30.461Z,1755881730.461 [DAT](INFO): DAT read: user:304>

2025-08-22T16:55:30.462Z,1755881730.462 [DAT](INFO): DAT read: Tx time:16:55:31.6442

2025-08-22T16:55:30.463Z,1755881730.463 [DAT](INFO): Ping request sent.
2025-08-22T16:55:30.463Z,1755881730.463 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:30.463Z,1755881730.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:30.464Z,1755881730.464 [DAT](INFO): direction in FSK: [0.677825,-0.734552,0.031411]
2025-08-22T16:55:30.464Z,1755881730.464 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:30.464Z,1755881730.464 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:30.476Z,1755881730.476 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:30.476Z,1755881730.476 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:30.503Z,1755881730.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.300003 m,
      deltaT: 16.128871 s,
      deltaX: 18.699997 m,
      approachRate: 1.159411 m/s,
      rangeRepo size: 4

2025-08-22T16:55:30.505Z,1755881730.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.781219 m,
      bearing: 55.451603 deg,
      lat: 36.779349 deg,
      lon: -121.859494 deg,
      deltaT: 16.128871 s,
      deltaX: 18.584686 m,
      approachRate: 1.152262 m/s,
      posRepo size: 4

2025-08-22T16:55:30.505Z,1755881730.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:30.512Z,1755881730.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.854538 m,
      bearing: 56.139380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163896 deg/s,
      cmd heading: 45.016773 deg,
      new cmd heading: 44.858329 deg.

2025-08-22T16:55:30.513Z,1755881730.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782926 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:30.835Z,1755881730.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:30.855Z,1755881730.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.732941 m,
      bearing: 56.084431 deg,
      approach rate: -0.364365 m/s,
      LOS rate: -0.164743 deg/s,
      cmd heading: 44.858329 deg,
      new cmd heading: 44.748372 deg.

2025-08-22T16:55:30.856Z,1755881730.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781006 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:31.398Z,1755881731.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:31.401Z,1755881731.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.551743 m,
      bearing: 56.000845 deg,
      approach rate: -0.321898 m/s,
      LOS rate: -0.148611 deg/s,
      cmd heading: 44.748370 deg,
      new cmd heading: 44.581062 deg.

2025-08-22T16:55:31.402Z,1755881731.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778086 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:31.865Z,1755881731.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:31.867Z,1755881731.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:31.874Z,1755881731.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.401016 m,
      bearing: 55.931051 deg,
      approach rate: -0.321445 m/s,
      LOS rate: -0.148946 deg/s,
      cmd heading: 44.581061 deg,
      new cmd heading: 44.441379 deg.

2025-08-22T16:55:31.875Z,1755881731.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775648 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:31.919Z,1755881731.919 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:31.919Z,1755881731.919 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:31.919Z,1755881731.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:32.174Z,1755881732.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711358
2025-08-22T16:55:32.322Z,1755881732.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:32.325Z,1755881732.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.238266 m,
      bearing: 55.864646 deg,
      approach rate: -0.358274 m/s,
      LOS rate: -0.146289 deg/s,
      cmd heading: 44.441381 deg,
      new cmd heading: 44.308474 deg.

2025-08-22T16:55:32.326Z,1755881732.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773329 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:32.423Z,1755881732.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959884
2025-08-22T16:55:32.675Z,1755881732.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211831
2025-08-22T16:55:32.706Z,1755881732.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:32.708Z,1755881732.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 222.096695 m,
      bearing: 55.808928 deg,
      approach rate: -0.368580 m/s,
      LOS rate: -0.145154 deg/s,
      cmd heading: 44.308475 deg,
      new cmd heading: 44.196968 deg.

2025-08-22T16:55:32.709Z,1755881732.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771383 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:32.927Z,1755881732.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463846
2025-08-22T16:55:33.158Z,1755881733.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:33.163Z,1755881733.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 221.932358 m,
      bearing: 55.743868 deg,
      approach rate: -0.363088 m/s,
      LOS rate: -0.143851 deg/s,
      cmd heading: 44.196969 deg,
      new cmd heading: 44.066752 deg.

2025-08-22T16:55:33.164Z,1755881733.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769110 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:33.179Z,1755881733.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716527
2025-08-22T16:55:33.431Z,1755881733.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968389
2025-08-22T16:55:33.536Z,1755881733.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:33.539Z,1755881733.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 221.786499 m,
      bearing: 55.690055 deg,
      approach rate: -0.386044 m/s,
      LOS rate: -0.142519 deg/s,
      cmd heading: 44.066752 deg,
      new cmd heading: 43.959056 deg.

2025-08-22T16:55:33.540Z,1755881733.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767230 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:33.684Z,1755881733.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220919
2025-08-22T16:55:33.934Z,1755881733.934 [DAT](INFO): DAT read: Rx Time:16:55:34.3677

2025-08-22T16:55:33.935Z,1755881733.935 [DAT](INFO): Rx dataTimestamp_ set to:1755881733.934682
2025-08-22T16:55:33.936Z,1755881733.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472794
2025-08-22T16:55:34.033Z,1755881734.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:34.039Z,1755881734.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:34.046Z,1755881734.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 221.597107 m,
      bearing: 55.619966 deg,
      approach rate: -0.376385 m/s,
      LOS rate: -0.139410 deg/s,
      cmd heading: 43.959057 deg,
      new cmd heading: 43.818758 deg.

2025-08-22T16:55:34.047Z,1755881734.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764782 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:34.187Z,1755881734.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724665
2025-08-22T16:55:34.444Z,1755881734.444 [DAT](INFO): DAT read: 16:55:34.3677 LVL= 31344, 29169, 21442, 29779, AGC= 64, IDX= 419, 0.26, 1.498, 0.695,-3.068, 1.954, PHS=-0.355,-1.214, 1.216, RAW= 189.6,   3.3, CAL= 189.8,   0.6, ROT= 320.2,  -0.6

2025-08-22T16:55:34.445Z,1755881734.445 [DAT](INFO): got valid direction response:
 16:55:34.3677 LVL= 31344, 29169, 21442, 29779, AGC= 64, IDX= 419, 0.26, 1.498, 0.695,-3.068, 1.954, PHS=-0.355,-1.214, 1.216, RAW= 189.6,   3.3, CAL= 189.8,   0.6, ROT= 320.2,  -0.6

2025-08-22T16:55:34.450Z,1755881734.450 [DAT](INFO): DAT read: Bearing 220.5, -39.4 (Local)

2025-08-22T16:55:34.451Z,1755881734.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.5, -39.4 (Local)

2025-08-22T16:55:34.452Z,1755881734.452 [DAT](INFO): DAT read: Range 11 to 50 : 239.5 m  (Round-trip  319.4 ms) speed  0.4 m/s

2025-08-22T16:55:34.453Z,1755881734.453 [DAT](INFO): DAT read: user:305>

2025-08-22T16:55:34.454Z,1755881734.454 [DAT](INFO): DAT read: Tx time:16:55:35.4942

2025-08-22T16:55:34.454Z,1755881734.454 [DAT](INFO): Ping request sent.
2025-08-22T16:55:34.454Z,1755881734.454 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:34.454Z,1755881734.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:34.455Z,1755881734.455 [DAT](INFO): direction in FSK: [0.768241,-0.640075,0.010472]
2025-08-22T16:55:34.456Z,1755881734.456 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:34.456Z,1755881734.456 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:34.463Z,1755881734.463 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:34.463Z,1755881734.463 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:34.466Z,1755881734.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.78 m.
2025-08-22T16:55:34.468Z,1755881734.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.781219 m,
      nav range: 221.449692 m,
      bearing: 55.566839 deg,
      approach rate: -0.369807 m/s,
      LOS rate: -0.133363 deg/s,
      cmd heading: 43.818758 deg,
      new cmd heading: 43.712433 deg.

2025-08-22T16:55:34.479Z,1755881734.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762926 target range: 238.781219 and range: 240.30 m.
2025-08-22T16:55:34.808Z,1755881734.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.500000 m,
      deltaT: 4.030708 s,
      deltaX: -0.800003 m,
      approachRate: -0.198477 m/s,
      rangeRepo size: 4

2025-08-22T16:55:34.811Z,1755881734.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.986038 m,
      bearing: 51.765592 deg,
      lat: 36.779448 deg,
      lon: -121.859444 deg,
      deltaT: 4.030708 s,
      deltaX: -0.795181 m,
      approachRate: -0.197281 m/s,
      posRepo size: 4

2025-08-22T16:55:34.812Z,1755881734.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:34.815Z,1755881734.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 231.276566 m,
      bearing: 53.878740 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133363 deg/s,
      cmd heading: 43.712432 deg,
      new cmd heading: 43.613789 deg.

2025-08-22T16:55:34.815Z,1755881734.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761204 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:35.243Z,1755881735.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:35.248Z,1755881735.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 231.121750 m,
      bearing: 53.822678 deg,
      approach rate: -0.356334 m/s,
      LOS rate: -0.129122 deg/s,
      cmd heading: 43.613790 deg,
      new cmd heading: 43.501592 deg.

2025-08-22T16:55:35.250Z,1755881735.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759246 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:35.609Z,1755881735.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:35.612Z,1755881735.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.982773 m,
      bearing: 53.774092 deg,
      approach rate: -0.378742 m/s,
      LOS rate: -0.132487 deg/s,
      cmd heading: 43.501591 deg,
      new cmd heading: 43.404360 deg.

2025-08-22T16:55:35.613Z,1755881735.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757549 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:36.056Z,1755881736.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:36.080Z,1755881736.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:36.083Z,1755881736.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.813461 m,
      bearing: 53.716972 deg,
      approach rate: -0.359140 m/s,
      LOS rate: -0.121250 deg/s,
      cmd heading: 43.404360 deg,
      new cmd heading: 43.290036 deg.

2025-08-22T16:55:36.084Z,1755881736.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755554 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:36.202Z,1755881736.202 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:36.202Z,1755881736.202 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:36.203Z,1755881736.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:36.439Z,1755881736.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:36.442Z,1755881736.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.666458 m,
      bearing: 53.667759 deg,
      approach rate: -0.409703 m/s,
      LOS rate: -0.137244 deg/s,
      cmd heading: 43.290036 deg,
      new cmd heading: 43.191549 deg.

2025-08-22T16:55:36.443Z,1755881736.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753835 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:36.458Z,1755881736.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004356
2025-08-22T16:55:36.715Z,1755881736.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260224
2025-08-22T16:55:36.829Z,1755881736.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:36.832Z,1755881736.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.513336 m,
      bearing: 53.618288 deg,
      approach rate: -0.393003 m/s,
      LOS rate: -0.127057 deg/s,
      cmd heading: 43.191548 deg,
      new cmd heading: 43.092540 deg.

2025-08-22T16:55:36.833Z,1755881736.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752107 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:36.966Z,1755881736.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512042
2025-08-22T16:55:37.215Z,1755881737.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760496
2025-08-22T16:55:37.275Z,1755881737.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:37.278Z,1755881737.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.339035 m,
      bearing: 53.562945 deg,
      approach rate: -0.390244 m/s,
      LOS rate: -0.124001 deg/s,
      cmd heading: 43.092541 deg,
      new cmd heading: 42.981772 deg.

2025-08-22T16:55:37.279Z,1755881737.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750173 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:37.467Z,1755881737.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012505
2025-08-22T16:55:37.626Z,1755881737.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:37.629Z,1755881737.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.199677 m,
      bearing: 53.520214 deg,
      approach rate: -0.398040 m/s,
      LOS rate: -0.122124 deg/s,
      cmd heading: 42.981773 deg,
      new cmd heading: 42.896258 deg.

2025-08-22T16:55:37.630Z,1755881737.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748681 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:37.720Z,1755881737.720 [DAT](INFO): DAT read: Rx Time:16:55:38.2161

2025-08-22T16:55:37.721Z,1755881737.721 [DAT](INFO): Rx dataTimestamp_ set to:1755881737.720528
2025-08-22T16:55:37.724Z,1755881737.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269954
2025-08-22T16:55:37.970Z,1755881737.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516389
2025-08-22T16:55:38.131Z,1755881738.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:38.133Z,1755881738.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.99 m.
2025-08-22T16:55:38.140Z,1755881738.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.986038 m,
      nav range: 230.005463 m,
      bearing: 53.462692 deg,
      approach rate: -0.382986 m/s,
      LOS rate: -0.113528 deg/s,
      cmd heading: 42.896259 deg,
      new cmd heading: 42.781118 deg.

2025-08-22T16:55:38.146Z,1755881738.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746671 target range: 237.986038 and range: 239.50 m.
2025-08-22T16:55:38.235Z,1755881738.235 [DAT](INFO): DAT read: 16:55:38.2161 LVL= 32752, 32753, 30962, 32755, AGC= 67, IDX= 419, 0.31, 0.960, 0.093, 2.508, 1.339, PHS=-0.277,-1.201, 1.124, RAW= 186.8,   3.5, CAL= 186.8,   1.0, ROT= 323.2,  -1.0

2025-08-22T16:55:38.237Z,1755881738.237 [DAT](INFO): got valid direction response:
 16:55:38.2161 LVL= 32752, 32753, 30962, 32755, AGC= 67, IDX= 419, 0.31, 0.960, 0.093, 2.508, 1.339, PHS=-0.277,-1.201, 1.124, RAW= 186.8,   3.5, CAL= 186.8,   1.0, ROT= 323.2,  -1.0

2025-08-22T16:55:38.254Z,1755881738.254 [DAT](INFO): DAT read: Bearing 210.9, -36.5 (Local)

2025-08-22T16:55:38.254Z,1755881738.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.9, -36.5 (Local)

2025-08-22T16:55:38.256Z,1755881738.256 [DAT](INFO): DAT read: Range 11 to 50 : 238.3 m  (Round-trip  317.8 ms) speed  0.3 m/s

2025-08-22T16:55:38.256Z,1755881738.256 [DAT](INFO): DAT read: user:306>

2025-08-22T16:55:38.262Z,1755881738.262 [DAT](INFO): DAT read: Tx time:16:55:39.3441

2025-08-22T16:55:38.262Z,1755881738.262 [DAT](INFO): Ping request sent.
2025-08-22T16:55:38.262Z,1755881738.262 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:38.263Z,1755881738.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:38.264Z,1755881738.264 [DAT](INFO): direction in FSK: [0.800610,-0.598932,0.017452]
2025-08-22T16:55:38.265Z,1755881738.265 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:38.265Z,1755881738.265 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:38.273Z,1755881738.273 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:38.273Z,1755881738.273 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:38.548Z,1755881738.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.300003 m,
      deltaT: 3.785342 s,
      deltaX: -1.199997 m,
      approachRate: -0.317012 m/s,
      rangeRepo size: 4

2025-08-22T16:55:38.555Z,1755881738.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.793350 m,
      bearing: 45.475035 deg,
      lat: 36.779459 deg,
      lon: -121.859590 deg,
      deltaT: 3.785342 s,
      deltaX: -1.192688 m,
      approachRate: -0.315081 m/s,
      posRepo size: 4

2025-08-22T16:55:38.555Z,1755881738.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:38.564Z,1755881738.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 220.257248 m,
      bearing: 51.150176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.113528 deg/s,
      cmd heading: 42.781119 deg,
      new cmd heading: 42.686871 deg.

2025-08-22T16:55:38.582Z,1755881738.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745026 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:38.908Z,1755881738.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:38.931Z,1755881738.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 220.112137 m,
      bearing: 51.102901 deg,
      approach rate: -0.402809 m/s,
      LOS rate: -0.131317 deg/s,
      cmd heading: 42.686872 deg,
      new cmd heading: 42.592259 deg.

2025-08-22T16:55:38.932Z,1755881738.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743375 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:38.974Z,1755881738.974 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:55:39.352Z,1755881739.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:39.355Z,1755881739.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.932846 m,
      bearing: 51.048289 deg,
      approach rate: -0.404276 m/s,
      LOS rate: -0.123243 deg/s,
      cmd heading: 42.592261 deg,
      new cmd heading: 42.482948 deg.

2025-08-22T16:55:39.356Z,1755881739.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741467 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:39.723Z,1755881739.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:39.727Z,1755881739.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.782410 m,
      bearing: 51.003990 deg,
      approach rate: -0.406808 m/s,
      LOS rate: -0.119874 deg/s,
      cmd heading: 42.482947 deg,
      new cmd heading: 42.394289 deg.

2025-08-22T16:55:39.729Z,1755881739.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739920 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:39.979Z,1755881739.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:55:40.159Z,1755881740.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:40.178Z,1755881740.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:40.184Z,1755881740.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.610428 m,
      bearing: 50.953494 deg,
      approach rate: -0.390492 m/s,
      LOS rate: -0.114743 deg/s,
      cmd heading: 42.394287 deg,
      new cmd heading: 42.293216 deg.

2025-08-22T16:55:40.185Z,1755881740.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738156 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:40.240Z,1755881740.240 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:40.240Z,1755881740.240 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:40.241Z,1755881740.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:40.491Z,1755881740.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228220
2025-08-22T16:55:40.552Z,1755881740.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:40.559Z,1755881740.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.456558 m,
      bearing: 50.909832 deg,
      approach rate: -0.394107 m/s,
      LOS rate: -0.111911 deg/s,
      cmd heading: 42.293218 deg,
      new cmd heading: 42.205832 deg.

2025-08-22T16:55:40.560Z,1755881740.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736631 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:40.744Z,1755881740.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481333
2025-08-22T16:55:40.954Z,1755881740.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:40.957Z,1755881740.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.298981 m,
      bearing: 50.866609 deg,
      approach rate: -0.396331 m/s,
      LOS rate: -0.108790 deg/s,
      cmd heading: 42.205832 deg,
      new cmd heading: 42.119324 deg.

2025-08-22T16:55:40.970Z,1755881740.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735121 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:40.995Z,1755881740.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732246
2025-08-22T16:55:41.248Z,1755881741.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985413
2025-08-22T16:55:41.374Z,1755881741.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:41.376Z,1755881741.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 219.121017 m,
      bearing: 50.820417 deg,
      approach rate: -0.419956 m/s,
      LOS rate: -0.109092 deg/s,
      cmd heading: 42.119325 deg,
      new cmd heading: 42.026866 deg.

2025-08-22T16:55:41.378Z,1755881741.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733507 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:41.499Z,1755881741.499 [DAT](INFO): DAT read: Rx Time:16:55:42.0383

2025-08-22T16:55:41.499Z,1755881741.499 [DAT](INFO): Rx dataTimestamp_ set to:1755881741.498721
2025-08-22T16:55:41.500Z,1755881741.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237230
2025-08-22T16:55:41.751Z,1755881741.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488283
2025-08-22T16:55:41.762Z,1755881741.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:41.768Z,1755881741.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 218.957184 m,
      bearing: 50.779203 deg,
      approach rate: -0.422236 m/s,
      LOS rate: -0.106298 deg/s,
      cmd heading: 42.026864 deg,
      new cmd heading: 41.944374 deg.

2025-08-22T16:55:41.794Z,1755881741.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732067 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:42.009Z,1755881742.009 [DAT](INFO): DAT read: 16:55:42.0383 LVL= 24560, 31217, 23698, 32755, AGC= 65, IDX= 151,-0.27,-1.187,-2.399,-0.175,-1.042, PHS=-0.043,-1.312, 0.823, RAW= 173.8,   5.8, CAL= 173.3,   4.8, ROT= 336.7,  -4.8

2025-08-22T16:55:42.010Z,1755881742.010 [DAT](INFO): got valid direction response:
 16:55:42.0383 LVL= 24560, 31217, 23698, 32755, AGC= 65, IDX= 151,-0.27,-1.187,-2.399,-0.175,-1.042, PHS=-0.043,-1.312, 0.823, RAW= 173.8,   5.8, CAL= 173.3,   4.8, ROT= 336.7,  -4.8

2025-08-22T16:55:42.011Z,1755881742.011 [DAT](INFO): DAT read: Bearing 206.0, -23.0 (Local)

2025-08-22T16:55:42.011Z,1755881742.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.0, -23.0 (Local)

2025-08-22T16:55:42.013Z,1755881742.013 [DAT](INFO): DAT read: Range 11 to 50 : 217.5 m  (Round-trip  290.1 ms) speed  0.4 m/s

2025-08-22T16:55:42.014Z,1755881742.014 [DAT](INFO): DAT read: user:307>

2025-08-22T16:55:42.014Z,1755881742.014 [DAT](INFO): DAT read: Tx time:16:55:43.1441

2025-08-22T16:55:42.015Z,1755881742.015 [DAT](INFO): Ping request sent.
2025-08-22T16:55:42.015Z,1755881742.015 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:42.015Z,1755881742.015 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:42.016Z,1755881742.016 [DAT](INFO): direction in FSK: [0.915225,-0.394158,0.083678]
2025-08-22T16:55:42.016Z,1755881742.016 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:42.016Z,1755881742.016 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:42.027Z,1755881742.027 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:42.027Z,1755881742.027 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:42.327Z,1755881742.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 217.500000 m,
 deltaT: 3.779000 s,
 deltaX: -20.800003 m,
 approachRate: -5.504102 m/s,
 rangeRepo size: 4
2025-08-22T16:55:42.328Z,1755881742.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:42.335Z,1755881742.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 218.703156 m,
      bearing: 50.721419 deg,
      approach rate: -0.449414 m/s,
      LOS rate: -0.102346 deg/s,
      cmd heading: 41.944373 deg,
      new cmd heading: 41.828672 deg.

2025-08-22T16:55:42.336Z,1755881742.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730048 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:42.678Z,1755881742.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:42.680Z,1755881742.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:42.695Z,1755881742.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 218.538544 m,
      bearing: 50.685167 deg,
      approach rate: -0.466304 m/s,
      LOS rate: -0.102772 deg/s,
      cmd heading: 41.828673 deg,
      new cmd heading: 41.756113 deg.

2025-08-22T16:55:42.696Z,1755881742.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728782 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:42.759Z,1755881742.759 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:42.760Z,1755881742.760 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:42.760Z,1755881742.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:43.011Z,1755881743.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995829
2025-08-22T16:55:43.076Z,1755881743.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:43.078Z,1755881743.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 218.345398 m,
      bearing: 50.644084 deg,
      approach rate: -0.487986 m/s,
      LOS rate: -0.103887 deg/s,
      cmd heading: 41.756112 deg,
      new cmd heading: 41.673875 deg.

2025-08-22T16:55:43.079Z,1755881743.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727346 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:43.263Z,1755881743.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247844
2025-08-22T16:55:43.515Z,1755881743.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500016
2025-08-22T16:55:43.533Z,1755881743.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:43.540Z,1755881743.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 218.143173 m,
      bearing: 50.601569 deg,
      approach rate: -0.442435 m/s,
      LOS rate: -0.093102 deg/s,
      cmd heading: 41.673873 deg,
      new cmd heading: 41.588765 deg.

2025-08-22T16:55:43.541Z,1755881743.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725861 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:43.767Z,1755881743.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751976
2025-08-22T16:55:43.880Z,1755881743.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:43.883Z,1755881743.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 217.980728 m,
      bearing: 50.568594 deg,
      approach rate: -0.467553 m/s,
      LOS rate: -0.094982 deg/s,
      cmd heading: 41.588766 deg,
      new cmd heading: 41.522765 deg.

2025-08-22T16:55:43.884Z,1755881743.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724709 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:44.019Z,1755881744.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004113
2025-08-22T16:55:44.271Z,1755881744.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255941
2025-08-22T16:55:44.325Z,1755881744.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:44.328Z,1755881744.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 217.769714 m,
      bearing: 50.528380 deg,
      approach rate: -0.474628 m/s,
      LOS rate: -0.090539 deg/s,
      cmd heading: 41.522766 deg,
      new cmd heading: 41.442261 deg.

2025-08-22T16:55:44.328Z,1755881744.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723304 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:44.526Z,1755881744.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511324
2025-08-22T16:55:44.687Z,1755881744.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:44.689Z,1755881744.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:44.692Z,1755881744.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 217.594727 m,
      bearing: 50.496187 deg,
      approach rate: -0.480063 m/s,
      LOS rate: -0.088391 deg/s,
      cmd heading: 41.442262 deg,
      new cmd heading: 41.377823 deg.

2025-08-22T16:55:44.693Z,1755881744.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722179 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:44.775Z,1755881744.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760096
2025-08-22T16:55:45.027Z,1755881745.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011893
2025-08-22T16:55:45.276Z,1755881745.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.79 m.
2025-08-22T16:55:45.279Z,1755881745.279 [DAT](INFO): DAT read: Rx Time:16:55:45.8361

2025-08-22T16:55:45.279Z,1755881745.279 [DAT](INFO): Rx dataTimestamp_ set to:1755881745.278825
2025-08-22T16:55:45.280Z,1755881745.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264996
2025-08-22T16:55:45.283Z,1755881745.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.793350 m,
      nav range: 217.316376 m,
      bearing: 50.448479 deg,
      approach rate: -0.474682 m/s,
      LOS rate: -0.081462 deg/s,
      cmd heading: 41.377822 deg,
      new cmd heading: 41.282285 deg.

2025-08-22T16:55:45.283Z,1755881745.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720512 target range: 236.793350 and range: 238.30 m.
2025-08-22T16:55:45.531Z,1755881745.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516238
2025-08-22T16:55:45.788Z,1755881745.788 [DAT](INFO): DAT read: 16:55:45.8361 LVL= 29776, 32753, 24690, 32755, AGC= 68, IDX= 416,-0.31, 2.711, 1.228,-2.997, 2.730, PHS= 0.084,-1.457, 0.512, RAW= 161.9,   9.6, CAL= 161.8,  10.3, ROT= 348.2, -10.3

2025-08-22T16:55:45.789Z,1755881745.789 [DAT](INFO): got valid direction response:
 16:55:45.8361 LVL= 29776, 32753, 24690, 32755, AGC= 68, IDX= 416,-0.31, 2.711, 1.228,-2.997, 2.730, PHS= 0.084,-1.457, 0.512, RAW= 161.9,   9.6, CAL= 161.8,  10.3, ROT= 348.2, -10.3

2025-08-22T16:55:45.790Z,1755881745.790 [DAT](INFO): DAT read: Bearing 202.0, -11.7 (Local)

2025-08-22T16:55:45.790Z,1755881745.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.0, -11.7 (Local)

2025-08-22T16:55:45.792Z,1755881745.792 [DAT](INFO): DAT read: Range 11 to 50 : 215.8 m  (Round-trip  287.8 ms) speed  0.1 m/s

2025-08-22T16:55:45.793Z,1755881745.793 [DAT](INFO): DAT read: user:308>

2025-08-22T16:55:45.793Z,1755881745.793 [DAT](INFO): DAT read: Tx time:16:55:46.9441

2025-08-22T16:55:45.794Z,1755881745.794 [DAT](INFO): Ping request sent.
2025-08-22T16:55:45.794Z,1755881745.794 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:45.794Z,1755881745.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:45.795Z,1755881745.795 [DAT](INFO): direction in FSK: [0.963093,-0.201200,0.178802]
2025-08-22T16:55:45.795Z,1755881745.795 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:45.795Z,1755881745.795 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:45.799Z,1755881745.799 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:45.799Z,1755881745.799 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:45.823Z,1755881745.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.800003 m,
      deltaT: 7.558500 s,
      deltaX: -22.500000 m,
      approachRate: -2.976781 m/s,
      rangeRepo size: 4

2025-08-22T16:55:45.825Z,1755881745.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.435989 m,
      bearing: 52.212414 deg,
      lat: 36.779490 deg,
      lon: -121.859597 deg,
      deltaT: 7.558500 s,
      deltaX: -22.357361 m,
      approachRate: -2.957910 m/s,
      posRepo size: 4

2025-08-22T16:55:45.834Z,1755881745.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:45.837Z,1755881745.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 218.780960 m,
      bearing: 49.613585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081462 deg/s,
      cmd heading: 41.282285 deg,
      new cmd heading: 41.193185 deg.

2025-08-22T16:55:45.866Z,1755881745.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.718957 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:46.352Z,1755881746.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:46.355Z,1755881746.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 218.510269 m,
      bearing: 49.568435 deg,
      approach rate: -0.511329 m/s,
      LOS rate: -0.085393 deg/s,
      cmd heading: 41.193185 deg,
      new cmd heading: 41.102773 deg.

2025-08-22T16:55:46.356Z,1755881746.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717379 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:46.740Z,1755881746.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:46.743Z,1755881746.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:46.762Z,1755881746.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 218.325104 m,
      bearing: 49.538658 deg,
      approach rate: -0.473658 m/s,
      LOS rate: -0.076235 deg/s,
      cmd heading: 41.102774 deg,
      new cmd heading: 41.043169 deg.

2025-08-22T16:55:46.763Z,1755881746.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716338 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:46.790Z,1755881746.790 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:46.790Z,1755881746.790 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:46.791Z,1755881746.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:47.043Z,1755881747.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248791
2025-08-22T16:55:47.127Z,1755881747.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:47.142Z,1755881747.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 218.141617 m,
      bearing: 49.510260 deg,
      approach rate: -0.479498 m/s,
      LOS rate: -0.074273 deg/s,
      cmd heading: 41.043170 deg,
      new cmd heading: 40.986327 deg.

2025-08-22T16:55:47.143Z,1755881747.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715346 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:47.295Z,1755881747.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500857
2025-08-22T16:55:47.547Z,1755881747.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752859
2025-08-22T16:55:47.595Z,1755881747.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:47.602Z,1755881747.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 217.924393 m,
      bearing: 49.477851 deg,
      approach rate: -0.462571 m/s,
      LOS rate: -0.069082 deg/s,
      cmd heading: 40.986326 deg,
      new cmd heading: 40.921444 deg.

2025-08-22T16:55:47.603Z,1755881747.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714214 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:47.798Z,1755881747.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004784
2025-08-22T16:55:47.947Z,1755881747.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:47.950Z,1755881747.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 217.746307 m,
      bearing: 49.452333 deg,
      approach rate: -0.505824 m/s,
      LOS rate: -0.072540 deg/s,
      cmd heading: 40.921443 deg,
      new cmd heading: 40.870364 deg.

2025-08-22T16:55:47.951Z,1755881747.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713322 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:48.051Z,1755881748.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257061
2025-08-22T16:55:48.302Z,1755881748.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508776
2025-08-22T16:55:48.387Z,1755881748.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:48.394Z,1755881748.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 217.544968 m,
      bearing: 49.423354 deg,
      approach rate: -0.457697 m/s,
      LOS rate: -0.065939 deg/s,
      cmd heading: 40.870363 deg,
      new cmd heading: 40.812350 deg.

2025-08-22T16:55:48.395Z,1755881748.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712310 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:48.555Z,1755881748.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760924
2025-08-22T16:55:48.762Z,1755881748.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:48.764Z,1755881748.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:48.767Z,1755881748.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 217.366974 m,
      bearing: 49.398780 deg,
      approach rate: -0.472062 m/s,
      LOS rate: -0.065224 deg/s,
      cmd heading: 40.812351 deg,
      new cmd heading: 40.763164 deg.

2025-08-22T16:55:48.768Z,1755881748.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711451 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:48.807Z,1755881748.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013277
2025-08-22T16:55:49.059Z,1755881749.059 [DAT](INFO): DAT read: Rx Time:16:55:49.6603

2025-08-22T16:55:49.059Z,1755881749.059 [DAT](INFO): Rx dataTimestamp_ set to:1755881749.058814
2025-08-22T16:55:49.060Z,1755881749.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265942
2025-08-22T16:55:49.172Z,1755881749.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.44 m.
2025-08-22T16:55:49.191Z,1755881749.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.435989 m,
      nav range: 217.177734 m,
      bearing: 49.373716 deg,
      approach rate: -0.464243 m/s,
      LOS rate: -0.061542 deg/s,
      cmd heading: 40.763163 deg,
      new cmd heading: 40.712991 deg.

2025-08-22T16:55:49.198Z,1755881749.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710576 target range: 214.435989 and range: 215.80 m.
2025-08-22T16:55:49.311Z,1755881749.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517646
2025-08-22T16:55:49.569Z,1755881749.569 [DAT](INFO): DAT read: 16:55:49.6603 LVL= 20400, 23985, 19826, 19891, AGC= 67, IDX= 184, 0.10, 0.023,-1.094, 0.427,-0.687, PHS= 0.813,-0.361, 1.070, RAW= 159.7, -22.1, CAL= 162.0, -23.3, ROT= 348.0,  23.3

2025-08-22T16:55:49.570Z,1755881749.570 [DAT](INFO): got valid direction response:
 16:55:49.6603 LVL= 20400, 23985, 19826, 19891, AGC= 67, IDX= 184, 0.10, 0.023,-1.094, 0.427,-0.687, PHS= 0.813,-0.361, 1.070, RAW= 159.7, -22.1, CAL= 162.0, -23.3, ROT= 348.0,  23.3

2025-08-22T16:55:49.571Z,1755881749.571 [DAT](INFO): DAT read: Bearing 157.6, -10.3 (Local)

2025-08-22T16:55:49.572Z,1755881749.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6, -10.3 (Local)

2025-08-22T16:55:49.573Z,1755881749.573 [DAT](INFO): DAT read: Range 11 to 50 : 234.0 m  (Round-trip  312.1 ms) speed  0.4 m/s

2025-08-22T16:55:49.574Z,1755881749.574 [DAT](INFO): DAT read: user:309>

2025-08-22T16:55:49.574Z,1755881749.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:49.575Z,1755881749.575 [DAT](INFO): direction in FSK: [0.898376,-0.190956,-0.395545]
2025-08-22T16:55:49.575Z,1755881749.575 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:49.583Z,1755881749.583 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:49.583Z,1755881749.583 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:49.583Z,1755881749.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:49.744Z,1755881749.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.000000 m,
      deltaT: 3.781481 s,
      deltaX: 18.199997 m,
      approachRate: 4.812928 m/s,
      rangeRepo size: 4

2025-08-22T16:55:49.754Z,1755881749.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.519180 m,
      bearing: 40.655316 deg,
      lat: 36.779546 deg,
      lon: -121.859622 deg,
      deltaT: 3.781481 s,
      deltaX: 18.083191 m,
      approachRate: 4.782039 m/s,
      posRepo size: 4

2025-08-22T16:55:49.755Z,1755881749.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:49.762Z,1755881749.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 219.410889 m,
      bearing: 47.720500 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061542 deg/s,
      cmd heading: 40.712992 deg,
      new cmd heading: 40.642618 deg.

2025-08-22T16:55:49.763Z,1755881749.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709347 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:49.816Z,1755881749.816 [DAT](INFO): DAT read: Tx time:16:55:50.7941

2025-08-22T16:55:49.816Z,1755881749.816 [DAT](INFO): Ping request sent.
2025-08-22T16:55:49.816Z,1755881749.816 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:49.816Z,1755881749.816 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:49.817Z,1755881749.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001097
2025-08-22T16:55:50.032Z,1755881750.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:50.051Z,1755881750.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 219.263458 m,
      bearing: 47.702049 deg,
      approach rate: -0.510610 m/s,
      LOS rate: -0.063944 deg/s,
      cmd heading: 40.642617 deg,
      new cmd heading: 40.605692 deg.

2025-08-22T16:55:50.052Z,1755881750.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708703 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:50.067Z,1755881750.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902
2025-08-22T16:55:50.319Z,1755881750.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502524
2025-08-22T16:55:50.458Z,1755881750.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:50.460Z,1755881750.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 219.074875 m,
      bearing: 47.678856 deg,
      approach rate: -0.443579 m/s,
      LOS rate: -0.054601 deg/s,
      cmd heading: 40.605693 deg,
      new cmd heading: 40.559267 deg.

2025-08-22T16:55:50.461Z,1755881750.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707893 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:50.572Z,1755881750.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755970
2025-08-22T16:55:50.823Z,1755881750.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006601
2025-08-22T16:55:50.844Z,1755881750.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:50.846Z,1755881750.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:50.848Z,1755881750.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 218.901306 m,
      bearing: 47.658486 deg,
      approach rate: -0.446952 m/s,
      LOS rate: -0.052495 deg/s,
      cmd heading: 40.559268 deg,
      new cmd heading: 40.518497 deg.

2025-08-22T16:55:50.850Z,1755881750.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707181 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:51.075Z,1755881751.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258607
2025-08-22T16:55:51.327Z,1755881751.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510565
2025-08-22T16:55:51.345Z,1755881751.345 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-22T16:55:51.346Z,1755881751.346 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-22T16:55:51.346Z,1755881751.346 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-22T16:55:51.393Z,1755881751.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:51.396Z,1755881751.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 218.654404 m,
      bearing: 47.630873 deg,
      approach rate: -0.451014 m/s,
      LOS rate: -0.050499 deg/s,
      cmd heading: 40.518496 deg,
      new cmd heading: 40.463206 deg.

2025-08-22T16:55:51.397Z,1755881751.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706216 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:51.580Z,1755881751.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763307
2025-08-22T16:55:51.601Z,1755881751.601 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-22T16:55:51.644Z,1755881751.644 [RDI_Pathfinder](INFO): Powering down
2025-08-22T16:55:51.659Z,1755881751.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:51.662Z,1755881751.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 218.533371 m,
      bearing: 47.617985 deg,
      approach rate: -0.454407 m/s,
      LOS rate: -0.048414 deg/s,
      cmd heading: 40.463205 deg,
      new cmd heading: 40.437415 deg.

2025-08-22T16:55:51.663Z,1755881751.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705766 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:51.831Z,1755881751.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014507
2025-08-22T16:55:52.051Z,1755881752.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:52.054Z,1755881752.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 218.354431 m,
      bearing: 47.599846 deg,
      approach rate: -0.457098 m/s,
      LOS rate: -0.046373 deg/s,
      cmd heading: 40.437414 deg,
      new cmd heading: 40.401107 deg.

2025-08-22T16:55:52.055Z,1755881752.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705132 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:52.082Z,1755881752.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266482
2025-08-22T16:55:52.335Z,1755881752.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518603
2025-08-22T16:55:52.450Z,1755881752.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:52.452Z,1755881752.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 218.171097 m,
      bearing: 47.582115 deg,
      approach rate: -0.460132 m/s,
      LOS rate: -0.044538 deg/s,
      cmd heading: 40.401109 deg,
      new cmd heading: 40.365617 deg.

2025-08-22T16:55:52.453Z,1755881752.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704513 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:52.589Z,1755881752.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772290
2025-08-22T16:55:52.661Z,1755881752.661 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-22T16:55:52.661Z,1755881752.661 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-22T16:55:52.841Z,1755881752.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024602
2025-08-22T16:55:52.846Z,1755881752.846 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-22T16:55:52.859Z,1755881752.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:52.861Z,1755881752.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:52.864Z,1755881752.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 217.980820 m,
      bearing: 47.564556 deg,
      approach rate: -0.461972 m/s,
      LOS rate: -0.042668 deg/s,
      cmd heading: 40.365615 deg,
      new cmd heading: 40.330467 deg.

2025-08-22T16:55:52.865Z,1755881752.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703899 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:53.091Z,1755881753.091 [DAT](INFO): DAT read: Rx Time:16:55:53.5344

2025-08-22T16:55:53.092Z,1755881753.092 [DAT](INFO): Rx dataTimestamp_ set to:1755881753.091442
2025-08-22T16:55:53.093Z,1755881753.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276635
2025-08-22T16:55:53.307Z,1755881753.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.52 m.
2025-08-22T16:55:53.326Z,1755881753.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.519180 m,
      nav range: 217.773422 m,
      bearing: 47.546284 deg,
      approach rate: -0.465276 m/s,
      LOS rate: -0.041031 deg/s,
      cmd heading: 40.330467 deg,
      new cmd heading: 40.293888 deg.

2025-08-22T16:55:53.327Z,1755881753.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703261 target range: 232.519180 and range: 234.00 m.
2025-08-22T16:55:53.343Z,1755881753.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526657
2025-08-22T16:55:53.600Z,1755881753.600 [DAT](INFO): DAT read: 16:55:53.5344 LVL= 23536, 25585, 24562, 23747, AGC= 72, IDX= 175,-0.02,-0.248,-1.565,-0.235,-1.166, PHS= 1.020,-0.353, 0.888, RAW= 145.0, -22.7, CAL= 146.1, -24.8, ROT=   3.9,  24.8

2025-08-22T16:55:53.601Z,1755881753.601 [DAT](INFO): got valid direction response:
 16:55:53.5344 LVL= 23536, 25585, 24562, 23747, AGC= 72, IDX= 175,-0.02,-0.248,-1.565,-0.235,-1.166, PHS= 1.020,-0.353, 0.888, RAW= 145.0, -22.7, CAL= 146.1, -24.8, ROT=   3.9,  24.8

2025-08-22T16:55:53.602Z,1755881753.602 [DAT](INFO): DAT read: Bearing 147.1,   3.4 (Local)

2025-08-22T16:55:53.603Z,1755881753.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.1,   3.4 (Local)

2025-08-22T16:55:53.604Z,1755881753.604 [DAT](INFO): DAT read: Range 11 to 50 : 252.1 m  (Round-trip  336.2 ms) speed  0.3 m/s

2025-08-22T16:55:53.605Z,1755881753.605 [DAT](INFO): DAT read: user:310>

2025-08-22T16:55:53.605Z,1755881753.605 [DAT](INFO): DAT read: Tx time:16:55:54.6441

2025-08-22T16:55:53.606Z,1755881753.606 [DAT](INFO): Ping request sent.
2025-08-22T16:55:53.606Z,1755881753.606 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:53.606Z,1755881753.606 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:53.607Z,1755881753.607 [DAT](INFO): direction in FSK: [0.905675,0.061743,-0.419452]
2025-08-22T16:55:53.607Z,1755881753.607 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:53.607Z,1755881753.607 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:53.631Z,1755881753.631 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:53.631Z,1755881753.631 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:53.788Z,1755881753.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.100006 m,
      deltaT: 4.030463 s,
      deltaX: 18.100006 m,
      approachRate: 4.490801 m/s,
      rangeRepo size: 4

2025-08-22T16:55:53.795Z,1755881753.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.503143 m,
      bearing: 47.399394 deg,
      lat: 36.779597 deg,
      lon: -121.859622 deg,
      deltaT: 4.030463 s,
      deltaX: 17.983963 m,
      approachRate: 4.462009 m/s,
      posRepo size: 4

2025-08-22T16:55:53.795Z,1755881753.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:53.802Z,1755881753.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 221.464752 m,
      bearing: 46.435625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041031 deg/s,
      cmd heading: 40.293888 deg,
      new cmd heading: 40.254444 deg.

2025-08-22T16:55:53.803Z,1755881753.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702573 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:54.229Z,1755881754.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:54.231Z,1755881754.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 221.248688 m,
      bearing: 46.417886 deg,
      approach rate: -0.489904 m/s,
      LOS rate: -0.040260 deg/s,
      cmd heading: 40.254444 deg,
      new cmd heading: 40.218931 deg.

2025-08-22T16:55:54.232Z,1755881754.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701953 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:54.627Z,1755881754.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:54.630Z,1755881754.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 221.064697 m,
      bearing: 46.403261 deg,
      approach rate: -0.462173 m/s,
      LOS rate: -0.036767 deg/s,
      cmd heading: 40.218930 deg,
      new cmd heading: 40.189656 deg.

2025-08-22T16:55:54.631Z,1755881754.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701442 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:55.018Z,1755881755.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:55.020Z,1755881755.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:55.027Z,1755881755.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 220.879471 m,
      bearing: 46.388983 deg,
      approach rate: -0.471403 m/s,
      LOS rate: -0.036369 deg/s,
      cmd heading: 40.189656 deg,
      new cmd heading: 40.161076 deg.

2025-08-22T16:55:55.028Z,1755881755.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700943 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:55.107Z,1755881755.107 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:55.107Z,1755881755.107 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:55.108Z,1755881755.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:55.359Z,1755881755.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752913
2025-08-22T16:55:55.423Z,1755881755.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:55.426Z,1755881755.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 220.687897 m,
      bearing: 46.374625 deg,
      approach rate: -0.475276 m/s,
      LOS rate: -0.035651 deg/s,
      cmd heading: 40.161075 deg,
      new cmd heading: 40.132334 deg.

2025-08-22T16:55:55.426Z,1755881755.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700441 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:55.615Z,1755881755.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008782
2025-08-22T16:55:55.815Z,1755881755.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:55.834Z,1755881755.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 220.502518 m,
      bearing: 46.361081 deg,
      approach rate: -0.472775 m/s,
      LOS rate: -0.034569 deg/s,
      cmd heading: 40.132334 deg,
      new cmd heading: 40.105224 deg.

2025-08-22T16:55:55.835Z,1755881755.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699968 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:55.867Z,1755881755.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260893
2025-08-22T16:55:56.119Z,1755881756.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512658
2025-08-22T16:55:56.232Z,1755881756.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:56.235Z,1755881756.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 220.305344 m,
      bearing: 46.346984 deg,
      approach rate: -0.472868 m/s,
      LOS rate: -0.033840 deg/s,
      cmd heading: 40.105225 deg,
      new cmd heading: 40.077004 deg.

2025-08-22T16:55:56.236Z,1755881756.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699476 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:56.371Z,1755881756.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765121
2025-08-22T16:55:56.623Z,1755881756.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016719
2025-08-22T16:55:56.629Z,1755881756.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:56.632Z,1755881756.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 220.118164 m,
      bearing: 46.333833 deg,
      approach rate: -0.471478 m/s,
      LOS rate: -0.033153 deg/s,
      cmd heading: 40.077002 deg,
      new cmd heading: 40.050679 deg.

2025-08-22T16:55:56.633Z,1755881756.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699016 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:56.875Z,1755881756.875 [DAT](INFO): DAT read: Rx Time:16:55:57.3829

2025-08-22T16:55:56.875Z,1755881756.875 [DAT](INFO): Rx dataTimestamp_ set to:1755881756.874998
2025-08-22T16:55:56.876Z,1755881756.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269985
2025-08-22T16:55:57.024Z,1755881757.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:57.027Z,1755881757.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.50 m.
2025-08-22T16:55:57.029Z,1755881757.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.503143 m,
      nav range: 219.929504 m,
      bearing: 46.320748 deg,
      approach rate: -0.474187 m/s,
      LOS rate: -0.032917 deg/s,
      cmd heading: 40.050679 deg,
      new cmd heading: 40.024486 deg.

2025-08-22T16:55:57.030Z,1755881757.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698559 target range: 250.503143 and range: 252.10 m.
2025-08-22T16:55:57.127Z,1755881757.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521451
2025-08-22T16:55:57.389Z,1755881757.389 [DAT](INFO): DAT read: 16:55:57.3829 LVL= 31440, 32753, 32754, 32755, AGC= 70, IDX= 155, 0.09,-2.453, 1.966,-2.665,-2.737, PHS= 0.386,-1.535, 0.029, RAW= 139.9,  12.6, CAL= 139.3,  13.6, ROT=  10.7, -13.6

2025-08-22T16:55:57.390Z,1755881757.390 [DAT](INFO): got valid direction response:
 16:55:57.3829 LVL= 31440, 32753, 32754, 32755, AGC= 70, IDX= 155, 0.09,-2.453, 1.966,-2.665,-2.737, PHS= 0.386,-1.535, 0.029, RAW= 139.9,  12.6, CAL= 139.3,  13.6, ROT=  10.7, -13.6

2025-08-22T16:55:57.391Z,1755881757.391 [DAT](INFO): DAT read: Bearing 180.6,   9.3 (Local)

2025-08-22T16:55:57.391Z,1755881757.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,   9.3 (Local)

2025-08-22T16:55:57.393Z,1755881757.393 [DAT](INFO): DAT read: Range 11 to 50 : 250.9 m  (Round-trip  334.6 ms) speed  0.3 m/s

2025-08-22T16:55:57.398Z,1755881757.398 [DAT](INFO): DAT read: user:311>

2025-08-22T16:55:57.398Z,1755881757.398 [DAT](INFO): DAT read: Tx time:16:55:58.4957

2025-08-22T16:55:57.399Z,1755881757.399 [DAT](INFO): Ping request sent.
2025-08-22T16:55:57.399Z,1755881757.399 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:55:57.399Z,1755881757.399 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:55:57.400Z,1755881757.400 [DAT](INFO): direction in FSK: [0.955061,0.180461,0.235142]
2025-08-22T16:55:57.400Z,1755881757.400 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:57.400Z,1755881757.400 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:57.404Z,1755881757.404 [DAT](INFO): publishing transmit ping time
2025-08-22T16:55:57.404Z,1755881757.404 [DAT](INFO): publishing direction and range info
2025-08-22T16:55:57.502Z,1755881757.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 250.899994 m,
      deltaT: 3.784548 s,
      deltaX: -1.200012 m,
      approachRate: -0.317082 m/s,
      rangeRepo size: 4

2025-08-22T16:55:57.504Z,1755881757.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.312042 m,
      bearing: 49.874628 deg,
      lat: 36.779597 deg,
      lon: -121.859597 deg,
      deltaT: 3.784548 s,
      deltaX: -1.191101 m,
      approachRate: -0.314727 m/s,
      posRepo size: 4

2025-08-22T16:55:57.505Z,1755881757.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:57.513Z,1755881757.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 221.327484 m,
      bearing: 46.703358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032917 deg/s,
      cmd heading: 40.024485 deg,
      new cmd heading: 39.993496 deg.

2025-08-22T16:55:57.518Z,1755881757.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698018 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:57.841Z,1755881757.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:57.844Z,1755881757.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 221.154816 m,
      bearing: 46.691971 deg,
      approach rate: -0.503163 m/s,
      LOS rate: -0.033207 deg/s,
      cmd heading: 39.993496 deg,
      new cmd heading: 39.970706 deg.

2025-08-22T16:55:57.844Z,1755881757.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697620 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:58.241Z,1755881758.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:58.244Z,1755881758.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.964539 m,
      bearing: 46.679455 deg,
      approach rate: -0.475009 m/s,
      LOS rate: -0.031272 deg/s,
      cmd heading: 39.970704 deg,
      new cmd heading: 39.945650 deg.

2025-08-22T16:55:58.245Z,1755881758.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697183 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:58.651Z,1755881758.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:58.655Z,1755881758.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.769424 m,
      bearing: 46.666634 deg,
      approach rate: -0.476038 m/s,
      LOS rate: -0.031308 deg/s,
      cmd heading: 39.945651 deg,
      new cmd heading: 39.919986 deg.

2025-08-22T16:55:58.656Z,1755881758.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696735 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:59.044Z,1755881759.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:55:59.046Z,1755881759.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:59.048Z,1755881759.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.581970 m,
      bearing: 46.654335 deg,
      approach rate: -0.474957 m/s,
      LOS rate: -0.031188 deg/s,
      cmd heading: 39.919987 deg,
      new cmd heading: 39.895369 deg.

2025-08-22T16:55:59.050Z,1755881759.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696306 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:59.144Z,1755881759.144 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:55:59.144Z,1755881759.144 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:55:59.144Z,1755881759.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:55:59.395Z,1755881759.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995704
2025-08-22T16:55:59.465Z,1755881759.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:59.467Z,1755881759.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.387939 m,
      bearing: 46.641583 deg,
      approach rate: -0.463294 m/s,
      LOS rate: -0.030476 deg/s,
      cmd heading: 39.895367 deg,
      new cmd heading: 39.869840 deg.

2025-08-22T16:55:59.468Z,1755881759.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695860 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:59.646Z,1755881759.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247648
2025-08-22T16:55:59.855Z,1755881759.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:55:59.857Z,1755881759.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.197266 m,
      bearing: 46.629020 deg,
      approach rate: -0.488871 m/s,
      LOS rate: -0.032239 deg/s,
      cmd heading: 39.869839 deg,
      new cmd heading: 39.844691 deg.

2025-08-22T16:55:59.858Z,1755881759.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695421 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:55:59.899Z,1755881759.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500501
2025-08-22T16:56:00.151Z,1755881760.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751636
2025-08-22T16:56:00.268Z,1755881760.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:00.271Z,1755881760.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 220.000870 m,
      bearing: 46.616048 deg,
      approach rate: -0.475307 m/s,
      LOS rate: -0.031422 deg/s,
      cmd heading: 39.844691 deg,
      new cmd heading: 39.818724 deg.

2025-08-22T16:56:00.271Z,1755881760.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694968 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:00.403Z,1755881760.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003750
2025-08-22T16:56:00.655Z,1755881760.655 [DAT](INFO): DAT read: Rx Time:16:56:01.2049

2025-08-22T16:56:00.655Z,1755881760.655 [DAT](INFO): Rx dataTimestamp_ set to:1755881760.654843
2025-08-22T16:56:00.656Z,1755881760.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256874
2025-08-22T16:56:00.664Z,1755881760.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:00.667Z,1755881760.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 219.813690 m,
      bearing: 46.603629 deg,
      approach rate: -0.471909 m/s,
      LOS rate: -0.031337 deg/s,
      cmd heading: 39.818722 deg,
      new cmd heading: 39.793863 deg.

2025-08-22T16:56:00.668Z,1755881760.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694534 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:00.907Z,1755881760.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507697
2025-08-22T16:56:01.128Z,1755881761.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:01.135Z,1755881761.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:01.137Z,1755881761.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 219.604950 m,
      bearing: 46.589713 deg,
      approach rate: -0.444006 m/s,
      LOS rate: -0.029628 deg/s,
      cmd heading: 39.793864 deg,
      new cmd heading: 39.766006 deg.

2025-08-22T16:56:01.142Z,1755881761.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694048 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:01.167Z,1755881761.167 [DAT](INFO): DAT read: 16:56:01.2049 LVL= 26848, 26929, 27026, 24307, AGC= 68, IDX= 153, 0.01,-0.572,-2.044,-0.810,-1.289, PHS= 0.819,-0.710, 0.435, RAW= 136.0,  -8.0, CAL= 136.2,  -9.0, ROT=  13.8,   9.0

2025-08-22T16:56:01.168Z,1755881761.168 [DAT](INFO): got valid direction response:
 16:56:01.2049 LVL= 26848, 26929, 27026, 24307, AGC= 68, IDX= 153, 0.01,-0.572,-2.044,-0.810,-1.289, PHS= 0.819,-0.710, 0.435, RAW= 136.0,  -8.0, CAL= 136.2,  -9.0, ROT=  13.8,   9.0

2025-08-22T16:56:01.169Z,1755881761.169 [DAT](INFO): DAT read: Bearing 157.2,  12.0 (Local)

2025-08-22T16:56:01.170Z,1755881761.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  12.0 (Local)

2025-08-22T16:56:01.172Z,1755881761.172 [DAT](INFO): DAT read: Range 11 to 50 : 228.9 m  (Round-trip  305.2 ms) speed  0.3 m/s

2025-08-22T16:56:01.173Z,1755881761.173 [DAT](INFO): DAT read: user:312>

2025-08-22T16:56:01.175Z,1755881761.175 [DAT](INFO): DAT read: Tx time:16:56:02.2940

2025-08-22T16:56:01.176Z,1755881761.176 [DAT](INFO): Ping request sent.
2025-08-22T16:56:01.176Z,1755881761.176 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:01.176Z,1755881761.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:01.179Z,1755881761.179 [DAT](INFO): direction in FSK: [0.959178,0.235597,-0.156434]
2025-08-22T16:56:01.179Z,1755881761.179 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:01.180Z,1755881761.180 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:01.186Z,1755881761.186 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:01.187Z,1755881761.187 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:01.475Z,1755881761.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 228.899994 m,
 deltaT: 3.779929 s,
 deltaX: -22.000000 m,
 approachRate: -5.820215 m/s,
 rangeRepo size: 4
2025-08-22T16:56:01.476Z,1755881761.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:01.478Z,1755881761.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 219.430008 m,
      bearing: 46.578003 deg,
      approach rate: -0.514949 m/s,
      LOS rate: -0.034498 deg/s,
      cmd heading: 39.766007 deg,
      new cmd heading: 39.742567 deg.

2025-08-22T16:56:01.479Z,1755881761.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693639 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:01.880Z,1755881761.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:01.882Z,1755881761.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 219.235413 m,
      bearing: 46.564925 deg,
      approach rate: -0.480156 m/s,
      LOS rate: -0.032297 deg/s,
      cmd heading: 39.742566 deg,
      new cmd heading: 39.716388 deg.

2025-08-22T16:56:01.883Z,1755881761.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693182 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:02.282Z,1755881762.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:02.284Z,1755881762.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 219.044281 m,
      bearing: 46.552046 deg,
      approach rate: -0.475716 m/s,
      LOS rate: -0.032082 deg/s,
      cmd heading: 39.716389 deg,
      new cmd heading: 39.690609 deg.

2025-08-22T16:56:02.285Z,1755881762.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692732 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:02.715Z,1755881762.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:02.722Z,1755881762.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 218.841476 m,
      bearing: 46.538366 deg,
      approach rate: -0.467847 m/s,
      LOS rate: -0.031588 deg/s,
      cmd heading: 39.690608 deg,
      new cmd heading: 39.663223 deg.

2025-08-22T16:56:02.723Z,1755881762.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692254 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:03.087Z,1755881763.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:03.090Z,1755881763.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 218.662201 m,
      bearing: 46.526267 deg,
      approach rate: -0.482039 m/s,
      LOS rate: -0.032560 deg/s,
      cmd heading: 39.663223 deg,
      new cmd heading: 39.639004 deg.

2025-08-22T16:56:03.091Z,1755881763.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691831 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:03.504Z,1755881763.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:03.512Z,1755881763.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:03.515Z,1755881763.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 218.470520 m,
      bearing: 46.513294 deg,
      approach rate: -0.450836 m/s,
      LOS rate: -0.030540 deg/s,
      cmd heading: 39.639003 deg,
      new cmd heading: 39.613034 deg.

2025-08-22T16:56:03.516Z,1755881763.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691378 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:03.679Z,1755881763.679 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:03.679Z,1755881763.679 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:03.679Z,1755881763.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:03.893Z,1755881763.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:03.896Z,1755881763.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 218.278793 m,
      bearing: 46.500308 deg,
      approach rate: -0.502920 m/s,
      LOS rate: -0.034092 deg/s,
      cmd heading: 39.613034 deg,
      new cmd heading: 39.587041 deg.

2025-08-22T16:56:03.897Z,1755881763.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690924 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:03.931Z,1755881763.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754885
2025-08-22T16:56:04.184Z,1755881764.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008014
2025-08-22T16:56:04.300Z,1755881764.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:04.303Z,1755881764.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 218.085587 m,
      bearing: 46.487217 deg,
      approach rate: -0.474885 m/s,
      LOS rate: -0.032205 deg/s,
      cmd heading: 39.587042 deg,
      new cmd heading: 39.560837 deg.

2025-08-22T16:56:04.304Z,1755881764.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690467 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:04.434Z,1755881764.434 [DAT](INFO): DAT read: Rx Time:16:56:05.0008

2025-08-22T16:56:04.435Z,1755881764.435 [DAT](INFO): Rx dataTimestamp_ set to:1755881764.434630
2025-08-22T16:56:04.435Z,1755881764.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259652
2025-08-22T16:56:04.687Z,1755881764.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511137
2025-08-22T16:56:04.733Z,1755881764.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.31 m.
2025-08-22T16:56:04.735Z,1755881764.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.312042 m,
      nav range: 217.887558 m,
      bearing: 46.473761 deg,
      approach rate: -0.457739 m/s,
      LOS rate: -0.031133 deg/s,
      cmd heading: 39.560838 deg,
      new cmd heading: 39.533901 deg.

2025-08-22T16:56:04.736Z,1755881764.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689997 target range: 249.312042 and range: 250.90 m.
2025-08-22T16:56:04.945Z,1755881764.945 [DAT](INFO): DAT read: 16:56:05.0008 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 131,-0.02,-2.682, 1.699,-2.945,-3.061, PHS= 0.481,-1.478, 0.072, RAW= 138.6,  10.4, CAL= 138.1,  11.3, ROT=  11.9, -11.3

2025-08-22T16:56:04.946Z,1755881764.946 [DAT](INFO): got valid direction response:
 16:56:05.0008 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 131,-0.02,-2.682, 1.699,-2.945,-3.061, PHS= 0.481,-1.478, 0.072, RAW= 138.6,  10.4, CAL= 138.1,  11.3, ROT=  11.9, -11.3

2025-08-22T16:56:04.947Z,1755881764.947 [DAT](INFO): DAT read: Bearing 179.1,  11.1 (Local)

2025-08-22T16:56:04.947Z,1755881764.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.1,  11.1 (Local)

2025-08-22T16:56:04.949Z,1755881764.949 [DAT](INFO): DAT read: Range 11 to 50 : 227.0 m  (Round-trip  302.7 ms) speed  0.4 m/s

2025-08-22T16:56:04.949Z,1755881764.949 [DAT](INFO): DAT read: user:313>

2025-08-22T16:56:04.950Z,1755881764.950 [DAT](INFO): DAT read: Tx time:16:56:06.0940

2025-08-22T16:56:04.950Z,1755881764.950 [DAT](INFO): Ping request sent.
2025-08-22T16:56:04.950Z,1755881764.950 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:04.951Z,1755881764.951 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:04.952Z,1755881764.952 [DAT](INFO): direction in FSK: [0.959540,0.202207,0.195946]
2025-08-22T16:56:04.952Z,1755881764.952 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:04.952Z,1755881764.952 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:04.960Z,1755881764.960 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:04.961Z,1755881764.961 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:05.152Z,1755881765.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.000000 m,
      deltaT: 7.560277 s,
      deltaX: -23.899994 m,
      approachRate: -3.161259 m/s,
      rangeRepo size: 4

2025-08-22T16:56:05.160Z,1755881765.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 225.563522 m,
      bearing: 50.620220 deg,
      lat: 36.779597 deg,
      lon: -121.859444 deg,
      deltaT: 7.560277 s,
      deltaX: -23.748520 m,
      approachRate: -3.141223 m/s,
      posRepo size: 4

2025-08-22T16:56:05.161Z,1755881765.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:05.185Z,1755881765.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 227.811905 m,
      bearing: 48.832871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031133 deg/s,
      cmd heading: 39.533900 deg,
      new cmd heading: 39.508173 deg.

2025-08-22T16:56:05.203Z,1755881765.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689548 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:05.549Z,1755881765.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:05.551Z,1755881765.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:05.554Z,1755881765.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 227.608765 m,
      bearing: 48.821839 deg,
      approach rate: -0.501143 m/s,
      LOS rate: -0.027240 deg/s,
      cmd heading: 39.508174 deg,
      new cmd heading: 39.486090 deg.

2025-08-22T16:56:05.555Z,1755881765.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689162 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:05.695Z,1755881765.695 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:05.695Z,1755881765.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:05.696Z,1755881765.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:05.947Z,1755881765.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996083
2025-08-22T16:56:05.950Z,1755881765.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:05.952Z,1755881765.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 227.418365 m,
      bearing: 48.811470 deg,
      approach rate: -0.478134 m/s,
      LOS rate: -0.026060 deg/s,
      cmd heading: 39.486089 deg,
      new cmd heading: 39.465334 deg.

2025-08-22T16:56:05.953Z,1755881765.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688800 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:06.201Z,1755881766.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250220
2025-08-22T16:56:06.388Z,1755881766.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:06.391Z,1755881766.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 227.187698 m,
      bearing: 48.806137 deg,
      approach rate: -0.525713 m/s,
      LOS rate: -0.012166 deg/s,
      cmd heading: 39.465335 deg,
      new cmd heading: 39.454659 deg.

2025-08-22T16:56:06.392Z,1755881766.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688614 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:06.451Z,1755881766.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500588
2025-08-22T16:56:06.702Z,1755881766.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883
2025-08-22T16:56:06.766Z,1755881766.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:06.769Z,1755881766.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 226.989288 m,
      bearing: 48.801566 deg,
      approach rate: -0.524385 m/s,
      LOS rate: -0.012093 deg/s,
      cmd heading: 39.454659 deg,
      new cmd heading: 39.445508 deg.

2025-08-22T16:56:06.771Z,1755881766.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688454 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:06.955Z,1755881766.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004176
2025-08-22T16:56:07.188Z,1755881767.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:07.199Z,1755881767.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 226.784271 m,
      bearing: 48.796860 deg,
      approach rate: -0.509291 m/s,
      LOS rate: -0.011700 deg/s,
      cmd heading: 39.445507 deg,
      new cmd heading: 39.436087 deg.

2025-08-22T16:56:07.210Z,1755881767.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258402
2025-08-22T16:56:07.213Z,1755881767.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688290 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:07.459Z,1755881767.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508036
2025-08-22T16:56:07.583Z,1755881767.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:07.586Z,1755881767.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:07.588Z,1755881767.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 226.572037 m,
      bearing: 48.790229 deg,
      approach rate: -0.509744 m/s,
      LOS rate: -0.015941 deg/s,
      cmd heading: 39.436088 deg,
      new cmd heading: 39.422814 deg.

2025-08-22T16:56:07.589Z,1755881767.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688058 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:07.712Z,1755881767.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760816
2025-08-22T16:56:07.963Z,1755881767.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012069
2025-08-22T16:56:07.982Z,1755881767.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:07.985Z,1755881767.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 226.379013 m,
      bearing: 48.784147 deg,
      approach rate: -0.487071 m/s,
      LOS rate: -0.015362 deg/s,
      cmd heading: 39.422814 deg,
      new cmd heading: 39.410638 deg.

2025-08-22T16:56:07.990Z,1755881767.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687845 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:08.215Z,1755881768.215 [DAT](INFO): DAT read: Rx Time:16:56:08.7986

2025-08-22T16:56:08.215Z,1755881768.215 [DAT](INFO): Rx dataTimestamp_ set to:1755881768.214848
2025-08-22T16:56:08.216Z,1755881768.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265166
2025-08-22T16:56:08.399Z,1755881768.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.56 m.
2025-08-22T16:56:08.401Z,1755881768.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.563522 m,
      nav range: 226.155273 m,
      bearing: 48.778356 deg,
      approach rate: -0.536730 m/s,
      LOS rate: -0.013904 deg/s,
      cmd heading: 39.410639 deg,
      new cmd heading: 39.399047 deg.

2025-08-22T16:56:08.402Z,1755881768.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687643 target range: 225.563522 and range: 227.00 m.
2025-08-22T16:56:08.467Z,1755881768.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516950
2025-08-22T16:56:08.724Z,1755881768.724 [DAT](INFO): DAT read: 16:56:08.7986 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 137,-0.40,-1.054,-2.978,-1.314,-1.436, PHS= 0.484,-1.497, 0.078, RAW= 138.8,  10.3, CAL= 138.3,  11.3, ROT=  11.7, -11.3

2025-08-22T16:56:08.725Z,1755881768.725 [DAT](INFO): got valid direction response:
 16:56:08.7986 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 137,-0.40,-1.054,-2.978,-1.314,-1.436, PHS= 0.484,-1.497, 0.078, RAW= 138.8,  10.3, CAL= 138.3,  11.3, ROT=  11.7, -11.3

2025-08-22T16:56:08.726Z,1755881768.726 [DAT](INFO): DAT read: Bearing 179.9,  10.9 (Local)

2025-08-22T16:56:08.727Z,1755881768.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9,  10.9 (Local)

2025-08-22T16:56:08.728Z,1755881768.728 [DAT](INFO): DAT read: Range 11 to 50 : 225.3 m  (Round-trip  300.4 ms) speed  0.4 m/s

2025-08-22T16:56:08.729Z,1755881768.729 [DAT](INFO): DAT read: user:314>

2025-08-22T16:56:08.729Z,1755881768.729 [DAT](INFO): DAT read: Tx time:16:56:09.8940

2025-08-22T16:56:08.730Z,1755881768.730 [DAT](INFO): Ping request sent.
2025-08-22T16:56:08.730Z,1755881768.730 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:08.730Z,1755881768.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:08.731Z,1755881768.731 [DAT](INFO): direction in FSK: [0.960240,0.198856,0.195946]
2025-08-22T16:56:08.731Z,1755881768.731 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:08.731Z,1755881768.731 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:08.735Z,1755881768.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:08.735Z,1755881768.735 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:08.867Z,1755881768.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.300003 m,
      deltaT: 3.779232 s,
      deltaX: -1.699997 m,
      approachRate: -0.449826 m/s,
      rangeRepo size: 4

2025-08-22T16:56:08.869Z,1755881768.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.872681 m,
      bearing: 50.377462 deg,
      lat: 36.779521 deg,
      lon: -121.859444 deg,
      deltaT: 3.779232 s,
      deltaX: -1.690842 m,
      approachRate: -0.447404 m/s,
      posRepo size: 4

2025-08-22T16:56:08.874Z,1755881768.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:08.876Z,1755881768.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 220.462692 m,
      bearing: 50.423583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013904 deg/s,
      cmd heading: 39.399048 deg,
      new cmd heading: 39.386038 deg.

2025-08-22T16:56:08.882Z,1755881768.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687416 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:09.300Z,1755881769.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:09.307Z,1755881769.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 220.230377 m,
      bearing: 50.419227 deg,
      approach rate: -0.535992 m/s,
      LOS rate: -0.010060 deg/s,
      cmd heading: 39.386037 deg,
      new cmd heading: 39.377316 deg.

2025-08-22T16:56:09.308Z,1755881769.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687264 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:09.644Z,1755881769.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:09.646Z,1755881769.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:09.649Z,1755881769.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 220.025116 m,
      bearing: 50.415813 deg,
      approach rate: -0.592634 m/s,
      LOS rate: -0.009867 deg/s,
      cmd heading: 39.377318 deg,
      new cmd heading: 39.370483 deg.

2025-08-22T16:56:09.650Z,1755881769.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687145 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:09.731Z,1755881769.731 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:09.731Z,1755881769.731 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:09.732Z,1755881769.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:09.982Z,1755881769.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252675
2025-08-22T16:56:10.051Z,1755881770.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:10.054Z,1755881770.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 219.803329 m,
      bearing: 50.412148 deg,
      approach rate: -0.547372 m/s,
      LOS rate: -0.009055 deg/s,
      cmd heading: 39.370484 deg,
      new cmd heading: 39.363146 deg.

2025-08-22T16:56:10.055Z,1755881770.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687016 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:10.107Z,1755881770.107 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:56:10.234Z,1755881770.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504682
2025-08-22T16:56:10.443Z,1755881770.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:10.446Z,1755881770.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 219.589523 m,
      bearing: 50.408542 deg,
      approach rate: -0.545379 m/s,
      LOS rate: -0.009205 deg/s,
      cmd heading: 39.363145 deg,
      new cmd heading: 39.355928 deg.

2025-08-22T16:56:10.447Z,1755881770.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686891 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:10.490Z,1755881770.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759823
2025-08-22T16:56:10.739Z,1755881770.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008710
2025-08-22T16:56:10.836Z,1755881770.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:10.838Z,1755881770.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 219.375824 m,
      bearing: 50.404952 deg,
      approach rate: -0.544964 m/s,
      LOS rate: -0.009165 deg/s,
      cmd heading: 39.355929 deg,
      new cmd heading: 39.348741 deg.

2025-08-22T16:56:10.839Z,1755881770.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686765 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:10.990Z,1755881770.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260631
2025-08-22T16:56:11.110Z,1755881771.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:56:11.243Z,1755881771.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513067
2025-08-22T16:56:11.247Z,1755881771.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:11.251Z,1755881771.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 219.154037 m,
      bearing: 50.401276 deg,
      approach rate: -0.538678 m/s,
      LOS rate: -0.008937 deg/s,
      cmd heading: 39.348740 deg,
      new cmd heading: 39.341381 deg.

2025-08-22T16:56:11.253Z,1755881771.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686637 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:11.495Z,1755881771.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764727
2025-08-22T16:56:11.649Z,1755881771.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:11.651Z,1755881771.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:11.671Z,1755881771.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 218.930573 m,
      bearing: 50.397606 deg,
      approach rate: -0.553230 m/s,
      LOS rate: -0.009095 deg/s,
      cmd heading: 39.341381 deg,
      new cmd heading: 39.334033 deg.

2025-08-22T16:56:11.675Z,1755881771.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686508 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:11.747Z,1755881771.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017506
2025-08-22T16:56:11.000Z,1755881772.000 [DAT](INFO): DAT read: Rx Time:16:56:12.5958

2025-08-22T16:56:11.000Z,1755881772.000 [DAT](INFO): Rx dataTimestamp_ set to:1755881771.999710
2025-08-22T16:56:12.001Z,1755881772.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270750
2025-08-22T16:56:12.059Z,1755881772.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.87 m.
2025-08-22T16:56:12.062Z,1755881772.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.872681 m,
      nav range: 218.707520 m,
      bearing: 50.393955 deg,
      approach rate: -0.546289 m/s,
      LOS rate: -0.008951 deg/s,
      cmd heading: 39.334035 deg,
      new cmd heading: 39.326726 deg.

2025-08-22T16:56:12.063Z,1755881772.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686381 target range: 223.872681 and range: 225.30 m.
2025-08-22T16:56:12.251Z,1755881772.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520733
2025-08-22T16:56:12.512Z,1755881772.512 [DAT](INFO): DAT read: 16:56:12.5958 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 141,-0.30,-0.267,-2.086,-0.507,-0.590, PHS= 0.424,-1.451, 0.039, RAW= 138.8,  11.5, CAL= 138.2,  12.5, ROT=  11.8, -12.5

2025-08-22T16:56:12.513Z,1755881772.513 [DAT](INFO): got valid direction response:
 16:56:12.5958 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 141,-0.30,-0.267,-2.086,-0.507,-0.590, PHS= 0.424,-1.451, 0.039, RAW= 138.8,  11.5, CAL= 138.2,  12.5, ROT=  11.8, -12.5

2025-08-22T16:56:12.514Z,1755881772.514 [DAT](INFO): DAT read: Bearing 181.3,  10.8 (Local)

2025-08-22T16:56:12.514Z,1755881772.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.3,  10.8 (Local)

2025-08-22T16:56:12.515Z,1755881772.515 [DAT](INFO): DAT read: Range 11 to 50 : 223.2 m  (Round-trip  297.7 ms) speed  0.6 m/s

2025-08-22T16:56:12.516Z,1755881772.516 [DAT](INFO): DAT read: user:315>

2025-08-22T16:56:12.517Z,1755881772.517 [DAT](INFO): DAT read: Tx time:16:56:13.6940

2025-08-22T16:56:12.517Z,1755881772.517 [DAT](INFO): Ping request sent.
2025-08-22T16:56:12.517Z,1755881772.517 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:12.522Z,1755881772.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:12.523Z,1755881772.523 [DAT](INFO): direction in FSK: [0.955664,0.199649,0.216440]
2025-08-22T16:56:12.523Z,1755881772.523 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:12.523Z,1755881772.523 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:12.534Z,1755881772.534 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:12.535Z,1755881772.535 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:12.630Z,1755881772.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.199997 m,
      deltaT: 3.786004 s,
      deltaX: -2.100006 m,
      approachRate: -0.554676 m/s,
      rangeRepo size: 4

2025-08-22T16:56:12.632Z,1755881772.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.785599 m,
      bearing: 50.104838 deg,
      lat: 36.779521 deg,
      lon: -121.859444 deg,
      deltaT: 3.786004 s,
      deltaX: -2.087082 m,
      approachRate: -0.551262 m/s,
      posRepo size: 4

2025-08-22T16:56:12.633Z,1755881772.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:12.640Z,1755881772.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 218.396713 m,
      bearing: 50.390388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008951 deg/s,
      cmd heading: 39.326727 deg,
      new cmd heading: 39.316603 deg.

2025-08-22T16:56:12.640Z,1755881772.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686204 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:12.974Z,1755881772.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:12.976Z,1755881772.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 218.176453 m,
      bearing: 50.387896 deg,
      approach rate: -0.631711 m/s,
      LOS rate: -0.007152 deg/s,
      cmd heading: 39.316604 deg,
      new cmd heading: 39.311617 deg.

2025-08-22T16:56:12.978Z,1755881772.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686117 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:13.503Z,1755881773.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:13.505Z,1755881773.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 217.881897 m,
      bearing: 50.383414 deg,
      approach rate: -0.557010 m/s,
      LOS rate: -0.008487 deg/s,
      cmd heading: 39.311618 deg,
      new cmd heading: 39.302642 deg.

2025-08-22T16:56:13.512Z,1755881773.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685960 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:13.890Z,1755881773.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:13.892Z,1755881773.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:13.895Z,1755881773.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 217.657684 m,
      bearing: 50.380019 deg,
      approach rate: -0.575812 m/s,
      LOS rate: -0.008729 deg/s,
      cmd heading: 39.302640 deg,
      new cmd heading: 39.295842 deg.

2025-08-22T16:56:13.896Z,1755881773.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685842 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:14.014Z,1755881774.014 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:14.014Z,1755881774.014 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:14.015Z,1755881774.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:14.266Z,1755881774.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749294
2025-08-22T16:56:14.420Z,1755881774.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:14.423Z,1755881774.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 217.367401 m,
      bearing: 50.376553 deg,
      approach rate: -0.549615 m/s,
      LOS rate: -0.006571 deg/s,
      cmd heading: 39.295840 deg,
      new cmd heading: 39.288899 deg.

2025-08-22T16:56:14.424Z,1755881774.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685721 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:14.519Z,1755881774.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001588
2025-08-22T16:56:14.771Z,1755881774.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253385
2025-08-22T16:56:14.792Z,1755881774.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:14.795Z,1755881774.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 217.163467 m,
      bearing: 50.374112 deg,
      approach rate: -0.548542 m/s,
      LOS rate: -0.006571 deg/s,
      cmd heading: 39.288898 deg,
      new cmd heading: 39.284012 deg.

2025-08-22T16:56:14.796Z,1755881774.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685635 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:15.023Z,1755881775.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505358
2025-08-22T16:56:15.192Z,1755881775.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:15.195Z,1755881775.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 216.944931 m,
      bearing: 50.371520 deg,
      approach rate: -0.546655 m/s,
      LOS rate: -0.006492 deg/s,
      cmd heading: 39.284011 deg,
      new cmd heading: 39.278820 deg.

2025-08-22T16:56:15.196Z,1755881775.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685545 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:15.275Z,1755881775.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758245
2025-08-22T16:56:15.527Z,1755881775.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009344
2025-08-22T16:56:15.602Z,1755881775.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:15.605Z,1755881775.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 216.718292 m,
      bearing: 50.368706 deg,
      approach rate: -0.552791 m/s,
      LOS rate: -0.006870 deg/s,
      cmd heading: 39.278820 deg,
      new cmd heading: 39.273187 deg.

2025-08-22T16:56:15.606Z,1755881775.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685446 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:15.778Z,1755881775.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261272
2025-08-22T16:56:15.980Z,1755881775.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:15.983Z,1755881775.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:15.986Z,1755881775.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 216.509277 m,
      bearing: 50.366131 deg,
      approach rate: -0.548285 m/s,
      LOS rate: -0.006762 deg/s,
      cmd heading: 39.273188 deg,
      new cmd heading: 39.268032 deg.

2025-08-22T16:56:15.987Z,1755881775.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685356 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:16.032Z,1755881776.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514433
2025-08-22T16:56:16.282Z,1755881776.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765261
2025-08-22T16:56:16.444Z,1755881776.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:16.475Z,1755881776.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 216.256943 m,
      bearing: 50.363089 deg,
      approach rate: -0.546872 m/s,
      LOS rate: -0.006600 deg/s,
      cmd heading: 39.268031 deg,
      new cmd heading: 39.261940 deg.

2025-08-22T16:56:16.476Z,1755881776.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685250 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:16.535Z,1755881776.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018216
2025-08-22T16:56:16.787Z,1755881776.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269475
2025-08-22T16:56:16.814Z,1755881776.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:16.817Z,1755881776.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 216.061157 m,
      bearing: 50.360753 deg,
      approach rate: -0.528847 m/s,
      LOS rate: -0.006315 deg/s,
      cmd heading: 39.261939 deg,
      new cmd heading: 39.257263 deg.

2025-08-22T16:56:16.822Z,1755881776.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685169 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:17.040Z,1755881777.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522814
2025-08-22T16:56:17.216Z,1755881777.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:17.219Z,1755881777.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 215.834839 m,
      bearing: 50.358075 deg,
      approach rate: -0.562939 m/s,
      LOS rate: -0.006667 deg/s,
      cmd heading: 39.257264 deg,
      new cmd heading: 39.251903 deg.

2025-08-22T16:56:17.220Z,1755881777.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685075 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:17.291Z,1755881777.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.773576
2025-08-22T16:56:17.543Z,1755881777.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025391
2025-08-22T16:56:17.647Z,1755881777.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:17.652Z,1755881777.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 215.620209 m,
      bearing: 50.355351 deg,
      approach rate: -0.529527 m/s,
      LOS rate: -0.006728 deg/s,
      cmd heading: 39.251902 deg,
      new cmd heading: 39.246448 deg.

2025-08-22T16:56:17.662Z,1755881777.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684980 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:17.795Z,1755881777.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277783
2025-08-22T16:56:18.024Z,1755881778.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:18.026Z,1755881778.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:18.029Z,1755881778.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 215.402130 m,
      bearing: 50.352561 deg,
      approach rate: -0.539145 m/s,
      LOS rate: -0.006905 deg/s,
      cmd heading: 39.246448 deg,
      new cmd heading: 39.240862 deg.

2025-08-22T16:56:18.030Z,1755881778.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684882 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:18.051Z,1755881778.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533588
2025-08-22T16:56:18.303Z,1755881778.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786040
2025-08-22T16:56:18.479Z,1755881778.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:18.498Z,1755881778.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 215.162872 m,
      bearing: 50.349151 deg,
      approach rate: -0.528616 m/s,
      LOS rate: -0.007543 deg/s,
      cmd heading: 39.240861 deg,
      new cmd heading: 39.234033 deg.

2025-08-22T16:56:18.499Z,1755881778.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684763 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:18.556Z,1755881778.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038140
2025-08-22T16:56:18.807Z,1755881778.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289427
2025-08-22T16:56:18.843Z,1755881778.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:18.846Z,1755881778.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 214.970886 m,
      bearing: 50.346456 deg,
      approach rate: -0.527148 m/s,
      LOS rate: -0.007405 deg/s,
      cmd heading: 39.234034 deg,
      new cmd heading: 39.228640 deg.

2025-08-22T16:56:18.847Z,1755881778.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684669 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:19.060Z,1755881779.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542458
2025-08-22T16:56:19.234Z,1755881779.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:19.236Z,1755881779.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 214.764221 m,
      bearing: 50.343562 deg,
      approach rate: -0.529107 m/s,
      LOS rate: -0.007416 deg/s,
      cmd heading: 39.228642 deg,
      new cmd heading: 39.222848 deg.

2025-08-22T16:56:19.238Z,1755881779.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684568 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:19.311Z,1755881779.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793909
2025-08-22T16:56:19.563Z,1755881779.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045342
2025-08-22T16:56:19.701Z,1755881779.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:19.707Z,1755881779.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 214.527390 m,
      bearing: 50.340612 deg,
      approach rate: -0.507263 m/s,
      LOS rate: -0.006326 deg/s,
      cmd heading: 39.222850 deg,
      new cmd heading: 39.216942 deg.

2025-08-22T16:56:19.708Z,1755881779.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684465 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:19.815Z,1755881779.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297449
2025-08-22T16:56:20.046Z,1755881780.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:20.048Z,1755881780.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:20.051Z,1755881780.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 214.327530 m,
      bearing: 50.338124 deg,
      approach rate: -0.574790 m/s,
      LOS rate: -0.007162 deg/s,
      cmd heading: 39.216942 deg,
      new cmd heading: 39.211961 deg.

2025-08-22T16:56:20.052Z,1755881780.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684378 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:20.067Z,1755881780.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549395
2025-08-22T16:56:20.320Z,1755881780.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802434
2025-08-22T16:56:20.528Z,1755881780.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:20.531Z,1755881780.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 214.065704 m,
      bearing: 50.336240 deg,
      approach rate: -0.546221 m/s,
      LOS rate: -0.003934 deg/s,
      cmd heading: 39.211962 deg,
      new cmd heading: 39.208191 deg.

2025-08-22T16:56:20.532Z,1755881780.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684312 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:20.571Z,1755881780.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054032
2025-08-22T16:56:20.823Z,1755881780.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305418
2025-08-22T16:56:20.869Z,1755881780.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:20.876Z,1755881780.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 213.887985 m,
      bearing: 50.334950 deg,
      approach rate: -0.520253 m/s,
      LOS rate: -0.003780 deg/s,
      cmd heading: 39.208192 deg,
      new cmd heading: 39.205610 deg.

2025-08-22T16:56:20.877Z,1755881780.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684267 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:21.075Z,1755881781.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557322
2025-08-22T16:56:21.264Z,1755881781.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:21.267Z,1755881781.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 213.665741 m,
      bearing: 50.333349 deg,
      approach rate: -0.566781 m/s,
      LOS rate: -0.004087 deg/s,
      cmd heading: 39.205610 deg,
      new cmd heading: 39.202405 deg.

2025-08-22T16:56:21.268Z,1755881781.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684211 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:21.328Z,1755881781.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810895
2025-08-22T16:56:21.579Z,1755881781.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061335
2025-08-22T16:56:21.709Z,1755881781.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:21.711Z,1755881781.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 213.419373 m,
      bearing: 50.331455 deg,
      approach rate: -0.550901 m/s,
      LOS rate: -0.004241 deg/s,
      cmd heading: 39.202403 deg,
      new cmd heading: 39.198610 deg.

2025-08-22T16:56:21.712Z,1755881781.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684145 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:21.831Z,1755881781.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314126
2025-08-22T16:56:22.070Z,1755881782.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:22.072Z,1755881782.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:22.075Z,1755881782.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 213.225159 m,
      bearing: 50.329962 deg,
      approach rate: -0.534155 m/s,
      LOS rate: -0.004109 deg/s,
      cmd heading: 39.198609 deg,
      new cmd heading: 39.195621 deg.

2025-08-22T16:56:22.076Z,1755881782.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684093 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:22.083Z,1755881782.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565508
2025-08-22T16:56:22.334Z,1755881782.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817279
2025-08-22T16:56:22.536Z,1755881782.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:22.539Z,1755881782.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 212.959793 m,
      bearing: 50.327955 deg,
      approach rate: -0.571893 m/s,
      LOS rate: -0.004331 deg/s,
      cmd heading: 39.195621 deg,
      new cmd heading: 39.191601 deg.

2025-08-22T16:56:22.540Z,1755881782.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684022 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:22.586Z,1755881782.586 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:22.587Z,1755881782.587 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:22.587Z,1755881782.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:22.838Z,1755881782.838 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:22.838Z,1755881782.838 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:22.839Z,1755881782.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:22.874Z,1755881782.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:22.876Z,1755881782.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 212.771179 m,
      bearing: 50.326548 deg,
      approach rate: -0.559184 m/s,
      LOS rate: -0.004173 deg/s,
      cmd heading: 39.191602 deg,
      new cmd heading: 39.188786 deg.

2025-08-22T16:56:22.877Z,1755881782.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683973 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:23.091Z,1755881783.091 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:23.091Z,1755881783.091 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:23.091Z,1755881783.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:23.274Z,1755881783.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:23.276Z,1755881783.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 212.547333 m,
      bearing: 50.324897 deg,
      approach rate: -0.559243 m/s,
      LOS rate: -0.004130 deg/s,
      cmd heading: 39.188788 deg,
      new cmd heading: 39.185481 deg.

2025-08-22T16:56:23.294Z,1755881783.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683916 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:23.343Z,1755881783.343 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:23.343Z,1755881783.343 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:23.344Z,1755881783.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:23.594Z,1755881783.594 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:23.594Z,1755881783.594 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:23.595Z,1755881783.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:23.711Z,1755881783.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:23.714Z,1755881783.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 212.307617 m,
      bearing: 50.321878 deg,
      approach rate: -0.548378 m/s,
      LOS rate: -0.006913 deg/s,
      cmd heading: 39.185482 deg,
      new cmd heading: 39.179437 deg.

2025-08-22T16:56:23.715Z,1755881783.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683810 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:23.847Z,1755881783.847 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:23.847Z,1755881783.847 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:23.847Z,1755881783.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:24.084Z,1755881784.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:24.086Z,1755881784.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:24.089Z,1755881784.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 212.102066 m,
      bearing: 50.319289 deg,
      approach rate: -0.547666 m/s,
      LOS rate: -0.006905 deg/s,
      cmd heading: 39.179437 deg,
      new cmd heading: 39.174254 deg.

2025-08-22T16:56:24.090Z,1755881784.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683720 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:24.098Z,1755881784.099 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:24.099Z,1755881784.099 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:24.099Z,1755881784.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:24.350Z,1755881784.350 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:24.350Z,1755881784.350 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:24.351Z,1755881784.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:24.549Z,1755881784.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:24.556Z,1755881784.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 211.852493 m,
      bearing: 50.316151 deg,
      approach rate: -0.539515 m/s,
      LOS rate: -0.006791 deg/s,
      cmd heading: 39.174253 deg,
      new cmd heading: 39.167970 deg.

2025-08-22T16:56:24.557Z,1755881784.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683610 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:24.602Z,1755881784.602 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:24.603Z,1755881784.603 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:24.603Z,1755881784.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:24.854Z,1755881784.854 [DAT](INFO): Reached modem response timeout
2025-08-22T16:56:24.854Z,1755881784.854 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:56:24.855Z,1755881784.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:24.968Z,1755881784.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:24.975Z,1755881784.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 211.614761 m,
      bearing: 50.313039 deg,
      approach rate: -0.566471 m/s,
      LOS rate: -0.007425 deg/s,
      cmd heading: 39.167969 deg,
      new cmd heading: 39.161737 deg.

2025-08-22T16:56:24.976Z,1755881784.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683501 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:25.107Z,1755881785.107 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:56:25.107Z,1755881785.107 [DAT](INFO): response not received
2025-08-22T16:56:25.107Z,1755881785.107 [DAT](INFO): DAT read: user:316>

2025-08-22T16:56:25.108Z,1755881785.108 [DAT](INFO): DAT read: Tx time:16:56:26.1440

2025-08-22T16:56:25.108Z,1755881785.108 [DAT](INFO): Ping request sent.
2025-08-22T16:56:25.108Z,1755881785.108 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:25.108Z,1755881785.108 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:25.109Z,1755881785.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-22T16:56:25.325Z,1755881785.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:25.328Z,1755881785.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 211.408493 m,
      bearing: 50.310329 deg,
      approach rate: -0.578732 m/s,
      LOS rate: -0.007610 deg/s,
      cmd heading: 39.161737 deg,
      new cmd heading: 39.156312 deg.

2025-08-22T16:56:25.329Z,1755881785.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683407 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:25.359Z,1755881785.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250187
2025-08-22T16:56:25.611Z,1755881785.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502122
2025-08-22T16:56:25.756Z,1755881785.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:25.763Z,1755881785.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 211.170731 m,
      bearing: 50.306448 deg,
      approach rate: -0.551546 m/s,
      LOS rate: -0.009012 deg/s,
      cmd heading: 39.156313 deg,
      new cmd heading: 39.148544 deg.

2025-08-22T16:56:25.764Z,1755881785.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683271 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:25.864Z,1755881785.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755187
2025-08-22T16:56:26.115Z,1755881786.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006179
2025-08-22T16:56:26.125Z,1755881786.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:26.130Z,1755881786.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:26.160Z,1755881786.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 210.949219 m,
      bearing: 50.302815 deg,
      approach rate: -0.593355 m/s,
      LOS rate: -0.009744 deg/s,
      cmd heading: 39.148544 deg,
      new cmd heading: 39.141268 deg.

2025-08-22T16:56:26.166Z,1755881786.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683144 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:26.368Z,1755881786.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571
2025-08-22T16:56:26.600Z,1755881786.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:26.602Z,1755881786.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 210.676666 m,
      bearing: 50.300199 deg,
      approach rate: -0.579471 m/s,
      LOS rate: -0.005569 deg/s,
      cmd heading: 39.141270 deg,
      new cmd heading: 39.136032 deg.

2025-08-22T16:56:26.603Z,1755881786.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683053 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:26.619Z,1755881786.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510335
2025-08-22T16:56:26.870Z,1755881786.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762116
2025-08-22T16:56:26.950Z,1755881786.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:26.953Z,1755881786.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 210.483734 m,
      bearing: 50.298342 deg,
      approach rate: -0.550574 m/s,
      LOS rate: -0.005304 deg/s,
      cmd heading: 39.136031 deg,
      new cmd heading: 39.132314 deg.

2025-08-22T16:56:26.954Z,1755881786.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682988 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:27.122Z,1755881787.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014119
2025-08-22T16:56:27.340Z,1755881787.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:27.343Z,1755881787.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 210.249054 m,
      bearing: 50.296077 deg,
      approach rate: -0.600960 m/s,
      LOS rate: -0.005807 deg/s,
      cmd heading: 39.132312 deg,
      new cmd heading: 39.127777 deg.

2025-08-22T16:56:27.344Z,1755881787.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682909 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:27.375Z,1755881787.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266259
2025-08-22T16:56:27.628Z,1755881787.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519479
2025-08-22T16:56:27.778Z,1755881787.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:27.780Z,1755881787.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 210.004990 m,
      bearing: 50.293056 deg,
      approach rate: -0.558496 m/s,
      LOS rate: -0.006920 deg/s,
      cmd heading: 39.127777 deg,
      new cmd heading: 39.121729 deg.

2025-08-22T16:56:27.782Z,1755881787.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682803 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:27.879Z,1755881787.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770245
2025-08-22T16:56:28.132Z,1755881788.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023481
2025-08-22T16:56:28.194Z,1755881788.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:28.196Z,1755881788.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:28.199Z,1755881788.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 209.772049 m,
      bearing: 50.290201 deg,
      approach rate: -0.556883 m/s,
      LOS rate: -0.006834 deg/s,
      cmd heading: 39.121729 deg,
      new cmd heading: 39.116012 deg.

2025-08-22T16:56:28.200Z,1755881788.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682703 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:28.386Z,1755881788.386 [DAT](INFO): DAT read: Rx Time:16:56:28.8344

2025-08-22T16:56:28.386Z,1755881788.386 [DAT](INFO): Rx dataTimestamp_ set to:1755881788.386051
2025-08-22T16:56:28.387Z,1755881788.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278510
2025-08-22T16:56:28.599Z,1755881788.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.79 m.
2025-08-22T16:56:28.602Z,1755881788.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.785599 m,
      nav range: 209.545898 m,
      bearing: 50.287436 deg,
      approach rate: -0.560371 m/s,
      LOS rate: -0.006858 deg/s,
      cmd heading: 39.116012 deg,
      new cmd heading: 39.110477 deg.

2025-08-22T16:56:28.603Z,1755881788.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682607 target range: 221.785599 and range: 223.20 m.
2025-08-22T16:56:28.636Z,1755881788.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526879
2025-08-22T16:56:28.895Z,1755881788.895 [DAT](INFO): DAT read: 16:56:28.8344 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 288, 0.02, 0.493,-1.397, 0.117, 0.134, PHS= 0.461,-1.486,-0.061, RAW= 135.0,  12.4, CAL= 134.4,  13.5, ROT=  15.6, -13.5

2025-08-22T16:56:28.896Z,1755881788.896 [DAT](INFO): got valid direction response:
 16:56:28.8344 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 288, 0.02, 0.493,-1.397, 0.117, 0.134, PHS= 0.461,-1.486,-0.061, RAW= 135.0,  12.4, CAL= 134.4,  13.5, ROT=  15.6, -13.5

2025-08-22T16:56:28.897Z,1755881788.897 [DAT](INFO): DAT read: Bearing 190.4,  12.3 (Local)

2025-08-22T16:56:28.898Z,1755881788.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.4,  12.3 (Local)

2025-08-22T16:56:28.899Z,1755881788.899 [DAT](INFO): DAT read: Range 11 to 50 : 214.7 m  (Round-trip  286.3 ms) speed  0.2 m/s

2025-08-22T16:56:28.900Z,1755881788.900 [DAT](INFO): DAT read: user:317>

2025-08-22T16:56:28.901Z,1755881788.901 [DAT](INFO): DAT read: Tx time:16:56:29.9440

2025-08-22T16:56:28.901Z,1755881788.901 [DAT](INFO): Ping request sent.
2025-08-22T16:56:28.901Z,1755881788.901 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:28.902Z,1755881788.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:28.902Z,1755881788.902 [DAT](INFO): direction in FSK: [0.936550,0.261490,0.233445]
2025-08-22T16:56:28.903Z,1755881788.903 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:28.903Z,1755881788.903 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:28.915Z,1755881788.915 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:28.915Z,1755881788.915 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:29.104Z,1755881789.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.699997 m,
      deltaT: 16.382391 s,
      deltaX: -8.500000 m,
      approachRate: -0.518850 m/s,
      rangeRepo size: 4

2025-08-22T16:56:29.111Z,1755881789.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.338730 m,
      bearing: 53.146731 deg,
      lat: 36.779515 deg,
      lon: -121.859444 deg,
      deltaT: 16.382391 s,
      deltaX: -8.446869 m,
      approachRate: -0.515607 m/s,
      posRepo size: 4

2025-08-22T16:56:29.112Z,1755881789.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:29.119Z,1755881789.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 208.799561 m,
      bearing: 50.441466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006858 deg/s,
      cmd heading: 39.110476 deg,
      new cmd heading: 39.103558 deg.

2025-08-22T16:56:29.120Z,1755881789.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682486 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:29.472Z,1755881789.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:29.475Z,1755881789.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 208.585678 m,
      bearing: 50.439262 deg,
      approach rate: -0.581253 m/s,
      LOS rate: -0.005997 deg/s,
      cmd heading: 39.103557 deg,
      new cmd heading: 39.099144 deg.

2025-08-22T16:56:29.476Z,1755881789.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682409 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:29.918Z,1755881789.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:29.920Z,1755881789.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 208.349136 m,
      bearing: 50.437247 deg,
      approach rate: -0.535379 m/s,
      LOS rate: -0.004566 deg/s,
      cmd heading: 39.099145 deg,
      new cmd heading: 39.095110 deg.

2025-08-22T16:56:29.930Z,1755881789.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682338 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:30.273Z,1755881790.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:30.275Z,1755881790.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:30.278Z,1755881790.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 208.147568 m,
      bearing: 50.435527 deg,
      approach rate: -0.557528 m/s,
      LOS rate: -0.004761 deg/s,
      cmd heading: 39.095111 deg,
      new cmd heading: 39.091669 deg.

2025-08-22T16:56:30.279Z,1755881790.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682278 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:30.398Z,1755881790.398 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:30.398Z,1755881790.398 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:30.399Z,1755881790.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:30.651Z,1755881790.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750127
2025-08-22T16:56:30.722Z,1755881790.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:30.725Z,1755881790.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 207.903091 m,
      bearing: 50.434216 deg,
      approach rate: -0.547052 m/s,
      LOS rate: -0.002937 deg/s,
      cmd heading: 39.091669 deg,
      new cmd heading: 39.089044 deg.

2025-08-22T16:56:30.746Z,1755881790.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682232 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:30.903Z,1755881790.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001409
2025-08-22T16:56:31.110Z,1755881791.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:31.113Z,1755881791.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 207.690872 m,
      bearing: 50.433075 deg,
      approach rate: -0.546218 m/s,
      LOS rate: -0.002941 deg/s,
      cmd heading: 39.089043 deg,
      new cmd heading: 39.086758 deg.

2025-08-22T16:56:31.114Z,1755881791.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682193 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:31.156Z,1755881791.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254273
2025-08-22T16:56:31.406Z,1755881791.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505342
2025-08-22T16:56:31.659Z,1755881791.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757507
2025-08-22T16:56:31.695Z,1755881791.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:31.702Z,1755881791.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 207.380219 m,
      bearing: 50.430843 deg,
      approach rate: -0.531513 m/s,
      LOS rate: -0.003824 deg/s,
      cmd heading: 39.086758 deg,
      new cmd heading: 39.082288 deg.

2025-08-22T16:56:31.703Z,1755881791.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682115 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:31.911Z,1755881791.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009537
2025-08-22T16:56:32.163Z,1755881792.163 [DAT](INFO): DAT read: Rx Time:16:56:32.6609

2025-08-22T16:56:32.164Z,1755881792.164 [DAT](INFO): Rx dataTimestamp_ set to:1755881792.163528
2025-08-22T16:56:32.165Z,1755881792.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263640
2025-08-22T16:56:32.224Z,1755881792.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:32.231Z,1755881792.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 207.095474 m,
      bearing: 50.428807 deg,
      approach rate: -0.538156 m/s,
      LOS rate: -0.003855 deg/s,
      cmd heading: 39.082288 deg,
      new cmd heading: 39.078209 deg.

2025-08-22T16:56:32.232Z,1755881792.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682043 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:32.416Z,1755881792.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514284
2025-08-22T16:56:32.672Z,1755881792.672 [DAT](INFO): DAT read: 16:56:32.6608 LVL= 29104, 32753, 32754, 32755, AGC= 70, IDX= 207, 0.16,-1.154,-2.497,-1.307,-2.164, PHS= 1.112,-0.288, 0.813, RAW= 138.3, -24.4, CAL= 138.7, -26.3, ROT=  11.3,  26.3

2025-08-22T16:56:32.673Z,1755881792.673 [DAT](INFO): got valid direction response:
 16:56:32.6608 LVL= 29104, 32753, 32754, 32755, AGC= 70, IDX= 207, 0.16,-1.154,-2.497,-1.307,-2.164, PHS= 1.112,-0.288, 0.813, RAW= 138.3, -24.4, CAL= 138.7, -26.3, ROT=  11.3,  26.3

2025-08-22T16:56:32.674Z,1755881792.674 [DAT](INFO): DAT read: Bearing 151.4,   5.6 (Local)

2025-08-22T16:56:32.675Z,1755881792.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4,   5.6 (Local)

2025-08-22T16:56:32.676Z,1755881792.676 [DAT](INFO): DAT read: Range 11 to 50 : 234.5 m  (Round-trip  312.7 ms) speed  0.6 m/s

2025-08-22T16:56:32.677Z,1755881792.677 [DAT](INFO): DAT read: user:318>

2025-08-22T16:56:32.678Z,1755881792.678 [DAT](INFO): DAT read: Tx time:16:56:33.7939

2025-08-22T16:56:32.678Z,1755881792.678 [DAT](INFO): Ping request sent.
2025-08-22T16:56:32.678Z,1755881792.678 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:32.678Z,1755881792.678 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:32.679Z,1755881792.679 [DAT](INFO): direction in FSK: [0.879108,0.175663,-0.443071]
2025-08-22T16:56:32.680Z,1755881792.680 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:32.680Z,1755881792.680 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:32.688Z,1755881792.688 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:32.688Z,1755881792.688 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:32.862Z,1755881792.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 234.500000 m,
 deltaT: 3.779751 s,
 deltaX: 19.800003 m,
 approachRate: 5.238441 m/s,
 rangeRepo size: 4
2025-08-22T16:56:32.863Z,1755881792.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:32.869Z,1755881792.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 206.740662 m,
      bearing: 50.424378 deg,
      approach rate: -0.564057 m/s,
      LOS rate: -0.007052 deg/s,
      cmd heading: 39.078210 deg,
      new cmd heading: 39.069338 deg.

2025-08-22T16:56:32.870Z,1755881792.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681889 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:33.203Z,1755881793.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:33.222Z,1755881793.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:33.224Z,1755881793.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 206.538010 m,
      bearing: 50.421822 deg,
      approach rate: -0.575147 m/s,
      LOS rate: -0.007262 deg/s,
      cmd heading: 39.069338 deg,
      new cmd heading: 39.064220 deg.

2025-08-22T16:56:33.225Z,1755881793.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681799 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:33.422Z,1755881793.422 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:33.423Z,1755881793.423 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:33.423Z,1755881793.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:33.667Z,1755881793.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:33.670Z,1755881793.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 206.283539 m,
      bearing: 50.418566 deg,
      approach rate: -0.551373 m/s,
      LOS rate: -0.007064 deg/s,
      cmd heading: 39.064219 deg,
      new cmd heading: 39.057698 deg.

2025-08-22T16:56:33.671Z,1755881793.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681685 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:33.675Z,1755881793.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996595
2025-08-22T16:56:33.927Z,1755881793.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248778
2025-08-22T16:56:34.080Z,1755881794.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:34.091Z,1755881794.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 206.090668 m,
      bearing: 50.415307 deg,
      approach rate: -0.466757 m/s,
      LOS rate: -0.007892 deg/s,
      cmd heading: 39.057699 deg,
      new cmd heading: 39.051177 deg.

2025-08-22T16:56:34.092Z,1755881794.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681572 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:34.179Z,1755881794.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501152
2025-08-22T16:56:34.434Z,1755881794.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756478
2025-08-22T16:56:34.488Z,1755881794.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:34.491Z,1755881794.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 205.839996 m,
      bearing: 50.411058 deg,
      approach rate: -0.614656 m/s,
      LOS rate: -0.010432 deg/s,
      cmd heading: 39.051176 deg,
      new cmd heading: 39.042668 deg.

2025-08-22T16:56:34.492Z,1755881794.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681423 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:34.686Z,1755881794.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008483
2025-08-22T16:56:34.939Z,1755881794.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260664
2025-08-22T16:56:34.946Z,1755881794.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:34.948Z,1755881794.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 205.588821 m,
      bearing: 50.406148 deg,
      approach rate: -0.549003 m/s,
      LOS rate: -0.010745 deg/s,
      cmd heading: 39.042669 deg,
      new cmd heading: 39.032837 deg.

2025-08-22T16:56:34.950Z,1755881794.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681252 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:35.194Z,1755881795.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516259
2025-08-22T16:56:35.288Z,1755881795.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:35.303Z,1755881795.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:35.305Z,1755881795.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 205.398224 m,
      bearing: 50.402387 deg,
      approach rate: -0.533943 m/s,
      LOS rate: -0.010547 deg/s,
      cmd heading: 39.032837 deg,
      new cmd heading: 39.025307 deg.

2025-08-22T16:56:35.310Z,1755881795.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681120 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:35.443Z,1755881795.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764507
2025-08-22T16:56:35.695Z,1755881795.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016650
2025-08-22T16:56:35.753Z,1755881795.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:35.756Z,1755881795.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 205.158630 m,
      bearing: 50.398777 deg,
      approach rate: -0.556264 m/s,
      LOS rate: -0.008390 deg/s,
      cmd heading: 39.025307 deg,
      new cmd heading: 39.018079 deg.

2025-08-22T16:56:35.757Z,1755881795.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680994 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:35.946Z,1755881795.946 [DAT](INFO): DAT read: Rx Time:16:56:36.5086

2025-08-22T16:56:35.947Z,1755881795.947 [DAT](INFO): Rx dataTimestamp_ set to:1755881795.946654
2025-08-22T16:56:35.947Z,1755881795.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269491
2025-08-22T16:56:36.126Z,1755881796.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.34 m.
2025-08-22T16:56:36.135Z,1755881796.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.338730 m,
      nav range: 204.959717 m,
      bearing: 50.395791 deg,
      approach rate: -0.512918 m/s,
      LOS rate: -0.007707 deg/s,
      cmd heading: 39.018081 deg,
      new cmd heading: 39.012103 deg.

2025-08-22T16:56:36.137Z,1755881796.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680890 target range: 213.338730 and range: 214.70 m.
2025-08-22T16:56:36.199Z,1755881796.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520582
2025-08-22T16:56:36.456Z,1755881796.456 [DAT](INFO): DAT read: 16:56:36.5086 LVL= 32624, 32753, 29778, 32755, AGC= 68, IDX= 424, 0.28,-1.098,-2.543,-1.228,-2.089, PHS= 1.093,-0.409, 0.817, RAW= 140.1, -21.0, CAL= 140.4, -23.6, ROT=   9.6,  23.6

2025-08-22T16:56:36.457Z,1755881796.457 [DAT](INFO): got valid direction response:
 16:56:36.5086 LVL= 32624, 32753, 29778, 32755, AGC= 68, IDX= 424, 0.28,-1.098,-2.543,-1.228,-2.089, PHS= 1.093,-0.409, 0.817, RAW= 140.1, -21.0, CAL= 140.4, -23.6, ROT=   9.6,  23.6

2025-08-22T16:56:36.458Z,1755881796.458 [DAT](INFO): DAT read: Bearing 155.5,   4.2 (Local)

2025-08-22T16:56:36.458Z,1755881796.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5,   4.2 (Local)

2025-08-22T16:56:36.460Z,1755881796.460 [DAT](INFO): DAT read: Range 11 to 50 : 232.9 m  (Round-trip  310.6 ms) speed  0.4 m/s

2025-08-22T16:56:36.461Z,1755881796.461 [DAT](INFO): DAT read: user:319>

2025-08-22T16:56:36.461Z,1755881796.461 [DAT](INFO): DAT read: Tx time:16:56:37.6439

2025-08-22T16:56:36.462Z,1755881796.462 [DAT](INFO): Ping request sent.
2025-08-22T16:56:36.462Z,1755881796.462 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:36.462Z,1755881796.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:36.463Z,1755881796.463 [DAT](INFO): direction in FSK: [0.903530,0.152821,-0.400349]
2025-08-22T16:56:36.463Z,1755881796.463 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:36.463Z,1755881796.463 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:36.485Z,1755881796.485 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:36.485Z,1755881796.485 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:36.560Z,1755881796.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.899994 m,
      deltaT: 7.563653 s,
      deltaX: 18.199997 m,
      approachRate: 2.406244 m/s,
      rangeRepo size: 4

2025-08-22T16:56:36.567Z,1755881796.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.420975 m,
      bearing: 49.531449 deg,
      lat: 36.779521 deg,
      lon: -121.859460 deg,
      deltaT: 7.563653 s,
      deltaX: 18.082245 m,
      approachRate: 2.390676 m/s,
      posRepo size: 4

2025-08-22T16:56:36.567Z,1755881796.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:36.582Z,1755881796.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 204.047348 m,
      bearing: 49.963320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007707 deg/s,
      cmd heading: 39.012104 deg,
      new cmd heading: 39.005341 deg.

2025-08-22T16:56:36.583Z,1755881796.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680772 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:36.948Z,1755881796.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:36.956Z,1755881796.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 203.825989 m,
      bearing: 49.961098 deg,
      approach rate: -0.570593 m/s,
      LOS rate: -0.005732 deg/s,
      cmd heading: 39.005342 deg,
      new cmd heading: 39.000894 deg.

2025-08-22T16:56:36.957Z,1755881796.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680694 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:37.314Z,1755881797.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:37.317Z,1755881797.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:37.319Z,1755881797.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 203.606567 m,
      bearing: 49.958885 deg,
      approach rate: -0.594914 m/s,
      LOS rate: -0.006007 deg/s,
      cmd heading: 39.000896 deg,
      new cmd heading: 38.996465 deg.

2025-08-22T16:56:37.320Z,1755881797.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680617 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:37.458Z,1755881797.458 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:37.458Z,1755881797.458 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:37.459Z,1755881797.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:37.712Z,1755881797.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249733
2025-08-22T16:56:37.775Z,1755881797.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:37.778Z,1755881797.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 203.346375 m,
      bearing: 49.956003 deg,
      approach rate: -0.567182 m/s,
      LOS rate: -0.006291 deg/s,
      cmd heading: 38.996466 deg,
      new cmd heading: 38.990694 deg.

2025-08-22T16:56:37.779Z,1755881797.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680516 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:37.963Z,1755881797.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500759
2025-08-22T16:56:38.148Z,1755881798.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:38.151Z,1755881798.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 203.135300 m,
      bearing: 49.953652 deg,
      approach rate: -0.567009 m/s,
      LOS rate: -0.006322 deg/s,
      cmd heading: 38.990695 deg,
      new cmd heading: 38.985988 deg.

2025-08-22T16:56:38.152Z,1755881798.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680434 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:38.216Z,1755881798.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753606
2025-08-22T16:56:38.467Z,1755881798.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004947
2025-08-22T16:56:38.534Z,1755881798.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:38.536Z,1755881798.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 202.916626 m,
      bearing: 49.951189 deg,
      approach rate: -0.566687 m/s,
      LOS rate: -0.006389 deg/s,
      cmd heading: 38.985989 deg,
      new cmd heading: 38.981058 deg.

2025-08-22T16:56:38.537Z,1755881798.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680348 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:38.722Z,1755881798.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259428
2025-08-22T16:56:38.971Z,1755881798.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508791
2025-08-22T16:56:38.972Z,1755881798.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:38.979Z,1755881798.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 202.679657 m,
      bearing: 49.948762 deg,
      approach rate: -0.540619 m/s,
      LOS rate: -0.005545 deg/s,
      cmd heading: 38.981058 deg,
      new cmd heading: 38.976196 deg.

2025-08-22T16:56:38.980Z,1755881798.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680263 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:39.223Z,1755881799.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761128
2025-08-22T16:56:39.336Z,1755881799.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:39.339Z,1755881799.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:39.341Z,1755881799.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 202.458511 m,
      bearing: 49.946463 deg,
      approach rate: -0.602841 m/s,
      LOS rate: -0.006271 deg/s,
      cmd heading: 38.976198 deg,
      new cmd heading: 38.971597 deg.

2025-08-22T16:56:39.343Z,1755881799.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680183 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:39.475Z,1755881799.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012847
2025-08-22T16:56:39.730Z,1755881799.730 [DAT](INFO): DAT read: Rx Time:16:56:40.2978

2025-08-22T16:56:39.732Z,1755881799.732 [DAT](INFO): Rx dataTimestamp_ set to:1755881799.730456
2025-08-22T16:56:39.734Z,1755881799.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271300
2025-08-22T16:56:39.845Z,1755881799.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:39.848Z,1755881799.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 202.172287 m,
      bearing: 49.943464 deg,
      approach rate: -0.565160 m/s,
      LOS rate: -0.005930 deg/s,
      cmd heading: 38.971598 deg,
      new cmd heading: 38.965591 deg.

2025-08-22T16:56:39.849Z,1755881799.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680078 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:39.979Z,1755881799.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516733
2025-08-22T16:56:40.236Z,1755881800.236 [DAT](INFO): DAT read: 16:56:40.2978 LVL= 29376, 32049, 32754, 32435, AGC= 70, IDX= 330,-0.24,-2.292, 2.046,-2.639,-2.654, PHS= 0.463,-1.539,-0.029, RAW= 136.3,  12.2, CAL= 135.7,  13.3, ROT=  14.3, -13.3

2025-08-22T16:56:40.237Z,1755881800.237 [DAT](INFO): got valid direction response:
 16:56:40.2978 LVL= 29376, 32049, 32754, 32435, AGC= 70, IDX= 330,-0.24,-2.292, 2.046,-2.639,-2.654, PHS= 0.463,-1.539,-0.029, RAW= 136.3,  12.2, CAL= 135.7,  13.3, ROT=  14.3, -13.3

2025-08-22T16:56:40.238Z,1755881800.238 [DAT](INFO): DAT read: Bearing 193.9,  10.4 (Local)

2025-08-22T16:56:40.239Z,1755881800.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.9,  10.4 (Local)

2025-08-22T16:56:40.240Z,1755881800.240 [DAT](INFO): DAT read: Range 11 to 50 : 187.3 m  (Round-trip  249.8 ms) speed  0.4 m/s

2025-08-22T16:56:40.241Z,1755881800.241 [DAT](INFO): DAT read: user:320>

2025-08-22T16:56:40.242Z,1755881800.242 [DAT](INFO): DAT read: Tx time:16:56:41.3939

2025-08-22T16:56:40.242Z,1755881800.242 [DAT](INFO): Ping request sent.
2025-08-22T16:56:40.242Z,1755881800.242 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:40.242Z,1755881800.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:40.243Z,1755881800.243 [DAT](INFO): direction in FSK: [0.943026,0.240374,0.230050]
2025-08-22T16:56:40.243Z,1755881800.243 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:40.244Z,1755881800.244 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:40.248Z,1755881800.248 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:40.248Z,1755881800.248 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:40.285Z,1755881800.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 187.300003 m,
 deltaT: 3.780154 s,
 deltaX: -45.599991 m,
 approachRate: -12.062998 m/s,
 rangeRepo size: 4
2025-08-22T16:56:40.294Z,1755881800.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:40.296Z,1755881800.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 201.953171 m,
      bearing: 49.941141 deg,
      approach rate: -0.498885 m/s,
      LOS rate: -0.005295 deg/s,
      cmd heading: 38.965591 deg,
      new cmd heading: 38.960940 deg.

2025-08-22T16:56:40.302Z,1755881800.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679997 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:40.674Z,1755881800.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:40.677Z,1755881800.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 201.713577 m,
      bearing: 49.938559 deg,
      approach rate: -0.614251 m/s,
      LOS rate: -0.006629 deg/s,
      cmd heading: 38.960939 deg,
      new cmd heading: 38.955768 deg.

2025-08-22T16:56:40.688Z,1755881800.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679906 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:41.079Z,1755881801.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:41.082Z,1755881801.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 201.474182 m,
      bearing: 49.936253 deg,
      approach rate: -0.591773 m/s,
      LOS rate: -0.005705 deg/s,
      cmd heading: 38.955769 deg,
      new cmd heading: 38.951153 deg.

2025-08-22T16:56:41.083Z,1755881801.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679826 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:41.250Z,1755881801.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:56:41.476Z,1755881801.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:41.478Z,1755881801.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:41.480Z,1755881801.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 201.256348 m,
      bearing: 49.934170 deg,
      approach rate: -0.546199 m/s,
      LOS rate: -0.005229 deg/s,
      cmd heading: 38.951152 deg,
      new cmd heading: 38.946980 deg.

2025-08-22T16:56:41.486Z,1755881801.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679753 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:41.490Z,1755881801.490 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:41.490Z,1755881801.490 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:41.491Z,1755881801.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:41.745Z,1755881801.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502548
2025-08-22T16:56:41.881Z,1755881801.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:41.884Z,1755881801.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 201.026367 m,
      bearing: 49.931145 deg,
      approach rate: -0.570937 m/s,
      LOS rate: -0.007519 deg/s,
      cmd heading: 38.946982 deg,
      new cmd heading: 38.940924 deg.

2025-08-22T16:56:41.885Z,1755881801.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679647 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:41.994Z,1755881801.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752377
2025-08-22T16:56:42.247Z,1755881802.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004662
2025-08-22T16:56:42.255Z,1755881802.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:56:42.364Z,1755881802.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:42.367Z,1755881802.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 200.760910 m,
      bearing: 49.927627 deg,
      approach rate: -0.549068 m/s,
      LOS rate: -0.007286 deg/s,
      cmd heading: 38.940923 deg,
      new cmd heading: 38.933878 deg.

2025-08-22T16:56:42.368Z,1755881802.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679524 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:42.499Z,1755881802.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256456
2025-08-22T16:56:42.753Z,1755881802.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510436
2025-08-22T16:56:42.848Z,1755881802.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:42.851Z,1755881802.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 200.491943 m,
      bearing: 49.923278 deg,
      approach rate: -0.555504 m/s,
      LOS rate: -0.008993 deg/s,
      cmd heading: 38.933878 deg,
      new cmd heading: 38.925169 deg.

2025-08-22T16:56:42.852Z,1755881802.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679372 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:43.003Z,1755881803.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760481
2025-08-22T16:56:43.255Z,1755881803.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012667
2025-08-22T16:56:43.306Z,1755881803.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:43.309Z,1755881803.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 200.237350 m,
      bearing: 49.919180 deg,
      approach rate: -0.555931 m/s,
      LOS rate: -0.008961 deg/s,
      cmd heading: 38.925170 deg,
      new cmd heading: 38.916962 deg.

2025-08-22T16:56:43.310Z,1755881803.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679229 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:43.506Z,1755881803.506 [DAT](INFO): DAT read: Rx Time:16:56:44.1038

2025-08-22T16:56:43.507Z,1755881803.507 [DAT](INFO): Rx dataTimestamp_ set to:1755881803.506661
2025-08-22T16:56:43.507Z,1755881803.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265449
2025-08-22T16:56:43.740Z,1755881803.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:43.749Z,1755881803.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.42 m.
2025-08-22T16:56:43.770Z,1755881803.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518767
2025-08-22T16:56:43.776Z,1755881803.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.420975 m,
      nav range: 200.008682 m,
      bearing: 49.915490 deg,
      approach rate: -0.518346 m/s,
      LOS rate: -0.008374 deg/s,
      cmd heading: 38.916963 deg,
      new cmd heading: 38.909574 deg.

2025-08-22T16:56:43.790Z,1755881803.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679100 target range: 231.420975 and range: 232.90 m.
2025-08-22T16:56:44.020Z,1755881804.020 [DAT](INFO): DAT read: 16:56:44.1038 LVL= 32096, 32753, 32754, 32755, AGC= 70, IDX= 200,-0.46, 0.424,-1.483, 0.075, 0.077, PHS= 0.449,-1.514,-0.046, RAW= 136.0,  12.5, CAL= 135.3,  13.6, ROT=  14.7, -13.6

2025-08-22T16:56:44.027Z,1755881804.027 [DAT](INFO): got valid direction response:
 16:56:44.1038 LVL= 32096, 32753, 32754, 32755, AGC= 70, IDX= 200,-0.46, 0.424,-1.483, 0.075, 0.077, PHS= 0.449,-1.514,-0.046, RAW= 136.0,  12.5, CAL= 135.3,  13.6, ROT=  14.7, -13.6

2025-08-22T16:56:44.028Z,1755881804.028 [DAT](INFO): DAT read: Bearing 195.5,  11.0 (Local)

2025-08-22T16:56:44.029Z,1755881804.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.5,  11.0 (Local)

2025-08-22T16:56:44.031Z,1755881804.031 [DAT](INFO): DAT read: Range 11 to 50 : 229.2 m  (Round-trip  305.7 ms) speed  0.4 m/s

2025-08-22T16:56:44.032Z,1755881804.032 [DAT](INFO): DAT read: user:321>

2025-08-22T16:56:44.033Z,1755881804.033 [DAT](INFO): DAT read: Tx time:16:56:45.1939

2025-08-22T16:56:44.039Z,1755881804.039 [DAT](INFO): Ping request sent.
2025-08-22T16:56:44.039Z,1755881804.039 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:44.039Z,1755881804.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:44.040Z,1755881804.040 [DAT](INFO): direction in FSK: [0.940147,0.246643,0.235142]
2025-08-22T16:56:44.040Z,1755881804.040 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:44.041Z,1755881804.041 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:44.048Z,1755881804.048 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:44.049Z,1755881804.049 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:44.247Z,1755881804.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.199997 m,
      deltaT: 7.561614 s,
      deltaX: -3.699997 m,
      approachRate: -0.489313 m/s,
      rangeRepo size: 4

2025-08-22T16:56:44.249Z,1755881804.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.745438 m,
      bearing: 52.361299 deg,
      lat: 36.779464 deg,
      lon: -121.859461 deg,
      deltaT: 7.561614 s,
      deltaX: -3.675537 m,
      approachRate: -0.486078 m/s,
      posRepo size: 4

2025-08-22T16:56:44.254Z,1755881804.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:44.257Z,1755881804.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 195.623810 m,
      bearing: 51.347150 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008374 deg/s,
      cmd heading: 38.909573 deg,
      new cmd heading: 38.901212 deg.

2025-08-22T16:56:44.278Z,1755881804.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678954 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:44.587Z,1755881804.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:44.590Z,1755881804.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 195.418549 m,
      bearing: 51.346533 deg,
      approach rate: -0.601900 m/s,
      LOS rate: -0.001810 deg/s,
      cmd heading: 38.901213 deg,
      new cmd heading: 38.899978 deg.

2025-08-22T16:56:44.592Z,1755881804.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678933 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:45.043Z,1755881805.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:45.050Z,1755881805.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 195.174835 m,
      bearing: 51.345400 deg,
      approach rate: -0.534697 m/s,
      LOS rate: -0.002489 deg/s,
      cmd heading: 38.899980 deg,
      new cmd heading: 38.897711 deg.

2025-08-22T16:56:45.051Z,1755881805.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678893 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:45.396Z,1755881805.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:45.399Z,1755881805.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 194.966614 m,
      bearing: 51.344432 deg,
      approach rate: -0.590376 m/s,
      LOS rate: -0.002747 deg/s,
      cmd heading: 38.897712 deg,
      new cmd heading: 38.895774 deg.

2025-08-22T16:56:45.400Z,1755881805.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678859 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:45.870Z,1755881805.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:45.872Z,1755881805.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:45.875Z,1755881805.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 194.704514 m,
      bearing: 51.343304 deg,
      approach rate: -0.550552 m/s,
      LOS rate: -0.002373 deg/s,
      cmd heading: 38.895776 deg,
      new cmd heading: 38.893516 deg.

2025-08-22T16:56:45.876Z,1755881805.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678820 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:46.026Z,1755881806.026 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:46.026Z,1755881806.026 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:46.027Z,1755881806.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:46.235Z,1755881806.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:46.258Z,1755881806.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 194.507034 m,
      bearing: 51.342452 deg,
      approach rate: -0.544086 m/s,
      LOS rate: -0.002350 deg/s,
      cmd heading: 38.893515 deg,
      new cmd heading: 38.891809 deg.

2025-08-22T16:56:46.259Z,1755881806.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678790 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:46.279Z,1755881806.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239575
2025-08-22T16:56:46.531Z,1755881806.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491696
2025-08-22T16:56:46.640Z,1755881806.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:46.647Z,1755881806.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 194.289917 m,
      bearing: 51.341568 deg,
      approach rate: -0.535555 m/s,
      LOS rate: -0.002183 deg/s,
      cmd heading: 38.891807 deg,
      new cmd heading: 38.890038 deg.

2025-08-22T16:56:46.648Z,1755881806.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678759 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:46.783Z,1755881806.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743559
2025-08-22T16:56:47.035Z,1755881807.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996448
2025-08-22T16:56:47.059Z,1755881807.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:47.066Z,1755881807.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 194.049805 m,
      bearing: 51.342593 deg,
      approach rate: -0.573338 m/s,
      LOS rate: 0.002450 deg/s,
      cmd heading: 38.890038 deg,
      new cmd heading: 38.892091 deg.

2025-08-22T16:56:47.067Z,1755881807.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678795 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:47.286Z,1755881807.286 [DAT](INFO): DAT read: Rx Time:16:56:47.8719

2025-08-22T16:56:47.287Z,1755881807.287 [DAT](INFO): Rx dataTimestamp_ set to:1755881807.286680
2025-08-22T16:56:47.287Z,1755881807.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248483
2025-08-22T16:56:47.419Z,1755881807.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:47.422Z,1755881807.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 193.842758 m,
      bearing: 51.343508 deg,
      approach rate: -0.574859 m/s,
      LOS rate: 0.002544 deg/s,
      cmd heading: 38.892091 deg,
      new cmd heading: 38.893923 deg.

2025-08-22T16:56:47.423Z,1755881807.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678827 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:47.539Z,1755881807.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499789
2025-08-22T16:56:47.820Z,1755881807.820 [DAT](INFO): DAT read: 16:56:47.8719 LVL= 28800, 30321, 27378, 27475, AGC= 72, IDX= 113,-0.18, 0.017,-1.412, 0.022,-0.913, PHS= 1.032,-0.454, 0.891, RAW= 145.1, -20.1, CAL= 146.3, -22.6, ROT=   3.7,  22.6

2025-08-22T16:56:47.832Z,1755881807.832 [DAT](INFO): got valid direction response:
 16:56:47.8719 LVL= 28800, 30321, 27378, 27475, AGC= 72, IDX= 113,-0.18, 0.017,-1.412, 0.022,-0.913, PHS= 1.032,-0.454, 0.891, RAW= 145.1, -20.1, CAL= 146.3, -22.6, ROT=   3.7,  22.6

2025-08-22T16:56:47.844Z,1755881807.844 [DAT](INFO): DAT read: Bearing 160.9,  -0.4 (Local)

2025-08-22T16:56:47.845Z,1755881807.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9,  -0.4 (Local)

2025-08-22T16:56:47.866Z,1755881807.866 [DAT](INFO): DAT read: Range 11 to 50 : 205.4 m  (Round-trip  273.9 ms) speed  0.5 m/s

2025-08-22T16:56:47.867Z,1755881807.867 [DAT](INFO): DAT read: user:322>

2025-08-22T16:56:47.867Z,1755881807.867 [DAT](INFO): DAT read: Tx time:16:56:48.9939

2025-08-22T16:56:47.868Z,1755881807.868 [DAT](INFO): Ping request sent.
2025-08-22T16:56:47.868Z,1755881807.868 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:47.868Z,1755881807.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:47.869Z,1755881807.869 [DAT](INFO): direction in FSK: [0.921286,0.059577,-0.384295]
2025-08-22T16:56:47.869Z,1755881807.869 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:47.874Z,1755881807.874 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:47.877Z,1755881807.877 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:47.877Z,1755881807.877 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:48.003Z,1755881808.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 205.399994 m,
 deltaT: 3.778484 s,
 deltaX: -23.800003 m,
 approachRate: -6.298823 m/s,
 rangeRepo size: 4
2025-08-22T16:56:48.003Z,1755881808.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:48.010Z,1755881808.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 193.542648 m,
      bearing: 51.344008 deg,
      approach rate: -0.522686 m/s,
      LOS rate: 0.000872 deg/s,
      cmd heading: 38.893925 deg,
      new cmd heading: 38.894926 deg.

2025-08-22T16:56:48.011Z,1755881808.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678845 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:48.273Z,1755881808.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:48.275Z,1755881808.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:48.279Z,1755881808.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 193.375519 m,
      bearing: 51.344365 deg,
      approach rate: -0.592956 m/s,
      LOS rate: 0.001269 deg/s,
      cmd heading: 38.894925 deg,
      new cmd heading: 38.895641 deg.

2025-08-22T16:56:48.280Z,1755881808.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678857 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:48.302Z,1755881808.302 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:48.302Z,1755881808.302 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:48.303Z,1755881808.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:48.555Z,1755881808.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.686754
2025-08-22T16:56:48.682Z,1755881808.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:48.685Z,1755881808.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 193.153152 m,
      bearing: 51.344852 deg,
      approach rate: -0.546717 m/s,
      LOS rate: 0.001199 deg/s,
      cmd heading: 38.895639 deg,
      new cmd heading: 38.896615 deg.

2025-08-22T16:56:48.702Z,1755881808.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678874 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:48.810Z,1755881808.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.941277
2025-08-22T16:56:49.058Z,1755881809.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190694
2025-08-22T16:56:49.142Z,1755881809.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:49.144Z,1755881809.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 192.914017 m,
      bearing: 51.345467 deg,
      approach rate: -0.520552 m/s,
      LOS rate: 0.001339 deg/s,
      cmd heading: 38.896616 deg,
      new cmd heading: 38.897846 deg.

2025-08-22T16:56:49.145Z,1755881809.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678895 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:49.311Z,1755881809.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442774
2025-08-22T16:56:49.481Z,1755881809.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:49.484Z,1755881809.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 192.718399 m,
      bearing: 51.345980 deg,
      approach rate: -0.575864 m/s,
      LOS rate: 0.001511 deg/s,
      cmd heading: 38.897845 deg,
      new cmd heading: 38.898872 deg.

2025-08-22T16:56:49.485Z,1755881809.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678913 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:49.563Z,1755881809.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694750
2025-08-22T16:56:49.815Z,1755881809.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947088
2025-08-22T16:56:49.942Z,1755881809.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:49.945Z,1755881809.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 192.460815 m,
      bearing: 51.346424 deg,
      approach rate: -0.559416 m/s,
      LOS rate: 0.000966 deg/s,
      cmd heading: 38.898873 deg,
      new cmd heading: 38.899763 deg.

2025-08-22T16:56:49.946Z,1755881809.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678929 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:50.067Z,1755881810.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198759
2025-08-22T16:56:50.293Z,1755881810.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:50.311Z,1755881810.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:50.319Z,1755881810.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450833
2025-08-22T16:56:50.319Z,1755881810.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 192.263824 m,
      bearing: 51.346756 deg,
      approach rate: -0.533318 m/s,
      LOS rate: 0.000900 deg/s,
      cmd heading: 38.899765 deg,
      new cmd heading: 38.900430 deg.

2025-08-22T16:56:50.320Z,1755881810.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678941 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:50.571Z,1755881810.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702745
2025-08-22T16:56:50.713Z,1755881810.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:50.716Z,1755881810.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 192.029083 m,
      bearing: 51.347153 deg,
      approach rate: -0.583832 m/s,
      LOS rate: 0.000988 deg/s,
      cmd heading: 38.900431 deg,
      new cmd heading: 38.901225 deg.

2025-08-22T16:56:50.717Z,1755881810.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678954 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:50.823Z,1755881810.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954981
2025-08-22T16:56:51.075Z,1755881811.075 [DAT](INFO): DAT read: Rx Time:16:56:51.6695

2025-08-22T16:56:51.075Z,1755881811.075 [DAT](INFO): Rx dataTimestamp_ set to:1755881811.074740
2025-08-22T16:56:51.076Z,1755881811.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207802
2025-08-22T16:56:51.176Z,1755881811.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.75 m.
2025-08-22T16:56:51.184Z,1755881811.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.745438 m,
      nav range: 191.781326 m,
      bearing: 51.347811 deg,
      approach rate: -0.535884 m/s,
      LOS rate: 0.001426 deg/s,
      cmd heading: 38.901226 deg,
      new cmd heading: 38.902545 deg.

2025-08-22T16:56:51.190Z,1755881811.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678977 target range: 227.745438 and range: 229.20 m.
2025-08-22T16:56:51.327Z,1755881811.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459167
2025-08-22T16:56:51.591Z,1755881811.591 [DAT](INFO): DAT read: 16:56:51.6695 LVL= 29264, 32753, 32754, 32755, AGC= 70, IDX= 118,-0.14, 0.514,-1.303, 0.242, 0.192, PHS= 0.424,-1.450, 0.006, RAW= 137.7,  12.0, CAL= 137.1,  13.0, ROT=  12.9, -13.0

2025-08-22T16:56:51.593Z,1755881811.593 [DAT](INFO): got valid direction response:
 16:56:51.6695 LVL= 29264, 32753, 32754, 32755, AGC= 70, IDX= 118,-0.14, 0.514,-1.303, 0.242, 0.192, PHS= 0.424,-1.450, 0.006, RAW= 137.7,  12.0, CAL= 137.1,  13.0, ROT=  12.9, -13.0

2025-08-22T16:56:51.595Z,1755881811.595 [DAT](INFO): DAT read: Bearing 197.6,  10.2 (Local)

2025-08-22T16:56:51.595Z,1755881811.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6,  10.2 (Local)

2025-08-22T16:56:51.598Z,1755881811.598 [DAT](INFO): DAT read: Range 11 to 50 : 203.5 m  (Round-trip  271.4 ms) speed  0.4 m/s

2025-08-22T16:56:51.598Z,1755881811.598 [DAT](INFO): DAT read: user:323>

2025-08-22T16:56:51.600Z,1755881811.600 [DAT](INFO): DAT read: Tx time:16:56:52.7939

2025-08-22T16:56:51.600Z,1755881811.600 [DAT](INFO): Ping request sent.
2025-08-22T16:56:51.601Z,1755881811.601 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:51.601Z,1755881811.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:51.604Z,1755881811.604 [DAT](INFO): direction in FSK: [0.949778,0.217528,0.224951]
2025-08-22T16:56:51.604Z,1755881811.604 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:51.605Z,1755881811.605 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:51.615Z,1755881811.615 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:51.615Z,1755881811.615 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:51.632Z,1755881811.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.500000 m,
      deltaT: 7.566586 s,
      deltaX: -25.699997 m,
      approachRate: -3.396512 m/s,
      rangeRepo size: 4

2025-08-22T16:56:51.639Z,1755881811.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 202.208298 m,
      bearing: 50.448455 deg,
      lat: 36.779539 deg,
      lon: -121.859461 deg,
      deltaT: 7.566586 s,
      deltaX: -25.537140 m,
      approachRate: -3.374988 m/s,
      posRepo size: 4

2025-08-22T16:56:51.639Z,1755881811.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:51.646Z,1755881811.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 196.945206 m,
      bearing: 49.433688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001426 deg/s,
      cmd heading: 38.902545 deg,
      new cmd heading: 38.903846 deg.

2025-08-22T16:56:51.647Z,1755881811.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679000 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:52.067Z,1755881812.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:52.073Z,1755881812.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 196.656204 m,
      bearing: 49.430678 deg,
      approach rate: -0.664432 m/s,
      LOS rate: -0.006930 deg/s,
      cmd heading: 38.903846 deg,
      new cmd heading: 38.897817 deg.

2025-08-22T16:56:52.074Z,1755881812.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678895 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:52.428Z,1755881812.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:52.431Z,1755881812.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:52.433Z,1755881812.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 196.452698 m,
      bearing: 49.428606 deg,
      approach rate: -0.559253 m/s,
      LOS rate: -0.005701 deg/s,
      cmd heading: 38.897818 deg,
      new cmd heading: 38.893669 deg.

2025-08-22T16:56:52.435Z,1755881812.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678823 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:52.587Z,1755881812.587 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:52.587Z,1755881812.587 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:52.588Z,1755881812.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:52.839Z,1755881812.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238300
2025-08-22T16:56:52.857Z,1755881812.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:52.860Z,1755881812.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 196.220139 m,
      bearing: 49.426232 deg,
      approach rate: -0.545077 m/s,
      LOS rate: -0.005570 deg/s,
      cmd heading: 38.893669 deg,
      new cmd heading: 38.888916 deg.

2025-08-22T16:56:52.861Z,1755881812.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678740 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:53.092Z,1755881813.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491678
2025-08-22T16:56:53.261Z,1755881813.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:53.264Z,1755881813.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 195.997803 m,
      bearing: 49.422673 deg,
      approach rate: -0.555833 m/s,
      LOS rate: -0.008908 deg/s,
      cmd heading: 38.888915 deg,
      new cmd heading: 38.881789 deg.

2025-08-22T16:56:53.264Z,1755881813.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678615 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:53.343Z,1755881813.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742814
2025-08-22T16:56:53.596Z,1755881813.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995335
2025-08-22T16:56:53.640Z,1755881813.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:53.643Z,1755881813.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 195.773544 m,
      bearing: 49.419034 deg,
      approach rate: -0.585548 m/s,
      LOS rate: -0.009513 deg/s,
      cmd heading: 38.881788 deg,
      new cmd heading: 38.874501 deg.

2025-08-22T16:56:53.644Z,1755881813.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678488 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:53.847Z,1755881813.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246802
2025-08-22T16:56:54.100Z,1755881814.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499517
2025-08-22T16:56:54.159Z,1755881814.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:54.163Z,1755881814.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 195.484360 m,
      bearing: 49.415878 deg,
      approach rate: -0.558261 m/s,
      LOS rate: -0.006100 deg/s,
      cmd heading: 38.874500 deg,
      new cmd heading: 38.868180 deg.

2025-08-22T16:56:54.165Z,1755881814.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678378 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:54.351Z,1755881814.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750480
2025-08-22T16:56:54.515Z,1755881814.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:54.517Z,1755881814.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:54.519Z,1755881814.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 195.282501 m,
      bearing: 49.413672 deg,
      approach rate: -0.563105 m/s,
      LOS rate: -0.006160 deg/s,
      cmd heading: 38.868178 deg,
      new cmd heading: 38.863762 deg.

2025-08-22T16:56:54.520Z,1755881814.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678301 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:54.605Z,1755881814.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003882
2025-08-22T16:56:54.854Z,1755881814.854 [DAT](INFO): DAT read: Rx Time:16:56:55.4663

2025-08-22T16:56:54.855Z,1755881814.855 [DAT](INFO): Rx dataTimestamp_ set to:1755881814.854641
2025-08-22T16:56:54.855Z,1755881814.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255193
2025-08-22T16:56:54.995Z,1755881814.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.21 m.
2025-08-22T16:56:54.997Z,1755881814.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 202.208298 m,
      nav range: 195.015579 m,
      bearing: 49.410767 deg,
      approach rate: -0.558584 m/s,
      LOS rate: -0.006088 deg/s,
      cmd heading: 38.863763 deg,
      new cmd heading: 38.857944 deg.

2025-08-22T16:56:55.002Z,1755881815.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678199 target range: 202.208298 and range: 203.50 m.
2025-08-22T16:56:55.107Z,1755881815.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506636
2025-08-22T16:56:55.372Z,1755881815.372 [DAT](INFO): DAT read: 16:56:55.4663 LVL= 32576, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.07, 1.713,-0.244, 1.389, 1.357, PHS= 0.458,-1.556,-0.012, RAW= 137.1,  12.1, CAL= 136.5,  13.2, ROT=  13.5, -13.2

2025-08-22T16:56:55.373Z,1755881815.373 [DAT](INFO): got valid direction response:
 16:56:55.4663 LVL= 32576, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.07, 1.713,-0.244, 1.389, 1.357, PHS= 0.458,-1.556,-0.012, RAW= 137.1,  12.1, CAL= 136.5,  13.2, ROT=  13.5, -13.2

2025-08-22T16:56:55.379Z,1755881815.379 [DAT](INFO): DAT read: Bearing 198.9,  11.3 (Local)

2025-08-22T16:56:55.379Z,1755881815.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.9,  11.3 (Local)

2025-08-22T16:56:55.380Z,1755881815.380 [DAT](INFO): DAT read: Range 11 to 50 : 201.2 m  (Round-trip  268.3 ms) speed  0.6 m/s

2025-08-22T16:56:55.381Z,1755881815.381 [DAT](INFO): DAT read: user:324>

2025-08-22T16:56:55.390Z,1755881815.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:55.391Z,1755881815.391 [DAT](INFO): direction in FSK: [0.946679,0.227277,0.228351]
2025-08-22T16:56:55.391Z,1755881815.391 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:55.418Z,1755881815.418 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:56:55.418Z,1755881815.418 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:56:55.419Z,1755881815.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:56:55.478Z,1755881815.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.199997 m,
      deltaT: 3.781904 s,
      deltaX: -2.300003 m,
      approachRate: -0.608160 m/s,
      rangeRepo size: 4

2025-08-22T16:56:55.480Z,1755881815.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.922089 m,
      bearing: 51.076923 deg,
      lat: 36.779528 deg,
      lon: -121.859416 deg,
      deltaT: 3.781904 s,
      deltaX: -2.286209 m,
      approachRate: -0.604513 m/s,
      posRepo size: 4

2025-08-22T16:56:55.481Z,1755881815.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:55.488Z,1755881815.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 196.973190 m,
      bearing: 50.434951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006088 deg/s,
      cmd heading: 38.857943 deg,
      new cmd heading: 38.852115 deg.

2025-08-22T16:56:55.489Z,1755881815.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678097 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:55.611Z,1755881815.611 [DAT](INFO): DAT read: Tx time:16:56:56.5938

2025-08-22T16:56:55.611Z,1755881815.611 [DAT](INFO): Ping request sent.
2025-08-22T16:56:55.611Z,1755881815.611 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:55.611Z,1755881815.611 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:55.612Z,1755881815.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-22T16:56:55.764Z,1755881815.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:55.771Z,1755881815.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 196.803070 m,
      bearing: 50.433959 deg,
      approach rate: -0.584998 m/s,
      LOS rate: -0.003415 deg/s,
      cmd heading: 38.852114 deg,
      new cmd heading: 38.850128 deg.

2025-08-22T16:56:55.772Z,1755881815.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678063 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:55.863Z,1755881815.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252207
2025-08-22T16:56:56.115Z,1755881816.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503447
2025-08-22T16:56:56.198Z,1755881816.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:56.200Z,1755881816.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 196.558777 m,
      bearing: 50.431647 deg,
      approach rate: -0.563823 m/s,
      LOS rate: -0.005341 deg/s,
      cmd heading: 38.850126 deg,
      new cmd heading: 38.845498 deg.

2025-08-22T16:56:56.201Z,1755881816.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677982 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:56.367Z,1755881816.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755465
2025-08-22T16:56:56.567Z,1755881816.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:56.570Z,1755881816.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:56.576Z,1755881816.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 196.353500 m,
      bearing: 50.429705 deg,
      approach rate: -0.552646 m/s,
      LOS rate: -0.005235 deg/s,
      cmd heading: 38.845499 deg,
      new cmd heading: 38.841610 deg.

2025-08-22T16:56:56.578Z,1755881816.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677914 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:56.619Z,1755881816.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007464
2025-08-22T16:56:56.871Z,1755881816.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259796
2025-08-22T16:56:57.026Z,1755881817.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:57.028Z,1755881817.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 196.113693 m,
      bearing: 50.427411 deg,
      approach rate: -0.529625 m/s,
      LOS rate: -0.005074 deg/s,
      cmd heading: 38.841609 deg,
      new cmd heading: 38.837014 deg.

2025-08-22T16:56:57.029Z,1755881817.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677834 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:57.123Z,1755881817.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512160
2025-08-22T16:56:57.374Z,1755881817.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763395
2025-08-22T16:56:57.424Z,1755881817.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:57.450Z,1755881817.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 195.882477 m,
      bearing: 50.426290 deg,
      approach rate: -0.574529 m/s,
      LOS rate: -0.002788 deg/s,
      cmd heading: 38.837016 deg,
      new cmd heading: 38.834772 deg.

2025-08-22T16:56:57.451Z,1755881817.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677795 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:57.626Z,1755881817.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015382
2025-08-22T16:56:57.803Z,1755881817.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:57.822Z,1755881817.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 195.674683 m,
      bearing: 50.425285 deg,
      approach rate: -0.548180 m/s,
      LOS rate: -0.002655 deg/s,
      cmd heading: 38.834772 deg,
      new cmd heading: 38.832760 deg.

2025-08-22T16:56:57.823Z,1755881817.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677760 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:57.879Z,1755881817.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267523
2025-08-22T16:56:58.131Z,1755881818.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519760
2025-08-22T16:56:58.248Z,1755881818.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:58.271Z,1755881818.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 195.427460 m,
      bearing: 50.423949 deg,
      approach rate: -0.555206 m/s,
      LOS rate: -0.003003 deg/s,
      cmd heading: 38.832760 deg,
      new cmd heading: 38.830086 deg.

2025-08-22T16:56:58.272Z,1755881818.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677713 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:58.383Z,1755881818.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771674
2025-08-22T16:56:58.624Z,1755881818.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:56:58.626Z,1755881818.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:58.629Z,1755881818.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 195.212738 m,
      bearing: 50.422733 deg,
      approach rate: -0.567972 m/s,
      LOS rate: -0.003222 deg/s,
      cmd heading: 38.830086 deg,
      new cmd heading: 38.827650 deg.

2025-08-22T16:56:58.630Z,1755881818.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677670 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:58.646Z,1755881818.646 [DAT](INFO): DAT read: Rx Time:16:56:59.2642

2025-08-22T16:56:58.647Z,1755881818.647 [DAT](INFO): Rx dataTimestamp_ set to:1755881818.646275
2025-08-22T16:56:58.647Z,1755881818.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036020
2025-08-22T16:56:58.895Z,1755881818.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283919
2025-08-22T16:56:59.104Z,1755881819.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.92 m.
2025-08-22T16:56:59.143Z,1755881819.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.922089 m,
      nav range: 194.954010 m,
      bearing: 50.421721 deg,
      approach rate: -0.541230 m/s,
      LOS rate: -0.002120 deg/s,
      cmd heading: 38.827652 deg,
      new cmd heading: 38.825625 deg.

2025-08-22T16:56:59.150Z,1755881819.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538312
2025-08-22T16:56:59.155Z,1755881819.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677635 target range: 199.922089 and range: 201.20 m.
2025-08-22T16:56:59.406Z,1755881819.406 [DAT](INFO): DAT read: 16:56:59.2642 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.31,-1.363, 3.045,-1.651,-1.727, PHS= 0.466,-1.466, 0.032, RAW= 137.6,  11.0, CAL= 137.1,  12.0, ROT=  12.9, -12.0

2025-08-22T16:56:59.407Z,1755881819.407 [DAT](INFO): got valid direction response:
 16:56:59.2642 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.31,-1.363, 3.045,-1.651,-1.727, PHS= 0.466,-1.466, 0.032, RAW= 137.6,  11.0, CAL= 137.1,  12.0, ROT=  12.9, -12.0

2025-08-22T16:56:59.408Z,1755881819.408 [DAT](INFO): DAT read: Bearing 198.6,  11.6 (Local)

2025-08-22T16:56:59.409Z,1755881819.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,  11.6 (Local)

2025-08-22T16:56:59.410Z,1755881819.410 [DAT](INFO): DAT read: Range 11 to 50 : 199.7 m  (Round-trip  266.3 ms) speed  0.7 m/s

2025-08-22T16:56:59.411Z,1755881819.411 [DAT](INFO): DAT read: user:325>

2025-08-22T16:56:59.411Z,1755881819.411 [DAT](INFO): DAT read: Tx time:16:57:00.3938

2025-08-22T16:56:59.412Z,1755881819.412 [DAT](INFO): Ping request sent.
2025-08-22T16:56:59.412Z,1755881819.412 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:56:59.412Z,1755881819.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:56:59.413Z,1755881819.413 [DAT](INFO): direction in FSK: [0.953460,0.218372,0.207912]
2025-08-22T16:56:59.414Z,1755881819.414 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:59.414Z,1755881819.414 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:59.417Z,1755881819.417 [DAT](INFO): publishing transmit ping time
2025-08-22T16:56:59.418Z,1755881819.418 [DAT](INFO): publishing direction and range info
2025-08-22T16:56:59.563Z,1755881819.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.699997 m,
      deltaT: 4.038577 s,
      deltaX: -1.500000 m,
      approachRate: -0.371418 m/s,
      rangeRepo size: 4

2025-08-22T16:56:59.576Z,1755881819.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.432602 m,
      bearing: 50.669095 deg,
      lat: 36.779527 deg,
      lon: -121.859416 deg,
      deltaT: 4.038577 s,
      deltaX: -1.489487 m,
      approachRate: -0.368815 m/s,
      posRepo size: 4

2025-08-22T16:56:59.577Z,1755881819.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:56:59.590Z,1755881819.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 194.599075 m,
      bearing: 50.461649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002120 deg/s,
      cmd heading: 38.825626 deg,
      new cmd heading: 38.823685 deg.

2025-08-22T16:56:59.592Z,1755881819.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677601 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:56:59.936Z,1755881819.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:56:59.939Z,1755881819.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 194.377731 m,
      bearing: 50.460835 deg,
      approach rate: -0.591691 m/s,
      LOS rate: -0.002178 deg/s,
      cmd heading: 38.823687 deg,
      new cmd heading: 38.822057 deg.

2025-08-22T16:56:59.940Z,1755881819.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677573 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:00.358Z,1755881820.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:00.361Z,1755881820.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 194.144318 m,
      bearing: 50.460035 deg,
      approach rate: -0.552907 m/s,
      LOS rate: -0.001896 deg/s,
      cmd heading: 38.822058 deg,
      new cmd heading: 38.820457 deg.

2025-08-22T16:57:00.362Z,1755881820.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677545 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:00.737Z,1755881820.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:00.739Z,1755881820.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:00.742Z,1755881820.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 193.933090 m,
      bearing: 50.459317 deg,
      approach rate: -0.554369 m/s,
      LOS rate: -0.001887 deg/s,
      cmd heading: 38.820456 deg,
      new cmd heading: 38.819018 deg.

2025-08-22T16:57:00.743Z,1755881820.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677520 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:00.910Z,1755881820.910 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:00.910Z,1755881820.910 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:00.911Z,1755881820.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:01.163Z,1755881821.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751318
2025-08-22T16:57:01.197Z,1755881821.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:01.199Z,1755881821.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 193.672592 m,
      bearing: 50.458619 deg,
      approach rate: -0.569741 m/s,
      LOS rate: -0.001529 deg/s,
      cmd heading: 38.819018 deg,
      new cmd heading: 38.817620 deg.

2025-08-22T16:57:01.200Z,1755881821.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677495 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:01.415Z,1755881821.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003144
2025-08-22T16:57:01.546Z,1755881821.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:01.549Z,1755881821.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 193.473053 m,
      bearing: 50.458108 deg,
      approach rate: -0.570516 m/s,
      LOS rate: -0.001462 deg/s,
      cmd heading: 38.817621 deg,
      new cmd heading: 38.816599 deg.

2025-08-22T16:57:01.567Z,1755881821.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677477 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:01.671Z,1755881821.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259339
2025-08-22T16:57:01.923Z,1755881821.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510636
2025-08-22T16:57:01.954Z,1755881821.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:01.956Z,1755881821.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 193.241318 m,
      bearing: 50.457504 deg,
      approach rate: -0.569241 m/s,
      LOS rate: -0.001486 deg/s,
      cmd heading: 38.816600 deg,
      new cmd heading: 38.815391 deg.

2025-08-22T16:57:01.957Z,1755881821.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677456 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:02.176Z,1755881822.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763546
2025-08-22T16:57:02.384Z,1755881822.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:02.386Z,1755881822.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 192.998413 m,
      bearing: 50.456052 deg,
      approach rate: -0.564926 m/s,
      LOS rate: -0.003382 deg/s,
      cmd heading: 38.815391 deg,
      new cmd heading: 38.812483 deg.

2025-08-22T16:57:02.387Z,1755881822.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677406 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:02.427Z,1755881822.427 [DAT](INFO): DAT read: Rx Time:16:57:03.0309

2025-08-22T16:57:02.427Z,1755881822.427 [DAT](INFO): Rx dataTimestamp_ set to:1755881822.427015
2025-08-22T16:57:02.428Z,1755881822.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015997
2025-08-22T16:57:02.679Z,1755881822.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266935
2025-08-22T16:57:02.792Z,1755881822.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:02.799Z,1755881822.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:02.801Z,1755881822.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 192.779861 m,
      bearing: 50.454738 deg,
      approach rate: -0.526543 m/s,
      LOS rate: -0.003168 deg/s,
      cmd heading: 38.812482 deg,
      new cmd heading: 38.809852 deg.

2025-08-22T16:57:02.809Z,1755881822.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677360 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:02.945Z,1755881822.945 [DAT](INFO): DAT read: 16:57:03.0309 LVL= 32752, 32753, 32530, 32755, AGC= 70, IDX= 409,-0.21, 1.803, 0.622, 1.983, 0.838, PHS= 1.067,-0.171, 1.101, RAW= 151.4, -29.4, CAL= 152.7, -30.2, ROT= 357.3,  30.2

2025-08-22T16:57:02.946Z,1755881822.946 [DAT](INFO): got valid direction response:
 16:57:03.0309 LVL= 32752, 32753, 32530, 32755, AGC= 70, IDX= 409,-0.21, 1.803, 0.622, 1.983, 0.838, PHS= 1.067,-0.171, 1.101, RAW= 151.4, -29.4, CAL= 152.7, -30.2, ROT= 357.3,  30.2

2025-08-22T16:57:02.947Z,1755881822.947 [DAT](INFO): DAT read: Bearing 156.9,  -3.9 (Local)

2025-08-22T16:57:02.947Z,1755881822.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,  -3.9 (Local)

2025-08-22T16:57:02.949Z,1755881822.949 [DAT](INFO): DAT read: Range 11 to 50 : 174.7 m  (Round-trip  233.0 ms) speed  0.7 m/s

2025-08-22T16:57:02.950Z,1755881822.950 [DAT](INFO): DAT read: user:326>

2025-08-22T16:57:02.950Z,1755881822.950 [DAT](INFO): DAT read: Tx time:16:57:04.1438

2025-08-22T16:57:02.951Z,1755881822.951 [DAT](INFO): Ping request sent.
2025-08-22T16:57:02.951Z,1755881822.951 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:02.951Z,1755881822.951 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:02.952Z,1755881822.952 [DAT](INFO): direction in FSK: [0.863315,-0.040713,-0.503020]
2025-08-22T16:57:02.952Z,1755881822.952 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:02.952Z,1755881822.952 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:02.976Z,1755881822.976 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:02.976Z,1755881822.976 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:03.251Z,1755881823.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 174.699997 m,
 deltaT: 3.532951 s,
 deltaX: -25.000000 m,
 approachRate: -7.076237 m/s,
 rangeRepo size: 4
2025-08-22T16:57:03.251Z,1755881823.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:03.258Z,1755881823.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 192.519608 m,
      bearing: 50.453317 deg,
      approach rate: -0.576336 m/s,
      LOS rate: -0.003152 deg/s,
      cmd heading: 38.809852 deg,
      new cmd heading: 38.807006 deg.

2025-08-22T16:57:03.259Z,1755881823.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677310 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:03.591Z,1755881823.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:03.598Z,1755881823.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 192.332047 m,
      bearing: 50.452286 deg,
      approach rate: -0.550457 m/s,
      LOS rate: -0.003030 deg/s,
      cmd heading: 38.807007 deg,
      new cmd heading: 38.804942 deg.

2025-08-22T16:57:03.599Z,1755881823.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677274 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:03.974Z,1755881823.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:03.976Z,1755881823.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 192.104858 m,
      bearing: 50.451036 deg,
      approach rate: -0.593825 m/s,
      LOS rate: -0.003270 deg/s,
      cmd heading: 38.804941 deg,
      new cmd heading: 38.802439 deg.

2025-08-22T16:57:03.977Z,1755881823.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677230 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:04.398Z,1755881824.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:04.401Z,1755881824.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 191.862991 m,
      bearing: 50.450055 deg,
      approach rate: -0.569157 m/s,
      LOS rate: -0.002313 deg/s,
      cmd heading: 38.802438 deg,
      new cmd heading: 38.800472 deg.

2025-08-22T16:57:04.402Z,1755881824.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677196 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:04.779Z,1755881824.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:04.781Z,1755881824.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 191.646454 m,
      bearing: 50.449192 deg,
      approach rate: -0.569464 m/s,
      LOS rate: -0.002271 deg/s,
      cmd heading: 38.800471 deg,
      new cmd heading: 38.798744 deg.

2025-08-22T16:57:04.782Z,1755881824.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677166 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:05.223Z,1755881825.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:05.242Z,1755881825.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:05.244Z,1755881825.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 191.393433 m,
      bearing: 50.450139 deg,
      approach rate: -0.566476 m/s,
      LOS rate: 0.002122 deg/s,
      cmd heading: 38.798743 deg,
      new cmd heading: 38.800639 deg.

2025-08-22T16:57:05.245Z,1755881825.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677199 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:05.453Z,1755881825.453 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:05.453Z,1755881825.453 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:05.453Z,1755881825.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:05.602Z,1755881825.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:05.604Z,1755881825.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 191.179779 m,
      bearing: 50.450981 deg,
      approach rate: -0.567918 m/s,
      LOS rate: 0.002243 deg/s,
      cmd heading: 38.800638 deg,
      new cmd heading: 38.802326 deg.

2025-08-22T16:57:05.605Z,1755881825.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677228 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:05.703Z,1755881825.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752387
2025-08-22T16:57:05.955Z,1755881825.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003916
2025-08-22T16:57:05.990Z,1755881825.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:05.992Z,1755881825.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 190.959763 m,
      bearing: 50.451874 deg,
      approach rate: -0.567075 m/s,
      LOS rate: 0.002304 deg/s,
      cmd heading: 38.802325 deg,
      new cmd heading: 38.804113 deg.

2025-08-22T16:57:05.993Z,1755881825.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677260 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:06.207Z,1755881826.207 [DAT](INFO): DAT read: Rx Time:16:57:06.7780

2025-08-22T16:57:06.207Z,1755881826.207 [DAT](INFO): Rx dataTimestamp_ set to:1755881826.206823
2025-08-22T16:57:06.208Z,1755881826.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257004
2025-08-22T16:57:06.459Z,1755881826.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508218
2025-08-22T16:57:06.463Z,1755881826.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.43 m.
2025-08-22T16:57:06.466Z,1755881826.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.432602 m,
      nav range: 190.697174 m,
      bearing: 50.451518 deg,
      approach rate: -0.554533 m/s,
      LOS rate: -0.000754 deg/s,
      cmd heading: 38.804111 deg,
      new cmd heading: 38.803397 deg.

2025-08-22T16:57:06.467Z,1755881826.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677247 target range: 198.432602 and range: 199.70 m.
2025-08-22T16:57:06.716Z,1755881826.716 [DAT](INFO): DAT read: 16:57:06.7780 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.47,-0.844,-2.735,-1.107,-1.199, PHS= 0.457,-1.491, 0.047, RAW= 138.5,  11.1, CAL= 138.0,  12.1, ROT=  12.0, -12.1

2025-08-22T16:57:06.717Z,1755881826.717 [DAT](INFO): got valid direction response:
 16:57:06.7780 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.47,-0.844,-2.735,-1.107,-1.199, PHS= 0.457,-1.491, 0.047, RAW= 138.5,  11.1, CAL= 138.0,  12.1, ROT=  12.0, -12.1

2025-08-22T16:57:06.721Z,1755881826.721 [DAT](INFO): DAT read: Bearing 199.4,  12.3 (Local)

2025-08-22T16:57:06.747Z,1755881826.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.4,  12.3 (Local)

2025-08-22T16:57:06.748Z,1755881826.748 [DAT](INFO): DAT read: Range 11 to 50 : 172.5 m  (Round-trip  230.0 ms) speed  0.8 m/s

2025-08-22T16:57:06.749Z,1755881826.749 [DAT](INFO): DAT read: user:327>

2025-08-22T16:57:06.750Z,1755881826.750 [DAT](INFO): DAT read: Tx time:16:57:07.8938

2025-08-22T16:57:06.750Z,1755881826.750 [DAT](INFO): Ping request sent.
2025-08-22T16:57:06.750Z,1755881826.750 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:06.750Z,1755881826.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:06.751Z,1755881826.751 [DAT](INFO): direction in FSK: [0.956416,0.203293,0.209619]
2025-08-22T16:57:06.751Z,1755881826.751 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:06.752Z,1755881826.752 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:06.783Z,1755881826.783 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:06.783Z,1755881826.783 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:06.848Z,1755881826.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 172.500000 m,
      deltaT: 7.311334 s,
      deltaX: -27.199997 m,
      approachRate: -3.720251 m/s,
      rangeRepo size: 4

2025-08-22T16:57:06.854Z,1755881826.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.408142 m,
      bearing: 49.717980 deg,
      lat: 36.779508 deg,
      lon: -121.859416 deg,
      deltaT: 7.311334 s,
      deltaX: -27.024460 m,
      approachRate: -3.696242 m/s,
      posRepo size: 4

2025-08-22T16:57:06.855Z,1755881826.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:06.862Z,1755881826.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 189.208954 m,
      bearing: 50.926368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000754 deg/s,
      cmd heading: 38.803398 deg,
      new cmd heading: 38.802818 deg.

2025-08-22T16:57:06.863Z,1755881826.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677237 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:07.262Z,1755881827.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:07.264Z,1755881827.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:07.270Z,1755881827.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 188.971069 m,
      bearing: 50.926777 deg,
      approach rate: -0.571186 m/s,
      LOS rate: 0.000983 deg/s,
      cmd heading: 38.802817 deg,
      new cmd heading: 38.803636 deg.

2025-08-22T16:57:07.271Z,1755881827.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677251 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:07.469Z,1755881827.469 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:07.469Z,1755881827.469 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:07.470Z,1755881827.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:07.627Z,1755881827.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:07.630Z,1755881827.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 188.760147 m,
      bearing: 50.927151 deg,
      approach rate: -0.579850 m/s,
      LOS rate: 0.001029 deg/s,
      cmd heading: 38.803637 deg,
      new cmd heading: 38.804385 deg.

2025-08-22T16:57:07.631Z,1755881827.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677264 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:07.719Z,1755881827.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969221
2025-08-22T16:57:07.971Z,1755881827.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220508
2025-08-22T16:57:08.054Z,1755881828.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:08.060Z,1755881828.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 188.534088 m,
      bearing: 50.927576 deg,
      approach rate: -0.530710 m/s,
      LOS rate: 0.001000 deg/s,
      cmd heading: 38.804384 deg,
      new cmd heading: 38.805237 deg.

2025-08-22T16:57:08.061Z,1755881828.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677279 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:08.224Z,1755881828.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474083
2025-08-22T16:57:08.475Z,1755881828.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724582
2025-08-22T16:57:08.488Z,1755881828.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:08.491Z,1755881828.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 188.283234 m,
      bearing: 50.927727 deg,
      approach rate: -0.576963 m/s,
      LOS rate: 0.000348 deg/s,
      cmd heading: 38.805238 deg,
      new cmd heading: 38.805540 deg.

2025-08-22T16:57:08.492Z,1755881828.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677284 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:08.728Z,1755881828.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978416
2025-08-22T16:57:08.873Z,1755881828.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:08.876Z,1755881828.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 188.070358 m,
      bearing: 50.927860 deg,
      approach rate: -0.553461 m/s,
      LOS rate: 0.000345 deg/s,
      cmd heading: 38.805539 deg,
      new cmd heading: 38.805804 deg.

2025-08-22T16:57:08.877Z,1755881828.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677289 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:08.979Z,1755881828.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228680
2025-08-22T16:57:09.230Z,1755881829.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480459
2025-08-22T16:57:09.295Z,1755881829.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:09.298Z,1755881829.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:09.300Z,1755881829.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 187.831772 m,
      bearing: 50.928560 deg,
      approach rate: -0.561951 m/s,
      LOS rate: 0.001652 deg/s,
      cmd heading: 38.805805 deg,
      new cmd heading: 38.807208 deg.

2025-08-22T16:57:09.301Z,1755881829.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677314 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:09.484Z,1755881829.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733669
2025-08-22T16:57:09.681Z,1755881829.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:09.684Z,1755881829.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 187.615814 m,
      bearing: 50.929225 deg,
      approach rate: -0.563299 m/s,
      LOS rate: 0.001737 deg/s,
      cmd heading: 38.807209 deg,
      new cmd heading: 38.808540 deg.

2025-08-22T16:57:09.684Z,1755881829.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677337 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:09.736Z,1755881829.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985502
2025-08-22T16:57:09.987Z,1755881829.987 [DAT](INFO): DAT read: Rx Time:16:57:10.5562

2025-08-22T16:57:09.987Z,1755881829.987 [DAT](INFO): Rx dataTimestamp_ set to:1755881829.986707
2025-08-22T16:57:09.988Z,1755881829.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237537
2025-08-22T16:57:10.098Z,1755881830.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:10.101Z,1755881830.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 187.380920 m,
      bearing: 50.929983 deg,
      approach rate: -0.562689 m/s,
      LOS rate: 0.001818 deg/s,
      cmd heading: 38.808541 deg,
      new cmd heading: 38.810058 deg.

2025-08-22T16:57:10.102Z,1755881830.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677363 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:10.239Z,1755881830.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488651
2025-08-22T16:57:10.496Z,1755881830.496 [DAT](INFO): DAT read: 16:57:10.5562 LVL= 31888, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.34, 1.052,-0.849, 0.806, 0.696, PHS= 0.458,-1.500, 0.066, RAW= 139.1,  10.9, CAL= 138.6,  11.9, ROT=  11.4, -11.9

2025-08-22T16:57:10.497Z,1755881830.497 [DAT](INFO): got valid direction response:
 16:57:10.5562 LVL= 31888, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.34, 1.052,-0.849, 0.806, 0.696, PHS= 0.458,-1.500, 0.066, RAW= 139.1,  10.9, CAL= 138.6,  11.9, ROT=  11.4, -11.9

2025-08-22T16:57:10.498Z,1755881830.498 [DAT](INFO): DAT read: Bearing 199.9,  12.4 (Local)

2025-08-22T16:57:10.498Z,1755881830.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.9,  12.4 (Local)

2025-08-22T16:57:10.500Z,1755881830.500 [DAT](INFO): DAT read: Range 11 to 50 : 193.7 m  (Round-trip  258.3 ms) speed  0.4 m/s

2025-08-22T16:57:10.500Z,1755881830.500 [DAT](INFO): DAT read: user:328>

2025-08-22T16:57:10.501Z,1755881830.501 [DAT](INFO): DAT read: Tx time:16:57:11.6438

2025-08-22T16:57:10.501Z,1755881830.501 [DAT](INFO): Ping request sent.
2025-08-22T16:57:10.502Z,1755881830.502 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:10.502Z,1755881830.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:10.503Z,1755881830.503 [DAT](INFO): direction in FSK: [0.959204,0.193409,0.206204]
2025-08-22T16:57:10.503Z,1755881830.503 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:10.503Z,1755881830.503 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:10.511Z,1755881830.511 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:10.511Z,1755881830.511 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:10.648Z,1755881830.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 193.699997 m,
 deltaT: 3.779862 s,
 deltaX: 21.199997 m,
 approachRate: 5.608670 m/s,
 rangeRepo size: 4
2025-08-22T16:57:10.649Z,1755881830.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:10.664Z,1755881830.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 187.091400 m,
      bearing: 50.928442 deg,
      approach rate: -0.527278 m/s,
      LOS rate: -0.002810 deg/s,
      cmd heading: 38.810057 deg,
      new cmd heading: 38.806971 deg.

2025-08-22T16:57:10.664Z,1755881830.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677309 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:11.012Z,1755881831.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:11.015Z,1755881831.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 186.894287 m,
      bearing: 50.927391 deg,
      approach rate: -0.539957 m/s,
      LOS rate: -0.002883 deg/s,
      cmd heading: 38.806970 deg,
      new cmd heading: 38.804865 deg.

2025-08-22T16:57:11.016Z,1755881831.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677273 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:11.404Z,1755881831.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:11.406Z,1755881831.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:11.409Z,1755881831.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 186.661499 m,
      bearing: 50.927179 deg,
      approach rate: -0.591020 m/s,
      LOS rate: -0.000540 deg/s,
      cmd heading: 38.804866 deg,
      new cmd heading: 38.804441 deg.

2025-08-22T16:57:11.410Z,1755881831.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677265 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:11.500Z,1755881831.500 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:11.500Z,1755881831.500 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:11.500Z,1755881831.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:11.755Z,1755881831.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252965
2025-08-22T16:57:11.796Z,1755881831.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:11.799Z,1755881831.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 186.447952 m,
      bearing: 50.926988 deg,
      approach rate: -0.547706 m/s,
      LOS rate: -0.000488 deg/s,
      cmd heading: 38.804439 deg,
      new cmd heading: 38.804058 deg.

2025-08-22T16:57:11.800Z,1755881831.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677259 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:12.007Z,1755881832.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504963
2025-08-22T16:57:12.260Z,1755881832.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758488
2025-08-22T16:57:12.291Z,1755881832.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:12.298Z,1755881832.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 186.172150 m,
      bearing: 50.926962 deg,
      approach rate: -0.557607 m/s,
      LOS rate: -0.000054 deg/s,
      cmd heading: 38.804060 deg,
      new cmd heading: 38.804007 deg.

2025-08-22T16:57:12.299Z,1755881832.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677258 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:12.379Z,1755881832.379 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:57:12.511Z,1755881832.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009643
2025-08-22T16:57:12.604Z,1755881832.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:12.623Z,1755881832.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 185.983749 m,
      bearing: 50.926913 deg,
      approach rate: -0.601872 m/s,
      LOS rate: -0.000156 deg/s,
      cmd heading: 38.804005 deg,
      new cmd heading: 38.803908 deg.

2025-08-22T16:57:12.624Z,1755881832.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677256 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:12.763Z,1755881832.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261353
2025-08-22T16:57:12.996Z,1755881832.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:12.999Z,1755881832.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 185.761551 m,
      bearing: 50.926875 deg,
      approach rate: -0.566545 m/s,
      LOS rate: -0.000098 deg/s,
      cmd heading: 38.803906 deg,
      new cmd heading: 38.803829 deg.

2025-08-22T16:57:12.000Z,1755881833.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677255 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:13.015Z,1755881833.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512995
2025-08-22T16:57:13.268Z,1755881833.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766198
2025-08-22T16:57:13.382Z,1755881833.382 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:57:13.414Z,1755881833.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:13.416Z,1755881833.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:13.435Z,1755881833.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 185.522217 m,
      bearing: 50.927328 deg,
      approach rate: -0.569641 m/s,
      LOS rate: 0.001080 deg/s,
      cmd heading: 38.803828 deg,
      new cmd heading: 38.804735 deg.

2025-08-22T16:57:13.436Z,1755881833.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677270 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:13.519Z,1755881833.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017763
2025-08-22T16:57:13.770Z,1755881833.770 [DAT](INFO): DAT read: Rx Time:16:57:14.3041

2025-08-22T16:57:13.771Z,1755881833.771 [DAT](INFO): Rx dataTimestamp_ set to:1755881833.770677
2025-08-22T16:57:13.771Z,1755881833.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269914
2025-08-22T16:57:13.818Z,1755881833.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.41 m.
2025-08-22T16:57:13.821Z,1755881833.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.408142 m,
      nav range: 185.293045 m,
      bearing: 50.927734 deg,
      approach rate: -0.569733 m/s,
      LOS rate: 0.001011 deg/s,
      cmd heading: 38.804736 deg,
      new cmd heading: 38.805550 deg.

2025-08-22T16:57:13.822Z,1755881833.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677285 target range: 171.408142 and range: 172.50 m.
2025-08-22T16:57:14.023Z,1755881834.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520945
2025-08-22T16:57:14.285Z,1755881834.285 [DAT](INFO): DAT read: 16:57:14.3041 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 427, 0.04,-0.585,-2.410,-0.825,-0.974, PHS= 0.491,-1.391, 0.105, RAW= 138.8,   9.3, CAL= 138.4,  10.2, ROT=  11.6, -10.2

2025-08-22T16:57:14.286Z,1755881834.286 [DAT](INFO): got valid direction response:
 16:57:14.3041 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 427, 0.04,-0.585,-2.410,-0.825,-0.974, PHS= 0.491,-1.391, 0.105, RAW= 138.8,   9.3, CAL= 138.4,  10.2, ROT=  11.6, -10.2

2025-08-22T16:57:14.287Z,1755881834.287 [DAT](INFO): DAT read: Bearing 198.7,  13.1 (Local)

2025-08-22T16:57:14.287Z,1755881834.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.7,  13.1 (Local)

2025-08-22T16:57:14.289Z,1755881834.289 [DAT](INFO): DAT read: Range 11 to 50 : 192.0 m  (Round-trip  256.1 ms) speed  0.4 m/s

2025-08-22T16:57:14.289Z,1755881834.289 [DAT](INFO): DAT read: user:329>

2025-08-22T16:57:14.290Z,1755881834.290 [DAT](INFO): DAT read: Tx time:16:57:15.3938

2025-08-22T16:57:14.290Z,1755881834.290 [DAT](INFO): Ping request sent.
2025-08-22T16:57:14.290Z,1755881834.290 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:14.291Z,1755881834.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:14.292Z,1755881834.292 [DAT](INFO): direction in FSK: [0.964094,0.197900,0.177085]
2025-08-22T16:57:14.292Z,1755881834.292 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:14.292Z,1755881834.292 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:14.304Z,1755881834.304 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:14.304Z,1755881834.304 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:14.361Z,1755881834.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.000000 m,
      deltaT: 7.564187 s,
      deltaX: 19.500000 m,
      approachRate: 2.577937 m/s,
      rangeRepo size: 4

2025-08-22T16:57:14.367Z,1755881834.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.781738 m,
      bearing: 49.374886 deg,
      lat: 36.779524 deg,
      lon: -121.859456 deg,
      deltaT: 7.564187 s,
      deltaX: 19.373596 m,
      approachRate: 2.561227 m/s,
      posRepo size: 4

2025-08-22T16:57:14.368Z,1755881834.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:14.379Z,1755881834.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 183.385986 m,
      bearing: 49.814303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001011 deg/s,
      cmd heading: 38.805549 deg,
      new cmd heading: 38.806645 deg.

2025-08-22T16:57:14.380Z,1755881834.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677304 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:14.730Z,1755881834.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:14.733Z,1755881834.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 183.159714 m,
      bearing: 49.812976 deg,
      approach rate: -0.611800 m/s,
      LOS rate: -0.003593 deg/s,
      cmd heading: 38.806645 deg,
      new cmd heading: 38.803987 deg.

2025-08-22T16:57:14.734Z,1755881834.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677257 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:15.128Z,1755881835.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:15.131Z,1755881835.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 182.917404 m,
      bearing: 49.811530 deg,
      approach rate: -0.609037 m/s,
      LOS rate: -0.003639 deg/s,
      cmd heading: 38.803988 deg,
      new cmd heading: 38.801093 deg.

2025-08-22T16:57:15.132Z,1755881835.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677207 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:15.552Z,1755881835.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:15.560Z,1755881835.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:15.568Z,1755881835.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 182.688263 m,
      bearing: 49.810505 deg,
      approach rate: -0.530875 m/s,
      LOS rate: -0.002378 deg/s,
      cmd heading: 38.801092 deg,
      new cmd heading: 38.799040 deg.

2025-08-22T16:57:15.569Z,1755881835.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677171 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:15.787Z,1755881835.787 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:15.787Z,1755881835.787 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:15.788Z,1755881835.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:15.933Z,1755881835.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:15.936Z,1755881835.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 182.464828 m,
      bearing: 49.809538 deg,
      approach rate: -0.598486 m/s,
      LOS rate: -0.002593 deg/s,
      cmd heading: 38.799040 deg,
      new cmd heading: 38.797104 deg.

2025-08-22T16:57:15.938Z,1755881835.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677137 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:16.040Z,1755881836.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749350
2025-08-22T16:57:16.291Z,1755881836.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999946
2025-08-22T16:57:16.406Z,1755881836.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:16.408Z,1755881836.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 182.205673 m,
      bearing: 49.808869 deg,
      approach rate: -0.553206 m/s,
      LOS rate: -0.001430 deg/s,
      cmd heading: 38.797103 deg,
      new cmd heading: 38.795764 deg.

2025-08-22T16:57:16.414Z,1755881836.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677114 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:16.544Z,1755881836.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253254
2025-08-22T16:57:16.753Z,1755881836.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:16.758Z,1755881836.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 182.006302 m,
      bearing: 49.808376 deg,
      approach rate: -0.573374 m/s,
      LOS rate: -0.001421 deg/s,
      cmd heading: 38.795765 deg,
      new cmd heading: 38.794776 deg.

2025-08-22T16:57:16.759Z,1755881836.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677097 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:16.795Z,1755881836.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504693
2025-08-22T16:57:17.048Z,1755881837.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756849
2025-08-22T16:57:17.134Z,1755881837.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:17.137Z,1755881837.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 181.776154 m,
      bearing: 49.807831 deg,
      approach rate: -0.598170 m/s,
      LOS rate: -0.001417 deg/s,
      cmd heading: 38.794778 deg,
      new cmd heading: 38.793687 deg.

2025-08-22T16:57:17.138Z,1755881837.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677078 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:17.302Z,1755881837.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011100
2025-08-22T16:57:17.552Z,1755881837.552 [DAT](INFO): DAT read: Rx Time:16:57:18.0509

2025-08-22T16:57:17.553Z,1755881837.553 [DAT](INFO): Rx dataTimestamp_ set to:1755881837.552285
2025-08-22T16:57:17.554Z,1755881837.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262579
2025-08-22T16:57:17.581Z,1755881837.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:17.583Z,1755881837.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:17.586Z,1755881837.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 181.521378 m,
      bearing: 49.808101 deg,
      approach rate: -0.567594 m/s,
      LOS rate: 0.000603 deg/s,
      cmd heading: 38.793688 deg,
      new cmd heading: 38.794229 deg.

2025-08-22T16:57:17.587Z,1755881837.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677087 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:17.802Z,1755881837.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511899
2025-08-22T16:57:18.010Z,1755881838.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.78 m.
2025-08-22T16:57:18.012Z,1755881838.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.781738 m,
      nav range: 181.278625 m,
      bearing: 49.808359 deg,
      approach rate: -0.568962 m/s,
      LOS rate: 0.000606 deg/s,
      cmd heading: 38.794228 deg,
      new cmd heading: 38.794745 deg.

2025-08-22T16:57:18.038Z,1755881838.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677096 target range: 190.781738 and range: 192.00 m.
2025-08-22T16:57:18.068Z,1755881838.068 [DAT](INFO): DAT read: 16:57:18.0509 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.33, 3.021, 1.203, 2.806, 2.627, PHS= 0.497,-1.378, 0.135, RAW= 139.5,   8.7, CAL= 139.1,   9.6, ROT=  10.9,  -9.6

2025-08-22T16:57:18.069Z,1755881838.069 [DAT](INFO): got valid direction response:
 16:57:18.0509 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.33, 3.021, 1.203, 2.806, 2.627, PHS= 0.497,-1.378, 0.135, RAW= 139.5,   8.7, CAL= 139.1,   9.6, ROT=  10.9,  -9.6

2025-08-22T16:57:18.070Z,1755881838.070 [DAT](INFO): DAT read: Bearing 198.6,  12.8 (Local)

2025-08-22T16:57:18.070Z,1755881838.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,  12.8 (Local)

2025-08-22T16:57:18.072Z,1755881838.072 [DAT](INFO): DAT read: Range 11 to 50 : 189.7 m  (Round-trip  253.0 ms) speed  0.4 m/s

2025-08-22T16:57:18.073Z,1755881838.073 [DAT](INFO): DAT read: user:330>

2025-08-22T16:57:18.073Z,1755881838.073 [DAT](INFO): DAT read: Tx time:16:57:19.1438

2025-08-22T16:57:18.074Z,1755881838.074 [DAT](INFO): Ping request sent.
2025-08-22T16:57:18.074Z,1755881838.074 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:18.074Z,1755881838.074 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:18.075Z,1755881838.075 [DAT](INFO): direction in FSK: [0.968207,0.186447,0.166769]
2025-08-22T16:57:18.075Z,1755881838.075 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:18.076Z,1755881838.076 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:18.103Z,1755881838.103 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:18.103Z,1755881838.103 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:18.461Z,1755881838.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 189.699997 m,
      deltaT: 3.780256 s,
      deltaX: -2.300003 m,
      approachRate: -0.608425 m/s,
      rangeRepo size: 4

2025-08-22T16:57:18.482Z,1755881838.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 188.497330 m,
      bearing: 48.678173 deg,
      lat: 36.779553 deg,
      lon: -121.859456 deg,
      deltaT: 3.780256 s,
      deltaX: -2.284409 m,
      approachRate: -0.604300 m/s,
      posRepo size: 4

2025-08-22T16:57:18.483Z,1755881838.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:18.490Z,1755881838.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 183.171310 m,
      bearing: 49.021082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000606 deg/s,
      cmd heading: 38.794744 deg,
      new cmd heading: 38.795289 deg.

2025-08-22T16:57:18.491Z,1755881838.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677106 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:18.834Z,1755881838.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:18.836Z,1755881838.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 182.960236 m,
      bearing: 49.019711 deg,
      approach rate: -0.565115 m/s,
      LOS rate: -0.003676 deg/s,
      cmd heading: 38.795290 deg,
      new cmd heading: 38.792544 deg.

2025-08-22T16:57:18.837Z,1755881838.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677058 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:19.229Z,1755881839.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:19.232Z,1755881839.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 182.739044 m,
      bearing: 49.018276 deg,
      approach rate: -0.558855 m/s,
      LOS rate: -0.003628 deg/s,
      cmd heading: 38.792544 deg,
      new cmd heading: 38.789672 deg.

2025-08-22T16:57:19.233Z,1755881839.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677007 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:19.655Z,1755881839.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:19.657Z,1755881839.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:19.660Z,1755881839.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 182.504852 m,
      bearing: 49.015900 deg,
      approach rate: -0.547176 m/s,
      LOS rate: -0.005559 deg/s,
      cmd heading: 38.789672 deg,
      new cmd heading: 38.784913 deg.

2025-08-22T16:57:19.661Z,1755881839.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676924 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:19.818Z,1755881839.818 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:19.818Z,1755881839.818 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:19.819Z,1755881839.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:20.065Z,1755881840.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:20.071Z,1755881840.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997022
2025-08-22T16:57:20.101Z,1755881840.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 182.281082 m,
      bearing: 49.013624 deg,
      approach rate: -0.548667 m/s,
      LOS rate: -0.005588 deg/s,
      cmd heading: 38.784915 deg,
      new cmd heading: 38.780357 deg.

2025-08-22T16:57:20.102Z,1755881840.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676845 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:20.326Z,1755881840.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251058
2025-08-22T16:57:20.468Z,1755881840.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:20.470Z,1755881840.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 182.058701 m,
      bearing: 49.010237 deg,
      approach rate: -0.552425 m/s,
      LOS rate: -0.008424 deg/s,
      cmd heading: 38.780356 deg,
      new cmd heading: 38.773573 deg.

2025-08-22T16:57:20.471Z,1755881840.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676727 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:20.575Z,1755881840.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501424
2025-08-22T16:57:20.827Z,1755881840.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752750
2025-08-22T16:57:20.850Z,1755881840.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:20.853Z,1755881840.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 181.847519 m,
      bearing: 49.007015 deg,
      approach rate: -0.551604 m/s,
      LOS rate: -0.008423 deg/s,
      cmd heading: 38.773573 deg,
      new cmd heading: 38.767124 deg.

2025-08-22T16:57:20.854Z,1755881840.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676614 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:21.079Z,1755881841.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005143
2025-08-22T16:57:21.271Z,1755881841.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:21.273Z,1755881841.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 181.626938 m,
      bearing: 49.003629 deg,
      approach rate: -0.524911 m/s,
      LOS rate: -0.008068 deg/s,
      cmd heading: 38.767122 deg,
      new cmd heading: 38.760342 deg.

2025-08-22T16:57:21.278Z,1755881841.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676496 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:21.333Z,1755881841.333 [DAT](INFO): DAT read: Rx Time:16:57:21.7988

2025-08-22T16:57:21.335Z,1755881841.335 [DAT](INFO): Rx dataTimestamp_ set to:1755881841.333750
2025-08-22T16:57:21.337Z,1755881841.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262425
2025-08-22T16:57:21.583Z,1755881841.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509274
2025-08-22T16:57:21.742Z,1755881841.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:21.744Z,1755881841.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:21.747Z,1755881841.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 181.355042 m,
      bearing: 48.999401 deg,
      approach rate: -0.574027 m/s,
      LOS rate: -0.008939 deg/s,
      cmd heading: 38.760340 deg,
      new cmd heading: 38.751872 deg.

2025-08-22T16:57:21.748Z,1755881841.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676348 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:21.841Z,1755881841.841 [DAT](INFO): DAT read: 16:57:21.7988 LVL= 28880, 32113, 29730, 32755, AGC= 69, IDX= 421,-0.06, 1.577,-0.314, 1.350, 1.184, PHS= 0.496,-1.453, 0.122, RAW= 139.6,   9.4, CAL= 139.2,  10.3, ROT=  10.8, -10.3

2025-08-22T16:57:21.843Z,1755881841.843 [DAT](INFO): got valid direction response:
 16:57:21.7988 LVL= 28880, 32113, 29730, 32755, AGC= 69, IDX= 421,-0.06, 1.577,-0.314, 1.350, 1.184, PHS= 0.496,-1.453, 0.122, RAW= 139.6,   9.4, CAL= 139.2,  10.3, ROT=  10.8, -10.3

2025-08-22T16:57:21.843Z,1755881841.843 [DAT](INFO): DAT read: $Error in header

2025-08-22T16:57:21.843Z,1755881841.843 [DAT](INFO): Received a bad header
2025-08-22T16:57:21.859Z,1755881841.859 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:57:21.860Z,1755881841.860 [DAT](INFO): direction in FSK: [0.966458,0.184362,0.178802]
2025-08-22T16:57:21.864Z,1755881841.864 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:21.864Z,1755881841.864 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:21.865Z,1755881841.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:22.086Z,1755881842.086 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:22.086Z,1755881842.086 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:22.087Z,1755881842.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:22.160Z,1755881842.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:22.164Z,1755881842.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 181.131866 m,
      bearing: 48.995900 deg,
      approach rate: -0.537436 m/s,
      LOS rate: -0.008443 deg/s,
      cmd heading: 38.751871 deg,
      new cmd heading: 38.744859 deg.

2025-08-22T16:57:22.166Z,1755881842.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676225 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:22.341Z,1755881842.341 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:22.341Z,1755881842.341 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:22.342Z,1755881842.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:22.590Z,1755881842.590 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:22.590Z,1755881842.590 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:22.591Z,1755881842.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:22.612Z,1755881842.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:22.615Z,1755881842.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 180.876617 m,
      bearing: 48.991869 deg,
      approach rate: -0.563938 m/s,
      LOS rate: -0.008917 deg/s,
      cmd heading: 38.744859 deg,
      new cmd heading: 38.736787 deg.

2025-08-22T16:57:22.616Z,1755881842.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676084 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:22.842Z,1755881842.842 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:22.842Z,1755881842.842 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:22.842Z,1755881842.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:22.941Z,1755881842.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:22.943Z,1755881842.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 180.695541 m,
      bearing: 48.988982 deg,
      approach rate: -0.551280 m/s,
      LOS rate: -0.008799 deg/s,
      cmd heading: 38.736786 deg,
      new cmd heading: 38.731006 deg.

2025-08-22T16:57:22.944Z,1755881842.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675984 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:23.095Z,1755881843.095 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:23.095Z,1755881843.095 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:23.095Z,1755881843.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:23.348Z,1755881843.348 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:23.349Z,1755881843.349 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:23.349Z,1755881843.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:23.403Z,1755881843.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:23.410Z,1755881843.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 180.485458 m,
      bearing: 48.985592 deg,
      approach rate: -0.454013 m/s,
      LOS rate: -0.007335 deg/s,
      cmd heading: 38.731004 deg,
      new cmd heading: 38.724216 deg.

2025-08-22T16:57:23.411Z,1755881843.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675865 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:23.598Z,1755881843.598 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:23.598Z,1755881843.598 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:23.598Z,1755881843.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:23.771Z,1755881843.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:23.775Z,1755881843.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:23.778Z,1755881843.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 180.243179 m,
      bearing: 48.982412 deg,
      approach rate: -0.651127 m/s,
      LOS rate: -0.008558 deg/s,
      cmd heading: 38.724215 deg,
      new cmd heading: 38.717846 deg.

2025-08-22T16:57:23.779Z,1755881843.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675754 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:23.850Z,1755881843.850 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:23.851Z,1755881843.851 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:23.851Z,1755881843.851 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:24.102Z,1755881844.102 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:24.102Z,1755881844.102 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:24.103Z,1755881844.103 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:24.168Z,1755881844.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:24.186Z,1755881844.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 180.031616 m,
      bearing: 48.979595 deg,
      approach rate: -0.538920 m/s,
      LOS rate: -0.007183 deg/s,
      cmd heading: 38.717846 deg,
      new cmd heading: 38.712206 deg.

2025-08-22T16:57:24.187Z,1755881844.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675655 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:24.357Z,1755881844.357 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:24.357Z,1755881844.357 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:24.358Z,1755881844.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:24.586Z,1755881844.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:24.589Z,1755881844.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 179.778854 m,
      bearing: 48.975842 deg,
      approach rate: -0.604331 m/s,
      LOS rate: -0.008985 deg/s,
      cmd heading: 38.712208 deg,
      new cmd heading: 38.704692 deg.

2025-08-22T16:57:24.590Z,1755881844.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675524 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:24.608Z,1755881844.608 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:24.609Z,1755881844.609 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:24.609Z,1755881844.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:24.858Z,1755881844.858 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:24.858Z,1755881844.858 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:24.858Z,1755881844.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:24.955Z,1755881844.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:24.958Z,1755881844.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 179.571564 m,
      bearing: 48.972740 deg,
      approach rate: -0.562417 m/s,
      LOS rate: -0.008427 deg/s,
      cmd heading: 38.704691 deg,
      new cmd heading: 38.698479 deg.

2025-08-22T16:57:24.959Z,1755881844.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675416 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:25.110Z,1755881845.110 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:25.110Z,1755881845.110 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:25.110Z,1755881845.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:25.353Z,1755881845.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:25.356Z,1755881845.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 179.350067 m,
      bearing: 48.969486 deg,
      approach rate: -0.555968 m/s,
      LOS rate: -0.008177 deg/s,
      cmd heading: 38.698479 deg,
      new cmd heading: 38.691963 deg.

2025-08-22T16:57:25.357Z,1755881845.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675302 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:25.364Z,1755881845.364 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:25.365Z,1755881845.365 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:25.365Z,1755881845.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:25.614Z,1755881845.614 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:25.614Z,1755881845.614 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:25.614Z,1755881845.614 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:25.779Z,1755881845.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:25.781Z,1755881845.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:25.784Z,1755881845.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 179.098236 m,
      bearing: 48.966035 deg,
      approach rate: -0.588363 m/s,
      LOS rate: -0.008073 deg/s,
      cmd heading: 38.691963 deg,
      new cmd heading: 38.685052 deg.

2025-08-22T16:57:25.785Z,1755881845.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675182 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:25.866Z,1755881845.866 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:25.867Z,1755881845.867 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:25.867Z,1755881845.867 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:26.118Z,1755881846.118 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:26.118Z,1755881846.118 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:26.118Z,1755881846.118 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:26.185Z,1755881846.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:26.196Z,1755881846.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 178.865097 m,
      bearing: 48.962853 deg,
      approach rate: -0.577828 m/s,
      LOS rate: -0.007898 deg/s,
      cmd heading: 38.685051 deg,
      new cmd heading: 38.678677 deg.

2025-08-22T16:57:26.197Z,1755881846.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675070 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:26.373Z,1755881846.373 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:26.374Z,1755881846.374 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:26.374Z,1755881846.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:26.555Z,1755881846.555 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,004, +10.2,   0.0,1490.9,  0
2025-08-22T16:57:26.594Z,1755881846.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:26.597Z,1755881846.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 178.638016 m,
      bearing: 48.959747 deg,
      approach rate: -0.560592 m/s,
      LOS rate: -0.007678 deg/s,
      cmd heading: 38.678678 deg,
      new cmd heading: 38.672458 deg.

2025-08-22T16:57:26.602Z,1755881846.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674962 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:26.622Z,1755881846.622 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:26.622Z,1755881846.622 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:26.623Z,1755881846.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:26.874Z,1755881846.874 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:26.875Z,1755881846.875 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:26.875Z,1755881846.875 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:26.969Z,1755881846.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:26.971Z,1755881846.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 178.405838 m,
      bearing: 48.956572 deg,
      approach rate: -0.613035 m/s,
      LOS rate: -0.008393 deg/s,
      cmd heading: 38.672459 deg,
      new cmd heading: 38.666102 deg.

2025-08-22T16:57:26.972Z,1755881846.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674851 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:27.126Z,1755881847.126 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:27.126Z,1755881847.126 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:27.126Z,1755881847.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:27.367Z,1755881847.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:27.370Z,1755881847.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 178.172943 m,
      bearing: 48.953403 deg,
      approach rate: -0.584175 m/s,
      LOS rate: -0.007960 deg/s,
      cmd heading: 38.666100 deg,
      new cmd heading: 38.659754 deg.

2025-08-22T16:57:27.371Z,1755881847.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674740 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:27.381Z,1755881847.381 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:27.382Z,1755881847.382 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:27.382Z,1755881847.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:27.634Z,1755881847.634 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:27.634Z,1755881847.634 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:27.634Z,1755881847.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:27.809Z,1755881847.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:27.812Z,1755881847.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:27.820Z,1755881847.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 177.927658 m,
      bearing: 48.950363 deg,
      approach rate: -0.551899 m/s,
      LOS rate: -0.006848 deg/s,
      cmd heading: 38.659755 deg,
      new cmd heading: 38.653668 deg.

2025-08-22T16:57:27.821Z,1755881847.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674634 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:27.887Z,1755881847.887 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:27.888Z,1755881847.888 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:27.888Z,1755881847.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:57:28.138Z,1755881848.138 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:28.138Z,1755881848.138 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:28.139Z,1755881848.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:28.209Z,1755881848.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:28.212Z,1755881848.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 177.692627 m,
      bearing: 48.947442 deg,
      approach rate: -0.591715 m/s,
      LOS rate: -0.007364 deg/s,
      cmd heading: 38.653670 deg,
      new cmd heading: 38.647820 deg.

2025-08-22T16:57:28.213Z,1755881848.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674532 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:28.392Z,1755881848.392 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:28.393Z,1755881848.393 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:28.394Z,1755881848.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:28.612Z,1755881848.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:28.614Z,1755881848.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 177.470551 m,
      bearing: 48.944106 deg,
      approach rate: -0.551525 m/s,
      LOS rate: -0.008296 deg/s,
      cmd heading: 38.647819 deg,
      new cmd heading: 38.641139 deg.

2025-08-22T16:57:28.615Z,1755881848.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674415 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:28.642Z,1755881848.642 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:28.643Z,1755881848.643 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:28.643Z,1755881848.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:28.894Z,1755881848.894 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:28.894Z,1755881848.894 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:28.895Z,1755881848.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:29.098Z,1755881849.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:29.101Z,1755881849.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 177.202240 m,
      bearing: 48.940028 deg,
      approach rate: -0.551767 m/s,
      LOS rate: -0.008398 deg/s,
      cmd heading: 38.641140 deg,
      new cmd heading: 38.632972 deg.

2025-08-22T16:57:29.102Z,1755881849.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674273 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:29.146Z,1755881849.146 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:29.147Z,1755881849.147 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:29.147Z,1755881849.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:29.399Z,1755881849.399 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:29.399Z,1755881849.399 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:29.400Z,1755881849.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:29.556Z,1755881849.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:29.559Z,1755881849.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 176.941528 m,
      bearing: 48.937512 deg,
      approach rate: -0.568672 m/s,
      LOS rate: -0.005497 deg/s,
      cmd heading: 38.632971 deg,
      new cmd heading: 38.627931 deg.

2025-08-22T16:57:29.560Z,1755881849.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674185 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:29.650Z,1755881849.650 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:29.650Z,1755881849.650 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:29.651Z,1755881849.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:29.902Z,1755881849.902 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:29.902Z,1755881849.902 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:29.903Z,1755881849.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:30.032Z,1755881850.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:30.051Z,1755881850.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:30.058Z,1755881850.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 176.672928 m,
      bearing: 48.934947 deg,
      approach rate: -0.543000 m/s,
      LOS rate: -0.005194 deg/s,
      cmd heading: 38.627930 deg,
      new cmd heading: 38.622791 deg.

2025-08-22T16:57:30.059Z,1755881850.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674095 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:30.155Z,1755881850.155 [DAT](INFO): Reached modem response timeout
2025-08-22T16:57:30.155Z,1755881850.155 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:57:30.155Z,1755881850.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:30.410Z,1755881850.410 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:57:30.411Z,1755881850.411 [DAT](INFO): response not received
2025-08-22T16:57:30.411Z,1755881850.411 [DAT](INFO): DAT read: user:332>

2025-08-22T16:57:30.412Z,1755881850.412 [DAT](INFO): DAT read: Tx time:16:57:31.5937

2025-08-22T16:57:30.412Z,1755881850.412 [DAT](INFO): Ping request sent.
2025-08-22T16:57:30.412Z,1755881850.412 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:30.412Z,1755881850.412 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:30.413Z,1755881850.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T16:57:30.504Z,1755881850.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:30.523Z,1755881850.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 176.440811 m,
      bearing: 48.932732 deg,
      approach rate: -0.511954 m/s,
      LOS rate: -0.004892 deg/s,
      cmd heading: 38.622790 deg,
      new cmd heading: 38.618354 deg.

2025-08-22T16:57:30.525Z,1755881850.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674017 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:30.659Z,1755881850.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246461
2025-08-22T16:57:30.860Z,1755881850.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:30.867Z,1755881850.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 176.213455 m,
      bearing: 48.929754 deg,
      approach rate: -0.638949 m/s,
      LOS rate: -0.008380 deg/s,
      cmd heading: 38.618354 deg,
      new cmd heading: 38.612390 deg.

2025-08-22T16:57:30.868Z,1755881850.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673913 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:30.912Z,1755881850.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499348
2025-08-22T16:57:31.163Z,1755881851.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751133
2025-08-22T16:57:31.235Z,1755881851.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:31.238Z,1755881851.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 175.995743 m,
      bearing: 48.926900 deg,
      approach rate: -0.580427 m/s,
      LOS rate: -0.007617 deg/s,
      cmd heading: 38.612391 deg,
      new cmd heading: 38.606677 deg.

2025-08-22T16:57:31.239Z,1755881851.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673814 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:31.415Z,1755881851.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002452
2025-08-22T16:57:31.661Z,1755881851.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:31.664Z,1755881851.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 175.759949 m,
      bearing: 48.923893 deg,
      approach rate: -0.553719 m/s,
      LOS rate: -0.007071 deg/s,
      cmd heading: 38.606678 deg,
      new cmd heading: 38.600656 deg.

2025-08-22T16:57:31.667Z,1755881851.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254607
2025-08-22T16:57:31.667Z,1755881851.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673709 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:31.918Z,1755881851.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506368
2025-08-22T16:57:32.050Z,1755881852.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:32.052Z,1755881852.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:32.055Z,1755881852.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 175.543823 m,
      bearing: 48.921112 deg,
      approach rate: -0.553223 m/s,
      LOS rate: -0.007127 deg/s,
      cmd heading: 38.600657 deg,
      new cmd heading: 38.595089 deg.

2025-08-22T16:57:32.055Z,1755881852.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673611 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:32.171Z,1755881852.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758897
2025-08-22T16:57:32.422Z,1755881852.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010371
2025-08-22T16:57:32.496Z,1755881852.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:32.519Z,1755881852.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 175.319565 m,
      bearing: 48.918208 deg,
      approach rate: -0.513996 m/s,
      LOS rate: -0.006665 deg/s,
      cmd heading: 38.595090 deg,
      new cmd heading: 38.589274 deg.

2025-08-22T16:57:32.523Z,1755881852.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673510 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:32.679Z,1755881852.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266650
2025-08-22T16:57:32.881Z,1755881852.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:32.883Z,1755881852.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 175.092453 m,
      bearing: 48.915663 deg,
      approach rate: -0.583219 m/s,
      LOS rate: -0.006545 deg/s,
      cmd heading: 38.589274 deg,
      new cmd heading: 38.584177 deg.

2025-08-22T16:57:32.884Z,1755881852.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673421 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:32.929Z,1755881852.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516503
2025-08-22T16:57:33.183Z,1755881853.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771170
2025-08-22T16:57:33.256Z,1755881853.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:33.259Z,1755881853.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 174.888184 m,
      bearing: 48.913418 deg,
      approach rate: -0.538971 m/s,
      LOS rate: -0.005929 deg/s,
      cmd heading: 38.584176 deg,
      new cmd heading: 38.579682 deg.

2025-08-22T16:57:33.260Z,1755881853.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673342 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:33.438Z,1755881853.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025321
2025-08-22T16:57:33.687Z,1755881853.687 [DAT](INFO): DAT read: Rx Time:16:57:34.2406

2025-08-22T16:57:33.687Z,1755881853.687 [DAT](INFO): Rx dataTimestamp_ set to:1755881853.687084
2025-08-22T16:57:33.688Z,1755881853.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275840
2025-08-22T16:57:33.690Z,1755881853.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:33.693Z,1755881853.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 174.651611 m,
      bearing: 48.911476 deg,
      approach rate: -0.545923 m/s,
      LOS rate: -0.004487 deg/s,
      cmd heading: 38.579681 deg,
      new cmd heading: 38.575793 deg.

2025-08-22T16:57:33.694Z,1755881853.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673275 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:33.938Z,1755881853.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526377
2025-08-22T16:57:34.081Z,1755881854.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:34.083Z,1755881854.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.50 m.
2025-08-22T16:57:34.107Z,1755881854.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.497330 m,
      nav range: 174.434128 m,
      bearing: 48.909687 deg,
      approach rate: -0.552943 m/s,
      LOS rate: -0.004555 deg/s,
      cmd heading: 38.575792 deg,
      new cmd heading: 38.572208 deg.

2025-08-22T16:57:34.116Z,1755881854.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673212 target range: 188.497330 and range: 189.70 m.
2025-08-22T16:57:34.197Z,1755881854.197 [DAT](INFO): DAT read: 16:57:34.2406 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 354,-0.13, 0.445,-1.431, 0.215, 0.029, PHS= 0.518,-1.415, 0.142, RAW= 139.4,   8.5, CAL= 139.0,   9.4, ROT=  11.0,  -9.4

2025-08-22T16:57:34.198Z,1755881854.198 [DAT](INFO): got valid direction response:
 16:57:34.2406 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 354,-0.13, 0.445,-1.431, 0.215, 0.029, PHS= 0.518,-1.415, 0.142, RAW= 139.4,   8.5, CAL= 139.0,   9.4, ROT=  11.0,  -9.4

2025-08-22T16:57:34.200Z,1755881854.200 [DAT](INFO): DAT read: Bearing 200.7,  13.3 (Local)

2025-08-22T16:57:34.200Z,1755881854.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.7,  13.3 (Local)

2025-08-22T16:57:34.203Z,1755881854.203 [DAT](INFO): DAT read: Range 11 to 50 : 182.0 m  (Round-trip  242.7 ms) speed  0.7 m/s

2025-08-22T16:57:34.204Z,1755881854.204 [DAT](INFO): DAT read: user:333>

2025-08-22T16:57:34.205Z,1755881854.205 [DAT](INFO): DAT read: Tx time:16:57:35.3437

2025-08-22T16:57:34.205Z,1755881854.205 [DAT](INFO): Ping request sent.
2025-08-22T16:57:34.206Z,1755881854.206 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:34.206Z,1755881854.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:34.207Z,1755881854.207 [DAT](INFO): direction in FSK: [0.968446,0.188247,0.163326]
2025-08-22T16:57:34.208Z,1755881854.208 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:34.208Z,1755881854.208 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:34.235Z,1755881854.235 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:34.237Z,1755881854.237 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:34.475Z,1755881854.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.000000 m,
      deltaT: 16.135794 s,
      deltaX: -7.699997 m,
      approachRate: -0.477200 m/s,
      rangeRepo size: 4

2025-08-22T16:57:34.494Z,1755881854.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.844788 m,
      bearing: 48.798296 deg,
      lat: 36.779554 deg,
      lon: -121.859451 deg,
      deltaT: 16.135794 s,
      deltaX: -7.652542 m,
      approachRate: -0.474259 m/s,
      posRepo size: 4

2025-08-22T16:57:34.497Z,1755881854.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:34.520Z,1755881854.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 174.638474 m,
      bearing: 48.976866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004555 deg/s,
      cmd heading: 38.572209 deg,
      new cmd heading: 38.568650 deg.

2025-08-22T16:57:34.528Z,1755881854.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673150 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:34.890Z,1755881854.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:34.893Z,1755881854.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 174.403992 m,
      bearing: 48.974931 deg,
      approach rate: -0.562765 m/s,
      LOS rate: -0.004651 deg/s,
      cmd heading: 38.568651 deg,
      new cmd heading: 38.564775 deg.

2025-08-22T16:57:34.898Z,1755881854.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673082 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:35.276Z,1755881855.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:35.279Z,1755881855.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 174.196930 m,
      bearing: 48.973264 deg,
      approach rate: -0.536467 m/s,
      LOS rate: -0.004324 deg/s,
      cmd heading: 38.564775 deg,
      new cmd heading: 38.561437 deg.

2025-08-22T16:57:35.280Z,1755881855.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673024 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:35.700Z,1755881855.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:35.704Z,1755881855.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 173.954254 m,
      bearing: 48.970544 deg,
      approach rate: -0.573528 m/s,
      LOS rate: -0.006437 deg/s,
      cmd heading: 38.561438 deg,
      new cmd heading: 38.555990 deg.

2025-08-22T16:57:35.705Z,1755881855.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672929 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:36.075Z,1755881856.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:36.079Z,1755881856.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 173.744110 m,
      bearing: 48.968184 deg,
      approach rate: -0.559208 m/s,
      LOS rate: -0.006289 deg/s,
      cmd heading: 38.555991 deg,
      new cmd heading: 38.551265 deg.

2025-08-22T16:57:36.080Z,1755881856.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672846 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:36.488Z,1755881856.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:36.491Z,1755881856.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:36.494Z,1755881856.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 173.512863 m,
      bearing: 48.965610 deg,
      approach rate: -0.556875 m/s,
      LOS rate: -0.006205 deg/s,
      cmd heading: 38.551264 deg,
      new cmd heading: 38.546111 deg.

2025-08-22T16:57:36.498Z,1755881856.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672757 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:36.710Z,1755881856.710 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:36.710Z,1755881856.710 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:36.711Z,1755881856.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:36.927Z,1755881856.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:36.934Z,1755881856.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 173.278824 m,
      bearing: 48.963219 deg,
      approach rate: -0.535980 m/s,
      LOS rate: -0.005485 deg/s,
      cmd heading: 38.546111 deg,
      new cmd heading: 38.541321 deg.

2025-08-22T16:57:36.935Z,1755881856.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672673 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:36.963Z,1755881856.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757086
2025-08-22T16:57:37.214Z,1755881857.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008892
2025-08-22T16:57:37.295Z,1755881857.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:37.299Z,1755881857.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 173.055923 m,
      bearing: 48.960925 deg,
      approach rate: -0.605382 m/s,
      LOS rate: -0.006238 deg/s,
      cmd heading: 38.541320 deg,
      new cmd heading: 38.536726 deg.

2025-08-22T16:57:37.300Z,1755881857.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672593 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:37.467Z,1755881857.467 [DAT](INFO): DAT read: Rx Time:16:57:37.9880

2025-08-22T16:57:37.467Z,1755881857.467 [DAT](INFO): Rx dataTimestamp_ set to:1755881857.466844
2025-08-22T16:57:37.468Z,1755881857.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262092
2025-08-22T16:57:37.714Z,1755881857.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.84 m.
2025-08-22T16:57:37.717Z,1755881857.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.844788 m,
      nav range: 172.814255 m,
      bearing: 48.957381 deg,
      approach rate: -0.578414 m/s,
      LOS rate: -0.008494 deg/s,
      cmd heading: 38.536726 deg,
      new cmd heading: 38.529628 deg.

2025-08-22T16:57:37.719Z,1755881857.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513118
2025-08-22T16:57:37.720Z,1755881857.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672469 target range: 180.844788 and range: 182.00 m.
2025-08-22T16:57:37.976Z,1755881857.976 [DAT](INFO): DAT read: 16:57:37.9880 LVL= 31952, 32753, 32754, 32755, AGC= 64, IDX= 408,-0.16,-1.250,-3.116,-1.479,-1.586, PHS= 0.438,-1.484, 0.064, RAW= 139.4,  11.1, CAL= 138.9,  12.1, ROT=  11.1, -12.1

2025-08-22T16:57:37.977Z,1755881857.977 [DAT](INFO): got valid direction response:
 16:57:37.9880 LVL= 31952, 32753, 32754, 32755, AGC= 64, IDX= 408,-0.16,-1.250,-3.116,-1.479,-1.586, PHS= 0.438,-1.484, 0.064, RAW= 139.4,  11.1, CAL= 138.9,  12.1, ROT=  11.1, -12.1

2025-08-22T16:57:37.978Z,1755881857.978 [DAT](INFO): DAT read: Bearing 203.5,  13.3 (Local)

2025-08-22T16:57:37.978Z,1755881857.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.5,  13.3 (Local)

2025-08-22T16:57:37.980Z,1755881857.980 [DAT](INFO): DAT read: Range 11 to 50 : 180.1 m  (Round-trip  240.2 ms) speed  0.8 m/s

2025-08-22T16:57:37.981Z,1755881857.981 [DAT](INFO): DAT read: user:334>

2025-08-22T16:57:37.981Z,1755881857.981 [DAT](INFO): DAT read: Tx time:16:57:39.0937

2025-08-22T16:57:37.982Z,1755881857.982 [DAT](INFO): Ping request sent.
2025-08-22T16:57:37.982Z,1755881857.982 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:37.982Z,1755881857.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:37.983Z,1755881857.983 [DAT](INFO): direction in FSK: [0.959492,0.188245,0.209619]
2025-08-22T16:57:37.983Z,1755881857.983 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:37.984Z,1755881857.984 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:37.987Z,1755881857.987 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:37.987Z,1755881857.987 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:38.145Z,1755881858.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.100006 m,
      deltaT: 3.779671 s,
      deltaX: -1.899994 m,
      approachRate: -0.502688 m/s,
      rangeRepo size: 4

2025-08-22T16:57:38.151Z,1755881858.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.958725 m,
      bearing: 48.681400 deg,
      lat: 36.779564 deg,
      lon: -121.859451 deg,
      deltaT: 3.779671 s,
      deltaX: -1.886063 m,
      approachRate: -0.499002 m/s,
      posRepo size: 4

2025-08-22T16:57:38.152Z,1755881858.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:38.160Z,1755881858.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 173.279129 m,
      bearing: 48.689697 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008494 deg/s,
      cmd heading: 38.529630 deg,
      new cmd heading: 38.522313 deg.

2025-08-22T16:57:38.166Z,1755881858.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672341 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:38.531Z,1755881858.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:38.537Z,1755881858.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:38.540Z,1755881858.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 173.062668 m,
      bearing: 48.686201 deg,
      approach rate: -0.556017 m/s,
      LOS rate: -0.008991 deg/s,
      cmd heading: 38.522311 deg,
      new cmd heading: 38.515311 deg.

2025-08-22T16:57:38.549Z,1755881858.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672219 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:38.726Z,1755881858.726 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:38.726Z,1755881858.726 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:38.727Z,1755881858.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:38.939Z,1755881858.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:38.943Z,1755881858.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 172.810974 m,
      bearing: 48.682227 deg,
      approach rate: -0.619671 m/s,
      LOS rate: -0.009800 deg/s,
      cmd heading: 38.515310 deg,
      new cmd heading: 38.507350 deg.

2025-08-22T16:57:38.944Z,1755881858.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672080 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:38.979Z,1755881858.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996790
2025-08-22T16:57:39.231Z,1755881859.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248747
2025-08-22T16:57:39.317Z,1755881859.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:39.336Z,1755881859.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 172.596283 m,
      bearing: 48.678817 deg,
      approach rate: -0.568438 m/s,
      LOS rate: -0.009039 deg/s,
      cmd heading: 38.507350 deg,
      new cmd heading: 38.500522 deg.

2025-08-22T16:57:39.337Z,1755881859.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671961 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:39.488Z,1755881859.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505831
2025-08-22T16:57:39.735Z,1755881859.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753091
2025-08-22T16:57:39.741Z,1755881859.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:39.743Z,1755881859.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 172.351471 m,
      bearing: 48.675007 deg,
      approach rate: -0.578002 m/s,
      LOS rate: -0.009008 deg/s,
      cmd heading: 38.500523 deg,
      new cmd heading: 38.492892 deg.

2025-08-22T16:57:39.744Z,1755881859.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671828 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:39.987Z,1755881859.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004931
2025-08-22T16:57:40.127Z,1755881860.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:40.129Z,1755881860.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 172.126251 m,
      bearing: 48.671469 deg,
      approach rate: -0.583601 m/s,
      LOS rate: -0.009180 deg/s,
      cmd heading: 38.492894 deg,
      new cmd heading: 38.485808 deg.

2025-08-22T16:57:40.130Z,1755881860.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671704 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:40.239Z,1755881860.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256757
2025-08-22T16:57:40.492Z,1755881860.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509698
2025-08-22T16:57:40.550Z,1755881860.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:40.552Z,1755881860.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:40.556Z,1755881860.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 171.879501 m,
      bearing: 48.667532 deg,
      approach rate: -0.580136 m/s,
      LOS rate: -0.009270 deg/s,
      cmd heading: 38.485807 deg,
      new cmd heading: 38.477921 deg.

2025-08-22T16:57:40.560Z,1755881860.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671566 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:40.743Z,1755881860.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760763
2025-08-22T16:57:40.955Z,1755881860.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:40.957Z,1755881860.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 171.651733 m,
      bearing: 48.663796 deg,
      approach rate: -0.565626 m/s,
      LOS rate: -0.009289 deg/s,
      cmd heading: 38.477922 deg,
      new cmd heading: 38.470441 deg.

2025-08-22T16:57:40.983Z,1755881860.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671436 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:40.995Z,1755881860.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013280
2025-08-22T16:57:41.247Z,1755881861.247 [DAT](INFO): DAT read: Rx Time:16:57:41.7360

2025-08-22T16:57:41.247Z,1755881861.247 [DAT](INFO): Rx dataTimestamp_ set to:1755881861.246703
2025-08-22T16:57:41.248Z,1755881861.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265756
2025-08-22T16:57:41.346Z,1755881861.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.96 m.
2025-08-22T16:57:41.348Z,1755881861.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.958725 m,
      nav range: 171.435211 m,
      bearing: 48.660236 deg,
      approach rate: -0.554053 m/s,
      LOS rate: -0.009122 deg/s,
      cmd heading: 38.470439 deg,
      new cmd heading: 38.463310 deg.

2025-08-22T16:57:41.349Z,1755881861.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671311 target range: 178.958725 and range: 180.10 m.
2025-08-22T16:57:41.500Z,1755881861.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518518
2025-08-22T16:57:41.756Z,1755881861.756 [DAT](INFO): DAT read: 16:57:41.7360 LVL= 31216, 32753, 30434, 32755, AGC= 69, IDX= 419,-0.15, 0.180,-1.666,-0.045,-0.189, PHS= 0.471,-1.432, 0.100, RAW= 139.4,   9.9, CAL= 138.9,  10.8, ROT=  11.1, -10.8

2025-08-22T16:57:41.757Z,1755881861.757 [DAT](INFO): got valid direction response:
 16:57:41.7360 LVL= 31216, 32753, 30434, 32755, AGC= 69, IDX= 419,-0.15, 0.180,-1.666,-0.045,-0.189, PHS= 0.471,-1.432, 0.100, RAW= 139.4,   9.9, CAL= 138.9,  10.8, ROT=  11.1, -10.8

2025-08-22T16:57:41.775Z,1755881861.775 [DAT](INFO): DAT read: Bearing 202.3,  13.1 (Local)

2025-08-22T16:57:41.775Z,1755881861.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.3,  13.1 (Local)

2025-08-22T16:57:41.777Z,1755881861.777 [DAT](INFO): DAT read: Range 11 to 50 : 178.5 m  (Round-trip  238.1 ms) speed  0.4 m/s

2025-08-22T16:57:41.777Z,1755881861.777 [DAT](INFO): DAT read: user:335>

2025-08-22T16:57:41.778Z,1755881861.778 [DAT](INFO): DAT read: Tx time:16:57:42.8437

2025-08-22T16:57:41.778Z,1755881861.778 [DAT](INFO): Ping request sent.
2025-08-22T16:57:41.778Z,1755881861.778 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:41.779Z,1755881861.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:41.780Z,1755881861.780 [DAT](INFO): direction in FSK: [0.963911,0.189112,0.187381]
2025-08-22T16:57:41.780Z,1755881861.780 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:41.780Z,1755881861.780 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:41.794Z,1755881861.794 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:41.794Z,1755881861.794 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:41.801Z,1755881861.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.500000 m,
      deltaT: 3.780100 s,
      deltaX: -1.600006 m,
      approachRate: -0.423271 m/s,
      rangeRepo size: 4

2025-08-22T16:57:41.807Z,1755881861.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.368744 m,
      bearing: 48.802157 deg,
      lat: 36.779570 deg,
      lon: -121.859437 deg,
      deltaT: 3.780100 s,
      deltaX: -1.589981 m,
      approachRate: -0.420619 m/s,
      posRepo size: 4

2025-08-22T16:57:41.808Z,1755881861.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:41.815Z,1755881861.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 172.570374 m,
      bearing: 48.755589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009122 deg/s,
      cmd heading: 38.463309 deg,
      new cmd heading: 38.455016 deg.

2025-08-22T16:57:41.816Z,1755881861.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671167 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:42.172Z,1755881862.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:42.180Z,1755881862.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 172.346252 m,
      bearing: 48.753249 deg,
      approach rate: -0.603835 m/s,
      LOS rate: -0.006312 deg/s,
      cmd heading: 38.455017 deg,
      new cmd heading: 38.450331 deg.

2025-08-22T16:57:42.181Z,1755881862.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671085 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:42.549Z,1755881862.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:42.560Z,1755881862.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 172.121429 m,
      bearing: 48.750842 deg,
      approach rate: -0.595370 m/s,
      LOS rate: -0.006383 deg/s,
      cmd heading: 38.450331 deg,
      new cmd heading: 38.445511 deg.

2025-08-22T16:57:42.561Z,1755881862.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671001 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:42.974Z,1755881862.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:42.976Z,1755881862.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:42.979Z,1755881862.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 171.887039 m,
      bearing: 48.747935 deg,
      approach rate: -0.548144 m/s,
      LOS rate: -0.006807 deg/s,
      cmd heading: 38.445509 deg,
      new cmd heading: 38.439688 deg.

2025-08-22T16:57:42.980Z,1755881862.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670899 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:43.011Z,1755881863.011 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:43.011Z,1755881863.011 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:43.012Z,1755881863.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:43.262Z,1755881863.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483941
2025-08-22T16:57:43.371Z,1755881863.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:43.381Z,1755881863.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 171.679077 m,
      bearing: 48.745340 deg,
      approach rate: -0.527259 m/s,
      LOS rate: -0.006587 deg/s,
      cmd heading: 38.439690 deg,
      new cmd heading: 38.434493 deg.

2025-08-22T16:57:43.382Z,1755881863.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670808 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:43.514Z,1755881863.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735897
2025-08-22T16:57:43.517Z,1755881863.517 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:57:43.767Z,1755881863.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988138
2025-08-22T16:57:43.799Z,1755881863.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:43.802Z,1755881863.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 171.433517 m,
      bearing: 48.743775 deg,
      approach rate: -0.573433 m/s,
      LOS rate: -0.003659 deg/s,
      cmd heading: 38.434492 deg,
      new cmd heading: 38.431358 deg.

2025-08-22T16:57:43.803Z,1755881863.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670754 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:44.019Z,1755881864.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240266
2025-08-22T16:57:44.202Z,1755881864.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:44.205Z,1755881864.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 171.219543 m,
      bearing: 48.742408 deg,
      approach rate: -0.548207 m/s,
      LOS rate: -0.003507 deg/s,
      cmd heading: 38.431357 deg,
      new cmd heading: 38.428619 deg.

2025-08-22T16:57:44.206Z,1755881864.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670706 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:44.271Z,1755881864.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492220
2025-08-22T16:57:44.514Z,1755881864.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:57:44.523Z,1755881864.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744063
2025-08-22T16:57:44.581Z,1755881864.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:44.583Z,1755881864.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 171.001160 m,
      bearing: 48.741082 deg,
      approach rate: -0.558301 m/s,
      LOS rate: -0.003394 deg/s,
      cmd heading: 38.428618 deg,
      new cmd heading: 38.425963 deg.

2025-08-22T16:57:44.584Z,1755881864.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670660 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:44.774Z,1755881864.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995950
2025-08-22T16:57:45.027Z,1755881865.027 [DAT](INFO): DAT read: Rx Time:16:57:45.4841

2025-08-22T16:57:45.027Z,1755881865.027 [DAT](INFO): Rx dataTimestamp_ set to:1755881865.026805
2025-08-22T16:57:45.028Z,1755881865.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249121
2025-08-22T16:57:45.033Z,1755881865.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:45.039Z,1755881865.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:45.046Z,1755881865.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 170.755966 m,
      bearing: 48.739075 deg,
      approach rate: -0.534337 m/s,
      LOS rate: -0.004381 deg/s,
      cmd heading: 38.425961 deg,
      new cmd heading: 38.421940 deg.

2025-08-22T16:57:45.047Z,1755881865.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670589 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:45.279Z,1755881865.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500015
2025-08-22T16:57:45.414Z,1755881865.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.37 m.
2025-08-22T16:57:45.416Z,1755881865.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.368744 m,
      nav range: 170.547638 m,
      bearing: 48.737375 deg,
      approach rate: -0.557150 m/s,
      LOS rate: -0.004551 deg/s,
      cmd heading: 38.421942 deg,
      new cmd heading: 38.418538 deg.

2025-08-22T16:57:45.417Z,1755881865.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670530 target range: 177.368744 and range: 178.50 m.
2025-08-22T16:57:45.560Z,1755881865.560 [DAT](INFO): DAT read: 16:57:45.4841 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416,-0.10, 0.912,-0.950, 0.682, 0.521, PHS= 0.493,-1.427, 0.117, RAW= 139.3,   9.3, CAL= 138.9,  10.2, ROT=  11.1, -10.2

2025-08-22T16:57:45.566Z,1755881865.566 [DAT](INFO): got valid direction response:
 16:57:45.4841 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416,-0.10, 0.912,-0.950, 0.682, 0.521, PHS= 0.493,-1.427, 0.117, RAW= 139.3,   9.3, CAL= 138.9,  10.2, ROT=  11.1, -10.2

2025-08-22T16:57:45.567Z,1755881865.567 [DAT](INFO): DAT read: Bearing 202.1,  13.1 (Local)

2025-08-22T16:57:45.567Z,1755881865.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.1,  13.1 (Local)

2025-08-22T16:57:45.568Z,1755881865.568 [DAT](INFO): DAT read: Range 11 to 50 : 177.2 m  (Round-trip  236.3 ms) speed  0.4 m/s

2025-08-22T16:57:45.569Z,1755881865.569 [DAT](INFO): DAT read: user:336>

2025-08-22T16:57:45.570Z,1755881865.570 [DAT](INFO): DAT read: Tx time:16:57:46.5937

2025-08-22T16:57:45.570Z,1755881865.570 [DAT](INFO): Ping request sent.
2025-08-22T16:57:45.570Z,1755881865.570 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:45.571Z,1755881865.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:45.571Z,1755881865.571 [DAT](INFO): direction in FSK: [0.965784,0.189479,0.177085]
2025-08-22T16:57:45.572Z,1755881865.572 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:45.572Z,1755881865.572 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:45.601Z,1755881865.601 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:45.601Z,1755881865.601 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:45.878Z,1755881865.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.199997 m,
      deltaT: 3.780178 s,
      deltaX: -1.300003 m,
      approachRate: -0.343900 m/s,
      rangeRepo size: 4

2025-08-22T16:57:45.880Z,1755881865.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.076141 m,
      bearing: 48.790289 deg,
      lat: 36.779571 deg,
      lon: -121.859435 deg,
      deltaT: 3.780178 s,
      deltaX: -1.292603 m,
      approachRate: -0.341942 m/s,
      posRepo size: 4

2025-08-22T16:57:45.881Z,1755881865.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:45.894Z,1755881865.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 170.545914 m,
      bearing: 48.755089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004551 deg/s,
      cmd heading: 38.418537 deg,
      new cmd heading: 38.414351 deg.

2025-08-22T16:57:45.895Z,1755881865.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670457 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:46.221Z,1755881866.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:46.242Z,1755881866.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 170.350098 m,
      bearing: 48.753404 deg,
      approach rate: -0.562685 m/s,
      LOS rate: -0.004849 deg/s,
      cmd heading: 38.414350 deg,
      new cmd heading: 38.410975 deg.

2025-08-22T16:57:46.243Z,1755881866.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670398 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:46.623Z,1755881866.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:46.626Z,1755881866.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 170.134659 m,
      bearing: 48.751544 deg,
      approach rate: -0.536340 m/s,
      LOS rate: -0.004635 deg/s,
      cmd heading: 38.410976 deg,
      new cmd heading: 38.407253 deg.

2025-08-22T16:57:46.627Z,1755881866.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670333 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:47.072Z,1755881867.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:47.074Z,1755881867.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:47.077Z,1755881867.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 169.884872 m,
      bearing: 48.750758 deg,
      approach rate: -0.553316 m/s,
      LOS rate: -0.001744 deg/s,
      cmd heading: 38.407253 deg,
      new cmd heading: 38.405679 deg.

2025-08-22T16:57:47.078Z,1755881867.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670306 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:47.298Z,1755881867.298 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:47.298Z,1755881867.298 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:47.299Z,1755881867.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:47.430Z,1755881867.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:47.433Z,1755881867.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 169.687469 m,
      bearing: 48.750179 deg,
      approach rate: -0.555339 m/s,
      LOS rate: -0.001633 deg/s,
      cmd heading: 38.405679 deg,
      new cmd heading: 38.404518 deg.

2025-08-22T16:57:47.450Z,1755881867.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670285 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:47.551Z,1755881867.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981077
2025-08-22T16:57:47.802Z,1755881867.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232148
2025-08-22T16:57:47.875Z,1755881867.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:47.878Z,1755881867.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 169.445740 m,
      bearing: 48.748074 deg,
      approach rate: -0.542509 m/s,
      LOS rate: -0.004731 deg/s,
      cmd heading: 38.404518 deg,
      new cmd heading: 38.400302 deg.

2025-08-22T16:57:47.879Z,1755881867.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670212 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:48.055Z,1755881868.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484219
2025-08-22T16:57:48.246Z,1755881868.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:48.248Z,1755881868.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 169.244827 m,
      bearing: 48.746378 deg,
      approach rate: -0.542697 m/s,
      LOS rate: -0.004587 deg/s,
      cmd heading: 38.400304 deg,
      new cmd heading: 38.396908 deg.

2025-08-22T16:57:48.249Z,1755881868.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670152 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:48.307Z,1755881868.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737134
2025-08-22T16:57:48.559Z,1755881868.559 [DAT](INFO): DAT read: Rx Time:16:57:49.2313

2025-08-22T16:57:48.559Z,1755881868.559 [DAT](INFO): Rx dataTimestamp_ set to:1755881868.558689
2025-08-22T16:57:48.560Z,1755881868.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989251
2025-08-22T16:57:48.646Z,1755881868.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:48.649Z,1755881868.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 169.027954 m,
      bearing: 48.744561 deg,
      approach rate: -0.541457 m/s,
      LOS rate: -0.004542 deg/s,
      cmd heading: 38.396909 deg,
      new cmd heading: 38.393271 deg.

2025-08-22T16:57:48.666Z,1755881868.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670089 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:48.811Z,1755881868.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240308
2025-08-22T16:57:49.063Z,1755881869.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492367
2025-08-22T16:57:49.076Z,1755881869.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:49.103Z,1755881869.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.08 m.
2025-08-22T16:57:49.120Z,1755881869.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.076141 m,
      nav range: 168.789017 m,
      bearing: 48.742358 deg,
      approach rate: -0.529267 m/s,
      LOS rate: -0.004886 deg/s,
      cmd heading: 38.393272 deg,
      new cmd heading: 38.388860 deg.

2025-08-22T16:57:49.134Z,1755881869.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670012 target range: 176.076141 and range: 177.20 m.
2025-08-22T16:57:49.320Z,1755881869.320 [DAT](INFO): DAT read: 16:57:49.2313 LVL= 26752, 27457, 26450, 22595, AGC= 66, IDX= 419, 0.31,-2.602, 2.478,-2.649, 2.452, PHS= 1.330, 0.071, 1.138, RAW= 141.9, -37.4, CAL= 143.1, -36.7, ROT=   6.9,  36.7

2025-08-22T16:57:49.321Z,1755881869.321 [DAT](INFO): got valid direction response:
 16:57:49.2313 LVL= 26752, 27457, 26450, 22595, AGC= 66, IDX= 419, 0.31,-2.602, 2.478,-2.649, 2.452, PHS= 1.330, 0.071, 1.138, RAW= 141.9, -37.4, CAL= 143.1, -36.7, ROT=   6.9,  36.7

2025-08-22T16:57:49.322Z,1755881869.322 [DAT](INFO): DAT read: Bearing 155.0,   5.5 (Local)

2025-08-22T16:57:49.322Z,1755881869.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.0,   5.5 (Local)

2025-08-22T16:57:49.324Z,1755881869.324 [DAT](INFO): DAT read: Range 11 to 50 : 175.1 m  (Round-trip  233.5 ms) speed  0.4 m/s

2025-08-22T16:57:49.324Z,1755881869.324 [DAT](INFO): DAT read: user:337>

2025-08-22T16:57:49.325Z,1755881869.325 [DAT](INFO): DAT read: Tx time:16:57:50.3452

2025-08-22T16:57:49.325Z,1755881869.325 [DAT](INFO): Ping request sent.
2025-08-22T16:57:49.326Z,1755881869.326 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:49.326Z,1755881869.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:49.327Z,1755881869.327 [DAT](INFO): direction in FSK: [0.795969,0.096323,-0.597625]
2025-08-22T16:57:49.327Z,1755881869.327 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:49.327Z,1755881869.327 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:49.356Z,1755881869.356 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:49.356Z,1755881869.356 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:49.631Z,1755881869.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.100006 m,
      deltaT: 3.783685 s,
      deltaX: -2.099991 m,
      approachRate: -0.555012 m/s,
      rangeRepo size: 4

2025-08-22T16:57:49.636Z,1755881869.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 173.988586 m,
      bearing: 46.558268 deg,
      lat: 36.779570 deg,
      lon: -121.859435 deg,
      deltaT: 3.783685 s,
      deltaX: -2.087555 m,
      approachRate: -0.551725 m/s,
      posRepo size: 4

2025-08-22T16:57:49.636Z,1755881869.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:49.647Z,1755881869.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 168.419952 m,
      bearing: 48.766632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004886 deg/s,
      cmd heading: 38.388860 deg,
      new cmd heading: 38.383649 deg.

2025-08-22T16:57:49.648Z,1755881869.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669921 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:50.088Z,1755881870.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:50.091Z,1755881870.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 168.155197 m,
      bearing: 48.764216 deg,
      approach rate: -0.578933 m/s,
      LOS rate: -0.005291 deg/s,
      cmd heading: 38.383648 deg,
      new cmd heading: 38.378809 deg.

2025-08-22T16:57:50.092Z,1755881870.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669837 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:50.547Z,1755881870.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:50.550Z,1755881870.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 167.898560 m,
      bearing: 48.761832 deg,
      approach rate: -0.559167 m/s,
      LOS rate: -0.005203 deg/s,
      cmd heading: 38.378809 deg,
      new cmd heading: 38.374033 deg.

2025-08-22T16:57:50.551Z,1755881870.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669753 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:51.077Z,1755881871.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:51.083Z,1755881871.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:51.090Z,1755881871.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 167.604523 m,
      bearing: 48.758811 deg,
      approach rate: -0.548285 m/s,
      LOS rate: -0.005643 deg/s,
      cmd heading: 38.374031 deg,
      new cmd heading: 38.367979 deg.

2025-08-22T16:57:51.091Z,1755881871.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669648 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:51.330Z,1755881871.330 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:51.330Z,1755881871.330 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:51.331Z,1755881871.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:51.452Z,1755881871.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:51.455Z,1755881871.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 167.394562 m,
      bearing: 48.756685 deg,
      approach rate: -0.569498 m/s,
      LOS rate: -0.005772 deg/s,
      cmd heading: 38.367980 deg,
      new cmd heading: 38.363724 deg.

2025-08-22T16:57:51.456Z,1755881871.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669573 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:51.583Z,1755881871.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256969
2025-08-22T16:57:51.835Z,1755881871.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508990
2025-08-22T16:57:51.913Z,1755881871.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:51.920Z,1755881871.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 167.132172 m,
      bearing: 48.753126 deg,
      approach rate: -0.569335 m/s,
      LOS rate: -0.007735 deg/s,
      cmd heading: 38.363725 deg,
      new cmd heading: 38.356595 deg.

2025-08-22T16:57:51.921Z,1755881871.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669449 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:52.087Z,1755881872.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761038
2025-08-22T16:57:52.269Z,1755881872.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:52.271Z,1755881872.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 166.932068 m,
      bearing: 48.750380 deg,
      approach rate: -0.562606 m/s,
      LOS rate: -0.007729 deg/s,
      cmd heading: 38.356594 deg,
      new cmd heading: 38.351096 deg.

2025-08-22T16:57:52.272Z,1755881872.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669353 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:52.341Z,1755881872.341 [DAT](INFO): DAT read: Rx Time:16:57:52.9798

2025-08-22T16:57:52.342Z,1755881872.342 [DAT](INFO): Rx dataTimestamp_ set to:1755881872.341151
2025-08-22T16:57:52.342Z,1755881872.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016503
2025-08-22T16:57:52.594Z,1755881872.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268842
2025-08-22T16:57:52.662Z,1755881872.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.99 m.
2025-08-22T16:57:52.664Z,1755881872.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.988586 m,
      nav range: 166.700195 m,
      bearing: 48.747216 deg,
      approach rate: -0.589795 m/s,
      LOS rate: -0.008059 deg/s,
      cmd heading: 38.351096 deg,
      new cmd heading: 38.344759 deg.

2025-08-22T16:57:52.682Z,1755881872.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669242 target range: 173.988586 and range: 175.10 m.
2025-08-22T16:57:52.850Z,1755881872.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524181
2025-08-22T16:57:53.106Z,1755881873.106 [DAT](INFO): DAT read: 16:57:52.9798 LVL= 25968, 29745, 29586, 32755, AGC= 69, IDX=  46,-0.33,-2.745, 1.566,-3.016, 3.100, PHS= 0.540,-1.489, 0.123, RAW= 138.8,   8.9, CAL= 138.4,   9.9, ROT=  11.6,  -9.9

2025-08-22T16:57:53.107Z,1755881873.107 [DAT](INFO): got valid direction response:
 16:57:52.9798 LVL= 25968, 29745, 29586, 32755, AGC= 69, IDX=  46,-0.33,-2.745, 1.566,-3.016, 3.100, PHS= 0.540,-1.489, 0.123, RAW= 138.8,   8.9, CAL= 138.4,   9.9, ROT=  11.6,  -9.9

2025-08-22T16:57:53.108Z,1755881873.108 [DAT](INFO): DAT read: Bearing 202.1,  13.4 (Local)

2025-08-22T16:57:53.108Z,1755881873.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.1,  13.4 (Local)

2025-08-22T16:57:53.110Z,1755881873.110 [DAT](INFO): DAT read: Range 11 to 50 : 172.8 m  (Round-trip  230.5 ms) speed  0.3 m/s

2025-08-22T16:57:53.110Z,1755881873.110 [DAT](INFO): DAT read: user:338>

2025-08-22T16:57:53.111Z,1755881873.111 [DAT](INFO): DAT read: Tx time:16:57:54.0936

2025-08-22T16:57:53.111Z,1755881873.111 [DAT](INFO): Ping request sent.
2025-08-22T16:57:53.111Z,1755881873.111 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:53.112Z,1755881873.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:53.113Z,1755881873.113 [DAT](INFO): direction in FSK: [0.964989,0.198084,0.171929]
2025-08-22T16:57:53.113Z,1755881873.113 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:53.113Z,1755881873.113 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:53.124Z,1755881873.124 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:53.124Z,1755881873.124 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:53.157Z,1755881873.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 172.800003 m,
      deltaT: 3.785627 s,
      deltaX: -2.300003 m,
      approachRate: -0.607562 m/s,
      rangeRepo size: 4

2025-08-22T16:57:53.169Z,1755881873.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.702042 m,
      bearing: 49.239929 deg,
      lat: 36.779570 deg,
      lon: -121.859433 deg,
      deltaT: 3.785627 s,
      deltaX: -2.286545 m,
      approachRate: -0.604007 m/s,
      posRepo size: 4

2025-08-22T16:57:53.182Z,1755881873.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:53.190Z,1755881873.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 166.584366 m,
      bearing: 48.786389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008059 deg/s,
      cmd heading: 38.344757 deg,
      new cmd heading: 38.336799 deg.

2025-08-22T16:57:53.191Z,1755881873.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669103 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:53.539Z,1755881873.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:53.545Z,1755881873.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:53.548Z,1755881873.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 166.328659 m,
      bearing: 48.784253 deg,
      approach rate: -0.662487 m/s,
      LOS rate: -0.005541 deg/s,
      cmd heading: 38.336800 deg,
      new cmd heading: 38.332522 deg.

2025-08-22T16:57:53.549Z,1755881873.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669029 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:53.603Z,1755881873.603 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:53.603Z,1755881873.603 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:53.604Z,1755881873.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:53.854Z,1755881873.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743137
2025-08-22T16:57:53.965Z,1755881873.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:53.970Z,1755881873.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 166.098114 m,
      bearing: 48.781243 deg,
      approach rate: -0.545591 m/s,
      LOS rate: -0.007133 deg/s,
      cmd heading: 38.332521 deg,
      new cmd heading: 38.326492 deg.

2025-08-22T16:57:53.972Z,1755881873.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668923 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:54.112Z,1755881874.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000723
2025-08-22T16:57:54.351Z,1755881874.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:54.354Z,1755881874.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 165.889999 m,
      bearing: 48.778550 deg,
      approach rate: -0.537376 m/s,
      LOS rate: -0.006961 deg/s,
      cmd heading: 38.326493 deg,
      new cmd heading: 38.321101 deg.

2025-08-22T16:57:54.355Z,1755881874.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668829 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:54.359Z,1755881874.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247331
2025-08-22T16:57:54.610Z,1755881874.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499121
2025-08-22T16:57:54.777Z,1755881874.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:54.781Z,1755881874.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 165.663254 m,
      bearing: 48.775655 deg,
      approach rate: -0.533031 m/s,
      LOS rate: -0.006815 deg/s,
      cmd heading: 38.321101 deg,
      new cmd heading: 38.315302 deg.

2025-08-22T16:57:54.787Z,1755881874.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668728 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:54.863Z,1755881874.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751498
2025-08-22T16:57:55.115Z,1755881875.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003168
2025-08-22T16:57:55.204Z,1755881875.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:55.211Z,1755881875.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 165.419281 m,
      bearing: 48.772065 deg,
      approach rate: -0.570673 m/s,
      LOS rate: -0.008411 deg/s,
      cmd heading: 38.315302 deg,
      new cmd heading: 38.308110 deg.

2025-08-22T16:57:55.212Z,1755881875.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668603 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:55.367Z,1755881875.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255210
2025-08-22T16:57:55.553Z,1755881875.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:55.555Z,1755881875.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:55.562Z,1755881875.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 165.220688 m,
      bearing: 48.769130 deg,
      approach rate: -0.565346 m/s,
      LOS rate: -0.008364 deg/s,
      cmd heading: 38.308110 deg,
      new cmd heading: 38.302234 deg.

2025-08-22T16:57:55.563Z,1755881875.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668500 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:55.620Z,1755881875.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508345
2025-08-22T16:57:55.873Z,1755881875.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761292
2025-08-22T16:57:56.012Z,1755881876.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:56.020Z,1755881876.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 164.971893 m,
      bearing: 48.765514 deg,
      approach rate: -0.545578 m/s,
      LOS rate: -0.007942 deg/s,
      cmd heading: 38.302232 deg,
      new cmd heading: 38.294989 deg.

2025-08-22T16:57:56.026Z,1755881876.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668374 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:56.124Z,1755881876.124 [DAT](INFO): DAT read: Rx Time:16:57:56.6904

2025-08-22T16:57:56.124Z,1755881876.124 [DAT](INFO): Rx dataTimestamp_ set to:1755881876.124010
2025-08-22T16:57:56.125Z,1755881876.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013499
2025-08-22T16:57:56.364Z,1755881876.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:56.375Z,1755881876.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263797
2025-08-22T16:57:56.403Z,1755881876.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 164.765305 m,
      bearing: 48.762531 deg,
      approach rate: -0.586590 m/s,
      LOS rate: -0.008482 deg/s,
      cmd heading: 38.294989 deg,
      new cmd heading: 38.289015 deg.

2025-08-22T16:57:56.404Z,1755881876.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668269 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:56.635Z,1755881876.635 [DAT](INFO): DAT read: 16:57:56.6904 LVL= 32304, 30321, 31474, 27203, AGC= 69, IDX=  49, 0.18,-0.262,-2.105,-0.505,-0.618, PHS= 0.458,-1.442, 0.070, RAW= 138.8,  10.5, CAL= 138.3,  11.5, ROT=  11.7, -11.5

2025-08-22T16:57:56.636Z,1755881876.636 [DAT](INFO): got valid direction response:
 16:57:56.6904 LVL= 32304, 30321, 31474, 27203, AGC= 69, IDX=  49, 0.18,-0.262,-2.105,-0.505,-0.618, PHS= 0.458,-1.442, 0.070, RAW= 138.8,  10.5, CAL= 138.3,  11.5, ROT=  11.7, -11.5

2025-08-22T16:57:56.637Z,1755881876.637 [DAT](INFO): DAT read: Bearing 204.0,  13.0 (Local)

2025-08-22T16:57:56.638Z,1755881876.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.0,  13.0 (Local)

2025-08-22T16:57:56.639Z,1755881876.639 [DAT](INFO): DAT read: Range 11 to 50 : 144.4 m  (Round-trip  192.6 ms) speed  0.4 m/s

2025-08-22T16:57:56.640Z,1755881876.640 [DAT](INFO): DAT read: user:339>

2025-08-22T16:57:56.640Z,1755881876.640 [DAT](INFO): DAT read: Tx time:16:57:57.7936

2025-08-22T16:57:56.641Z,1755881876.641 [DAT](INFO): Ping request sent.
2025-08-22T16:57:56.641Z,1755881876.641 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:57:56.641Z,1755881876.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:57:56.643Z,1755881876.643 [DAT](INFO): direction in FSK: [0.959565,0.198716,0.199368]
2025-08-22T16:57:56.643Z,1755881876.643 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:56.643Z,1755881876.643 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:56.647Z,1755881876.647 [DAT](INFO): publishing transmit ping time
2025-08-22T16:57:56.647Z,1755881876.647 [DAT](INFO): publishing direction and range info
2025-08-22T16:57:56.806Z,1755881876.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 144.399994 m,
 deltaT: 3.526930 s,
 deltaX: -28.400009 m,
 approachRate: -8.052331 m/s,
 rangeRepo size: 4
2025-08-22T16:57:56.812Z,1755881876.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:56.854Z,1755881876.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 164.529419 m,
      bearing: 48.759129 deg,
      approach rate: -0.539416 m/s,
      LOS rate: -0.007789 deg/s,
      cmd heading: 38.289016 deg,
      new cmd heading: 38.282204 deg.

2025-08-22T16:57:56.857Z,1755881876.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668150 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:57.231Z,1755881877.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:57.234Z,1755881877.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 164.282410 m,
      bearing: 48.756683 deg,
      approach rate: -0.573970 m/s,
      LOS rate: -0.005694 deg/s,
      cmd heading: 38.282203 deg,
      new cmd heading: 38.277302 deg.

2025-08-22T16:57:57.235Z,1755881877.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668065 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:57.612Z,1755881877.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:57.614Z,1755881877.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:57.617Z,1755881877.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 164.072006 m,
      bearing: 48.754576 deg,
      approach rate: -0.549108 m/s,
      LOS rate: -0.005505 deg/s,
      cmd heading: 38.277302 deg,
      new cmd heading: 38.273084 deg.

2025-08-22T16:57:57.618Z,1755881877.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667991 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:57.634Z,1755881877.634 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:57:57.634Z,1755881877.634 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:57:57.635Z,1755881877.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:57:57.891Z,1755881877.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248565
2025-08-22T16:57:58.047Z,1755881878.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:58.050Z,1755881878.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 163.837814 m,
      bearing: 48.751444 deg,
      approach rate: -0.541761 m/s,
      LOS rate: -0.007256 deg/s,
      cmd heading: 38.273085 deg,
      new cmd heading: 38.266812 deg.

2025-08-22T16:57:58.051Z,1755881878.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667882 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:58.139Z,1755881878.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498537
2025-08-22T16:57:58.391Z,1755881878.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749769
2025-08-22T16:57:58.419Z,1755881878.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:58.421Z,1755881878.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 163.633209 m,
      bearing: 48.748694 deg,
      approach rate: -0.551498 m/s,
      LOS rate: -0.007421 deg/s,
      cmd heading: 38.266811 deg,
      new cmd heading: 38.261304 deg.

2025-08-22T16:57:58.423Z,1755881878.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667786 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:58.643Z,1755881878.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002679
2025-08-22T16:57:58.822Z,1755881878.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:58.827Z,1755881878.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 163.413071 m,
      bearing: 48.745713 deg,
      approach rate: -0.545278 m/s,
      LOS rate: -0.007395 deg/s,
      cmd heading: 38.261306 deg,
      new cmd heading: 38.255335 deg.

2025-08-22T16:57:58.847Z,1755881878.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667682 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:58.897Z,1755881878.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255948
2025-08-22T16:57:59.147Z,1755881879.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505736
2025-08-22T16:57:59.244Z,1755881879.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:59.246Z,1755881879.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 163.181488 m,
      bearing: 48.743255 deg,
      approach rate: -0.548628 m/s,
      LOS rate: -0.005833 deg/s,
      cmd heading: 38.255336 deg,
      new cmd heading: 38.250412 deg.

2025-08-22T16:57:59.247Z,1755881879.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667596 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:59.399Z,1755881879.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757967
2025-08-22T16:57:59.630Z,1755881879.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:57:59.632Z,1755881879.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:57:59.635Z,1755881879.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 162.968674 m,
      bearing: 48.741014 deg,
      approach rate: -0.547466 m/s,
      LOS rate: -0.005771 deg/s,
      cmd heading: 38.250412 deg,
      new cmd heading: 38.245925 deg.

2025-08-22T16:57:59.636Z,1755881879.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667517 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:57:59.651Z,1755881879.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009862
2025-08-22T16:57:59.907Z,1755881879.907 [DAT](INFO): DAT read: Rx Time:16:58:00.3875

2025-08-22T16:57:59.909Z,1755881879.909 [DAT](INFO): Rx dataTimestamp_ set to:1755881879.907670
2025-08-22T16:57:59.911Z,1755881879.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269918
2025-08-22T16:58:00.070Z,1755881880.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m.
2025-08-22T16:58:00.072Z,1755881880.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.702042 m,
      nav range: 162.729416 m,
      bearing: 48.739153 deg,
      approach rate: -0.546993 m/s,
      LOS rate: -0.004260 deg/s,
      cmd heading: 38.245924 deg,
      new cmd heading: 38.242197 deg.

2025-08-22T16:58:00.074Z,1755881880.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667452 target range: 171.702042 and range: 172.80 m.
2025-08-22T16:58:00.156Z,1755881880.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514608
2025-08-22T16:58:00.412Z,1755881880.412 [DAT](INFO): DAT read: 16:58:00.3875 LVL= 31728, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.29,-0.708,-2.568,-0.927,-1.067, PHS= 0.461,-1.457, 0.096, RAW= 139.7,  10.2, CAL= 139.2,  11.2, ROT=  10.8, -11.2

2025-08-22T16:58:00.413Z,1755881880.413 [DAT](INFO): got valid direction response:
 16:58:00.3875 LVL= 31728, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.29,-0.708,-2.568,-0.927,-1.067, PHS= 0.461,-1.457, 0.096, RAW= 139.7,  10.2, CAL= 139.2,  11.2, ROT=  10.8, -11.2

2025-08-22T16:58:00.414Z,1755881880.414 [DAT](INFO): DAT read: Bearing 203.7,  11.6 (Local)

2025-08-22T16:58:00.415Z,1755881880.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,  11.6 (Local)

2025-08-22T16:58:00.416Z,1755881880.416 [DAT](INFO): DAT read: Range 11 to 50 : 142.3 m  (Round-trip  189.8 ms) speed  0.2 m/s

2025-08-22T16:58:00.417Z,1755881880.417 [DAT](INFO): DAT read: user:340>

2025-08-22T16:58:00.418Z,1755881880.418 [DAT](INFO): DAT read: Tx time:16:58:01.4936

2025-08-22T16:58:00.418Z,1755881880.418 [DAT](INFO): Ping request sent.
2025-08-22T16:58:00.418Z,1755881880.418 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:00.418Z,1755881880.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:00.419Z,1755881880.419 [DAT](INFO): direction in FSK: [0.963580,0.183813,0.194234]
2025-08-22T16:58:00.419Z,1755881880.419 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:00.420Z,1755881880.420 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:00.431Z,1755881880.431 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:00.431Z,1755881880.431 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:00.515Z,1755881880.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.300003 m,
      deltaT: 7.306579 s,
      deltaX: -30.500000 m,
      approachRate: -4.174320 m/s,
      rangeRepo size: 4

2025-08-22T16:58:00.517Z,1755881880.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.395966 m,
      bearing: 48.180162 deg,
      lat: 36.779456 deg,
      lon: -121.859634 deg,
      deltaT: 7.306579 s,
      deltaX: -30.306076 m,
      approachRate: -4.147779 m/s,
      posRepo size: 4

2025-08-22T16:58:00.526Z,1755881880.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:00.528Z,1755881880.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 140.668594 m,
      bearing: 47.790734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004260 deg/s,
      cmd heading: 38.242198 deg,
      new cmd heading: 38.238451 deg.

2025-08-22T16:58:00.534Z,1755881880.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667387 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:00.850Z,1755881880.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:00.852Z,1755881880.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 140.471100 m,
      bearing: 47.787701 deg,
      approach rate: -0.581010 m/s,
      LOS rate: -0.008937 deg/s,
      cmd heading: 38.238452 deg,
      new cmd heading: 38.232376 deg.

2025-08-22T16:58:00.854Z,1755881880.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667281 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:01.274Z,1755881881.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:01.277Z,1755881881.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 140.244720 m,
      bearing: 47.784536 deg,
      approach rate: -0.533649 m/s,
      LOS rate: -0.007472 deg/s,
      cmd heading: 38.232377 deg,
      new cmd heading: 38.226037 deg.

2025-08-22T16:58:01.278Z,1755881881.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667170 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:01.647Z,1755881881.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:01.649Z,1755881881.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:01.653Z,1755881881.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 140.045013 m,
      bearing: 47.781781 deg,
      approach rate: -0.532603 m/s,
      LOS rate: -0.007358 deg/s,
      cmd heading: 38.226038 deg,
      new cmd heading: 38.220521 deg.

2025-08-22T16:58:01.654Z,1755881881.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667074 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:01.666Z,1755881881.666 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:01.666Z,1755881881.666 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:01.667Z,1755881881.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:01.922Z,1755881881.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503231
2025-08-22T16:58:02.088Z,1755881882.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:02.095Z,1755881882.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 139.815887 m,
      bearing: 47.779389 deg,
      approach rate: -0.521122 m/s,
      LOS rate: -0.005449 deg/s,
      cmd heading: 38.220519 deg,
      new cmd heading: 38.215728 deg.

2025-08-22T16:58:02.096Z,1755881882.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666990 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:02.171Z,1755881882.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753079
2025-08-22T16:58:02.423Z,1755881882.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004563
2025-08-22T16:58:02.474Z,1755881882.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:02.479Z,1755881882.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 139.594711 m,
      bearing: 47.777079 deg,
      approach rate: -0.573228 m/s,
      LOS rate: -0.005996 deg/s,
      cmd heading: 38.215728 deg,
      new cmd heading: 38.211101 deg.

2025-08-22T16:58:02.480Z,1755881882.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666910 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:02.675Z,1755881882.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256542
2025-08-22T16:58:02.866Z,1755881882.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:02.869Z,1755881882.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 139.381363 m,
      bearing: 47.774892 deg,
      approach rate: -0.544948 m/s,
      LOS rate: -0.005595 deg/s,
      cmd heading: 38.211101 deg,
      new cmd heading: 38.206720 deg.

2025-08-22T16:58:02.870Z,1755881882.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666833 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:02.929Z,1755881882.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510253
2025-08-22T16:58:03.179Z,1755881883.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761204
2025-08-22T16:58:03.298Z,1755881883.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:03.301Z,1755881883.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 139.153137 m,
      bearing: 47.772335 deg,
      approach rate: -0.530173 m/s,
      LOS rate: -0.005950 deg/s,
      cmd heading: 38.206719 deg,
      new cmd heading: 38.201597 deg.

2025-08-22T16:58:03.302Z,1755881883.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666744 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:03.432Z,1755881883.432 [DAT](INFO): DAT read: Rx Time:16:58:04.0850

2025-08-22T16:58:03.432Z,1755881883.432 [DAT](INFO): Rx dataTimestamp_ set to:1755881883.431848
2025-08-22T16:58:03.433Z,1755881883.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014686
2025-08-22T16:58:03.671Z,1755881883.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:03.673Z,1755881883.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:03.676Z,1755881883.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 138.939407 m,
      bearing: 47.770012 deg,
      approach rate: -0.567496 m/s,
      LOS rate: -0.006178 deg/s,
      cmd heading: 38.201596 deg,
      new cmd heading: 38.196943 deg.

2025-08-22T16:58:03.677Z,1755881883.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666662 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:03.683Z,1755881883.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264602
2025-08-22T16:58:03.941Z,1755881883.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522440
2025-08-22T16:58:04.105Z,1755881884.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-22T16:58:04.108Z,1755881884.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.395966 m,
      nav range: 138.700821 m,
      bearing: 47.766459 deg,
      approach rate: -0.552195 m/s,
      LOS rate: -0.008238 deg/s,
      cmd heading: 38.196942 deg,
      new cmd heading: 38.189823 deg.

2025-08-22T16:58:04.109Z,1755881884.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666538 target range: 141.395966 and range: 142.30 m.
2025-08-22T16:58:04.195Z,1755881884.195 [DAT](INFO): DAT read: 16:58:04.0850 LVL= 31472, 32753, 32162, 32755, AGC= 69, IDX= 410,-0.05, 0.751,-1.133, 0.493, 0.371, PHS= 0.482,-1.459, 0.078, RAW= 138.6,  10.2, CAL= 138.2,  11.1, ROT=  11.8, -11.1

2025-08-22T16:58:04.197Z,1755881884.197 [DAT](INFO): got valid direction response:
 16:58:04.0850 LVL= 31472, 32753, 32162, 32755, AGC= 69, IDX= 410,-0.05, 0.751,-1.133, 0.493, 0.371, PHS= 0.482,-1.459, 0.078, RAW= 138.6,  10.2, CAL= 138.2,  11.1, ROT=  11.8, -11.1

2025-08-22T16:58:04.198Z,1755881884.198 [DAT](INFO): DAT read: Bearing 203.5,  12.0 (Local)

2025-08-22T16:58:04.198Z,1755881884.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.5,  12.0 (Local)

2025-08-22T16:58:04.200Z,1755881884.200 [DAT](INFO): DAT read: Range 11 to 50 : 140.4 m  (Round-trip  187.3 ms) speed  0.7 m/s

2025-08-22T16:58:04.200Z,1755881884.200 [DAT](INFO): DAT read: user:341>

2025-08-22T16:58:04.201Z,1755881884.201 [DAT](INFO): DAT read: Tx time:16:58:05.1936

2025-08-22T16:58:04.201Z,1755881884.201 [DAT](INFO): Ping request sent.
2025-08-22T16:58:04.210Z,1755881884.210 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:04.210Z,1755881884.210 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:04.211Z,1755881884.211 [DAT](INFO): direction in FSK: [0.960555,0.200670,0.192522]
2025-08-22T16:58:04.211Z,1755881884.211 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:04.212Z,1755881884.212 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:04.224Z,1755881884.224 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:04.224Z,1755881884.224 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:04.510Z,1755881884.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.399994 m,
      deltaT: 3.780996 s,
      deltaX: -1.900009 m,
      approachRate: -0.502515 m/s,
      rangeRepo size: 4

2025-08-22T16:58:04.512Z,1755881884.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.507645 m,
      bearing: 48.872260 deg,
      lat: 36.779436 deg,
      lon: -121.859634 deg,
      deltaT: 3.780996 s,
      deltaX: -1.888321 m,
      approachRate: -0.499424 m/s,
      posRepo size: 4

2025-08-22T16:58:04.514Z,1755881884.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:04.517Z,1755881884.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 136.950775 m,
      bearing: 48.477508 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008238 deg/s,
      cmd heading: 38.189821 deg,
      new cmd heading: 38.183156 deg.

2025-08-22T16:58:04.518Z,1755881884.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666422 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:04.885Z,1755881884.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:04.888Z,1755881884.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 136.732178 m,
      bearing: 48.475389 deg,
      approach rate: -0.582589 m/s,
      LOS rate: -0.005656 deg/s,
      cmd heading: 38.183155 deg,
      new cmd heading: 38.178910 deg.

2025-08-22T16:58:04.889Z,1755881884.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666348 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:05.328Z,1755881885.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:05.336Z,1755881885.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 136.488846 m,
      bearing: 48.472255 deg,
      approach rate: -0.548683 m/s,
      LOS rate: -0.007079 deg/s,
      cmd heading: 38.178910 deg,
      new cmd heading: 38.172631 deg.

2025-08-22T16:58:05.337Z,1755881885.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666238 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:05.691Z,1755881885.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:05.693Z,1755881885.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:05.696Z,1755881885.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 136.289062 m,
      bearing: 48.469635 deg,
      approach rate: -0.547539 m/s,
      LOS rate: -0.007191 deg/s,
      cmd heading: 38.172630 deg,
      new cmd heading: 38.167382 deg.

2025-08-22T16:58:05.698Z,1755881885.698 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:05.699Z,1755881885.699 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:05.699Z,1755881885.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:05.700Z,1755881885.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666146 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:05.951Z,1755881885.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749597
2025-08-22T16:58:06.117Z,1755881886.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:06.120Z,1755881886.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 136.052399 m,
      bearing: 48.465421 deg,
      approach rate: -0.557797 m/s,
      LOS rate: -0.009949 deg/s,
      cmd heading: 38.167381 deg,
      new cmd heading: 38.158938 deg.

2025-08-22T16:58:06.121Z,1755881886.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665999 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:06.203Z,1755881886.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001929
2025-08-22T16:58:06.456Z,1755881886.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254086
2025-08-22T16:58:06.495Z,1755881886.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:06.514Z,1755881886.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 135.841934 m,
      bearing: 48.461626 deg,
      approach rate: -0.556702 m/s,
      LOS rate: -0.010055 deg/s,
      cmd heading: 38.158938 deg,
      new cmd heading: 38.151336 deg.

2025-08-22T16:58:06.515Z,1755881886.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665866 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:06.707Z,1755881886.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505189
2025-08-22T16:58:06.908Z,1755881886.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:06.915Z,1755881886.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 135.621246 m,
      bearing: 48.457639 deg,
      approach rate: -0.534963 m/s,
      LOS rate: -0.009679 deg/s,
      cmd heading: 38.151336 deg,
      new cmd heading: 38.143350 deg.

2025-08-22T16:58:06.916Z,1755881886.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665727 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:06.967Z,1755881886.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764782
2025-08-22T16:58:07.215Z,1755881887.215 [DAT](INFO): DAT read: Rx Time:16:58:07.7822

2025-08-22T16:58:07.216Z,1755881887.216 [DAT](INFO): Rx dataTimestamp_ set to:1755881887.215579
2025-08-22T16:58:07.217Z,1755881887.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015194
2025-08-22T16:58:07.364Z,1755881887.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.51 m.
2025-08-22T16:58:07.371Z,1755881887.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.507645 m,
      nav range: 135.365906 m,
      bearing: 48.452663 deg,
      approach rate: -0.559674 m/s,
      LOS rate: -0.010927 deg/s,
      cmd heading: 38.143352 deg,
      new cmd heading: 38.133381 deg.

2025-08-22T16:58:07.372Z,1755881887.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665553 target range: 139.507645 and range: 140.40 m.
2025-08-22T16:58:07.469Z,1755881887.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267555
2025-08-22T16:58:07.724Z,1755881887.724 [DAT](INFO): DAT read: 16:58:07.7822 LVL= 26512, 32593, 29986, 32755, AGC= 68, IDX= 414,-0.35, 2.158, 0.262, 1.930, 1.798, PHS= 0.462,-1.491, 0.088, RAW= 139.6,  10.5, CAL= 139.1,  11.4, ROT=  10.9, -11.4

2025-08-22T16:58:07.725Z,1755881887.725 [DAT](INFO): got valid direction response:
 16:58:07.7822 LVL= 26512, 32593, 29986, 32755, AGC= 68, IDX= 414,-0.35, 2.158, 0.262, 1.930, 1.798, PHS= 0.462,-1.491, 0.088, RAW= 139.6,  10.5, CAL= 139.1,  11.4, ROT=  10.9, -11.4

2025-08-22T16:58:07.726Z,1755881887.726 [DAT](INFO): DAT read: Bearing 203.9,  10.6 (Local)

2025-08-22T16:58:07.727Z,1755881887.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.9,  10.6 (Local)

2025-08-22T16:58:07.728Z,1755881887.728 [DAT](INFO): DAT read: Range 11 to 50 : 138.3 m  (Round-trip  184.4 ms) speed  0.4 m/s

2025-08-22T16:58:07.729Z,1755881887.729 [DAT](INFO): DAT read: user:342>

2025-08-22T16:58:07.733Z,1755881887.733 [DAT](INFO): DAT read: Tx time:16:58:08.8952

2025-08-22T16:58:07.734Z,1755881887.734 [DAT](INFO): Ping request sent.
2025-08-22T16:58:07.734Z,1755881887.734 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:07.734Z,1755881887.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:07.735Z,1755881887.735 [DAT](INFO): direction in FSK: [0.962586,0.185365,0.197657]
2025-08-22T16:58:07.735Z,1755881887.735 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:07.736Z,1755881887.736 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:07.739Z,1755881887.739 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:07.739Z,1755881887.739 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:07.787Z,1755881887.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.300003 m,
      deltaT: 3.530997 s,
      deltaX: -2.099991 m,
      approachRate: -0.594730 m/s,
      rangeRepo size: 4

2025-08-22T16:58:07.789Z,1755881887.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.422028 m,
      bearing: 48.080959 deg,
      lat: 36.779436 deg,
      lon: -121.859634 deg,
      deltaT: 3.530997 s,
      deltaX: -2.085617 m,
      approachRate: -0.590660 m/s,
      posRepo size: 4

2025-08-22T16:58:07.794Z,1755881887.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:07.797Z,1755881887.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 135.129456 m,
      bearing: 48.447984 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010927 deg/s,
      cmd heading: 38.133380 deg,
      new cmd heading: 38.124150 deg.

2025-08-22T16:58:07.806Z,1755881887.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665392 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:08.182Z,1755881888.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:08.186Z,1755881888.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:08.189Z,1755881888.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 134.880707 m,
      bearing: 48.440647 deg,
      approach rate: -0.624048 m/s,
      LOS rate: -0.018441 deg/s,
      cmd heading: 38.124149 deg,
      new cmd heading: 38.109447 deg.

2025-08-22T16:58:08.190Z,1755881888.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665135 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:08.222Z,1755881888.222 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:08.222Z,1755881888.222 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:08.223Z,1755881888.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:08.475Z,1755881888.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740607
2025-08-22T16:58:08.533Z,1755881888.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:08.536Z,1755881888.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 134.675293 m,
      bearing: 48.434551 deg,
      approach rate: -0.590879 m/s,
      LOS rate: -0.017562 deg/s,
      cmd heading: 38.109447 deg,
      new cmd heading: 38.097236 deg.

2025-08-22T16:58:08.537Z,1755881888.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664922 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:08.727Z,1755881888.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993452
2025-08-22T16:58:08.930Z,1755881888.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:08.935Z,1755881888.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 134.443558 m,
      bearing: 48.427617 deg,
      approach rate: -0.583617 m/s,
      LOS rate: -0.017494 deg/s,
      cmd heading: 38.097238 deg,
      new cmd heading: 38.083345 deg.

2025-08-22T16:58:08.954Z,1755881888.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664680 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:08.980Z,1755881888.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246517
2025-08-22T16:58:09.231Z,1755881889.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496627
2025-08-22T16:58:09.364Z,1755881889.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:09.367Z,1755881889.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 134.197159 m,
      bearing: 48.422901 deg,
      approach rate: -0.566997 m/s,
      LOS rate: -0.010871 deg/s,
      cmd heading: 38.083345 deg,
      new cmd heading: 38.073897 deg.

2025-08-22T16:58:09.368Z,1755881889.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664515 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:09.483Z,1755881889.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748683
2025-08-22T16:58:09.735Z,1755881889.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000829
2025-08-22T16:58:09.741Z,1755881889.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:09.744Z,1755881889.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 133.984955 m,
      bearing: 48.418823 deg,
      approach rate: -0.563174 m/s,
      LOS rate: -0.010840 deg/s,
      cmd heading: 38.073896 deg,
      new cmd heading: 38.065727 deg.

2025-08-22T16:58:09.745Z,1755881889.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664372 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:09.988Z,1755881889.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254556
2025-08-22T16:58:10.186Z,1755881890.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:10.189Z,1755881890.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:10.192Z,1755881890.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 133.740417 m,
      bearing: 48.414839 deg,
      approach rate: -0.546311 m/s,
      LOS rate: -0.008917 deg/s,
      cmd heading: 38.065727 deg,
      new cmd heading: 38.057744 deg.

2025-08-22T16:58:10.193Z,1755881890.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664233 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:10.239Z,1755881890.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504857
2025-08-22T16:58:10.491Z,1755881890.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756614
2025-08-22T16:58:10.543Z,1755881890.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:10.546Z,1755881890.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 133.534103 m,
      bearing: 48.411478 deg,
      approach rate: -0.581591 m/s,
      LOS rate: -0.009491 deg/s,
      cmd heading: 38.057746 deg,
      new cmd heading: 38.051012 deg.

2025-08-22T16:58:10.547Z,1755881890.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664115 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:10.743Z,1755881890.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008690
2025-08-22T16:58:10.969Z,1755881890.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:10.972Z,1755881890.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 133.295761 m,
      bearing: 48.407561 deg,
      approach rate: -0.559957 m/s,
      LOS rate: -0.009219 deg/s,
      cmd heading: 38.051011 deg,
      new cmd heading: 38.043163 deg.

2025-08-22T16:58:10.973Z,1755881890.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663978 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:10.995Z,1755881890.995 [DAT](INFO): DAT read: Rx Time:16:58:11.4810

2025-08-22T16:58:10.995Z,1755881890.995 [DAT](INFO): Rx dataTimestamp_ set to:1755881890.994759
2025-08-22T16:58:10.996Z,1755881890.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261693
2025-08-22T16:58:11.246Z,1755881891.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512533
2025-08-22T16:58:11.475Z,1755881891.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.42 m.
2025-08-22T16:58:11.478Z,1755881891.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.422028 m,
      nav range: 133.016968 m,
      bearing: 48.403567 deg,
      approach rate: -0.551196 m/s,
      LOS rate: -0.007912 deg/s,
      cmd heading: 38.043163 deg,
      new cmd heading: 38.035160 deg.

2025-08-22T16:58:11.479Z,1755881891.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663839 target range: 137.422028 and range: 138.30 m.
2025-08-22T16:58:11.519Z,1755881891.519 [DAT](INFO): DAT read: 16:58:11.4809 LVL= 31168, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.00, 2.842, 1.033, 2.591, 2.490, PHS= 0.454,-1.412, 0.057, RAW= 138.4,  10.6, CAL= 137.9,  11.6, ROT=  12.1, -11.6

2025-08-22T16:58:11.521Z,1755881891.521 [DAT](INFO): got valid direction response:
 16:58:11.4809 LVL= 31168, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.00, 2.842, 1.033, 2.591, 2.490, PHS= 0.454,-1.412, 0.057, RAW= 138.4,  10.6, CAL= 137.9,  11.6, ROT=  12.1, -11.6

2025-08-22T16:58:11.532Z,1755881891.532 [DAT](INFO): DAT read: Bearing 204.1,  11.5 (Local)

2025-08-22T16:58:11.532Z,1755881891.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,  11.5 (Local)

2025-08-22T16:58:11.538Z,1755881891.538 [DAT](INFO): DAT read: Range 11 to 50 : 136.2 m  (Round-trip  181.7 ms) speed  0.4 m/s

2025-08-22T16:58:11.539Z,1755881891.539 [DAT](INFO): DAT read: user:343>

2025-08-22T16:58:11.540Z,1755881891.540 [DAT](INFO): DAT read: Tx time:16:58:12.5935

2025-08-22T16:58:11.540Z,1755881891.540 [DAT](INFO): Ping request sent.
2025-08-22T16:58:11.540Z,1755881891.540 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:11.540Z,1755881891.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:11.541Z,1755881891.541 [DAT](INFO): direction in FSK: [0.957812,0.205337,0.201078]
2025-08-22T16:58:11.566Z,1755881891.566 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:11.566Z,1755881891.566 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:11.575Z,1755881891.575 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:11.575Z,1755881891.575 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:11.790Z,1755881891.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.199997 m,
      deltaT: 3.788382 s,
      deltaX: -2.100006 m,
      approachRate: -0.554328 m/s,
      rangeRepo size: 4

2025-08-22T16:58:11.792Z,1755881891.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.333908 m,
      bearing: 49.344184 deg,
      lat: 36.779428 deg,
      lon: -121.859634 deg,
      deltaT: 3.788382 s,
      deltaX: -2.088120 m,
      approachRate: -0.551190 m/s,
      posRepo size: 4

2025-08-22T16:58:11.792Z,1755881891.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:11.799Z,1755881891.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 132.283524 m,
      bearing: 48.681260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007912 deg/s,
      cmd heading: 38.035158 deg,
      new cmd heading: 38.030256 deg.

2025-08-22T16:58:11.800Z,1755881891.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663753 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:12.212Z,1755881892.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:12.215Z,1755881892.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:12.222Z,1755881892.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 132.047073 m,
      bearing: 48.679151 deg,
      approach rate: -0.549769 m/s,
      LOS rate: -0.004913 deg/s,
      cmd heading: 38.030254 deg,
      new cmd heading: 38.026029 deg.

2025-08-22T16:58:12.223Z,1755881892.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663679 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:12.263Z,1755881892.263 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:12.263Z,1755881892.263 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:12.263Z,1755881892.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:12.515Z,1755881892.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974584
2025-08-22T16:58:12.574Z,1755881892.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:12.579Z,1755881892.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 131.842133 m,
      bearing: 48.677314 deg,
      approach rate: -0.577518 m/s,
      LOS rate: -0.005186 deg/s,
      cmd heading: 38.026030 deg,
      new cmd heading: 38.022349 deg.

2025-08-22T16:58:12.580Z,1755881892.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663615 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:12.766Z,1755881892.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226529
2025-08-22T16:58:12.979Z,1755881892.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:12.982Z,1755881892.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 131.610153 m,
      bearing: 48.675229 deg,
      approach rate: -0.566993 m/s,
      LOS rate: -0.005103 deg/s,
      cmd heading: 38.022348 deg,
      new cmd heading: 38.018173 deg.

2025-08-22T16:58:12.983Z,1755881892.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663542 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:13.019Z,1755881893.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479268
2025-08-22T16:58:13.271Z,1755881893.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730595
2025-08-22T16:58:13.405Z,1755881893.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:13.418Z,1755881893.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 131.386948 m,
      bearing: 48.673738 deg,
      approach rate: -0.523766 m/s,
      LOS rate: -0.003506 deg/s,
      cmd heading: 38.018172 deg,
      new cmd heading: 38.015183 deg.

2025-08-22T16:58:13.419Z,1755881893.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663490 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:13.524Z,1755881893.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983674
2025-08-22T16:58:13.775Z,1755881893.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234691
2025-08-22T16:58:13.783Z,1755881893.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:13.786Z,1755881893.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 131.173019 m,
      bearing: 48.672305 deg,
      approach rate: -0.565849 m/s,
      LOS rate: -0.003797 deg/s,
      cmd heading: 38.015183 deg,
      new cmd heading: 38.012313 deg.

2025-08-22T16:58:13.787Z,1755881893.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663440 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:14.027Z,1755881894.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486572
2025-08-22T16:58:14.227Z,1755881894.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:14.230Z,1755881894.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:14.233Z,1755881894.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 130.928421 m,
      bearing: 48.670977 deg,
      approach rate: -0.547740 m/s,
      LOS rate: -0.002979 deg/s,
      cmd heading: 38.012311 deg,
      new cmd heading: 38.009651 deg.

2025-08-22T16:58:14.234Z,1755881894.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663394 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:14.279Z,1755881894.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738769
2025-08-22T16:58:14.531Z,1755881894.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990616
2025-08-22T16:58:14.608Z,1755881894.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:14.614Z,1755881894.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 130.720551 m,
      bearing: 48.669792 deg,
      approach rate: -0.549903 m/s,
      LOS rate: -0.003141 deg/s,
      cmd heading: 38.009651 deg,
      new cmd heading: 38.007277 deg.

2025-08-22T16:58:14.615Z,1755881894.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663352 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:14.634Z,1755881894.634 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:58:14.783Z,1755881894.783 [DAT](INFO): DAT read: Rx Time:16:58:15.2147

2025-08-22T16:58:14.783Z,1755881894.783 [DAT](INFO): Rx dataTimestamp_ set to:1755881894.782751
2025-08-22T16:58:14.784Z,1755881894.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243644
2025-08-22T16:58:14.993Z,1755881894.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:14.996Z,1755881894.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 130.496353 m,
      bearing: 48.668471 deg,
      approach rate: -0.581413 m/s,
      LOS rate: -0.003431 deg/s,
      cmd heading: 38.007277 deg,
      new cmd heading: 38.004632 deg.

2025-08-22T16:58:14.997Z,1755881894.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663306 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:15.041Z,1755881895.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494410
2025-08-22T16:58:15.292Z,1755881895.292 [DAT](INFO): DAT read: 16:58:15.2147 LVL= 28080, 32753, 25314, 30227, AGC= 69, IDX= 299,-0.07,-0.203,-1.343,-0.262,-1.412, PHS= 1.311, 0.113, 1.106, RAW= 140.8, -38.9, CAL= 142.1, -37.9, ROT=   7.9,  37.9

2025-08-22T16:58:15.293Z,1755881895.293 [DAT](INFO): got valid direction response:
 16:58:15.2147 LVL= 28080, 32753, 25314, 30227, AGC= 69, IDX= 299,-0.07,-0.203,-1.343,-0.262,-1.412, PHS= 1.311, 0.113, 1.106, RAW= 140.8, -38.9, CAL= 142.1, -37.9, ROT=   7.9,  37.9

2025-08-22T16:58:15.294Z,1755881895.294 [DAT](INFO): DAT read: Bearing 154.5,   4.1 (Local)

2025-08-22T16:58:15.295Z,1755881895.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.5,   4.1 (Local)

2025-08-22T16:58:15.296Z,1755881895.296 [DAT](INFO): DAT read: Range 11 to 50 : 162.7 m  (Round-trip  217.0 ms) speed  0.5 m/s

2025-08-22T16:58:15.297Z,1755881895.297 [DAT](INFO): DAT read: user:344>

2025-08-22T16:58:15.298Z,1755881895.298 [DAT](INFO): DAT read: Tx time:16:58:16.3435

2025-08-22T16:58:15.298Z,1755881895.298 [DAT](INFO): Ping request sent.
2025-08-22T16:58:15.298Z,1755881895.298 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:15.298Z,1755881895.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:15.299Z,1755881895.299 [DAT](INFO): direction in FSK: [0.781595,0.108455,-0.614285]
2025-08-22T16:58:15.299Z,1755881895.299 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:15.300Z,1755881895.300 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:15.312Z,1755881895.312 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:15.334Z,1755881895.334 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:15.556Z,1755881895.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 162.699997 m,
 deltaT: 3.779744 s,
 deltaX: 26.500000 m,
 approachRate: 7.011057 m/s,
 rangeRepo size: 4
2025-08-22T16:58:15.556Z,1755881895.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:15.563Z,1755881895.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 130.202515 m,
      bearing: 48.664844 deg,
      approach rate: -0.522989 m/s,
      LOS rate: -0.006470 deg/s,
      cmd heading: 38.004631 deg,
      new cmd heading: 37.997361 deg.

2025-08-22T16:58:15.564Z,1755881895.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663179 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:15.639Z,1755881895.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:58:15.879Z,1755881895.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:15.882Z,1755881895.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 130.014954 m,
      bearing: 48.662518 deg,
      approach rate: -0.578401 m/s,
      LOS rate: -0.007183 deg/s,
      cmd heading: 37.997360 deg,
      new cmd heading: 37.992702 deg.

2025-08-22T16:58:15.883Z,1755881895.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663098 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:16.310Z,1755881896.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:16.312Z,1755881896.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:16.315Z,1755881896.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 129.776627 m,
      bearing: 48.658410 deg,
      approach rate: -0.550700 m/s,
      LOS rate: -0.009511 deg/s,
      cmd heading: 37.992702 deg,
      new cmd heading: 37.984470 deg.

2025-08-22T16:58:16.316Z,1755881896.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662954 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:16.546Z,1755881896.546 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:16.546Z,1755881896.546 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:16.547Z,1755881896.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:16.687Z,1755881896.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:16.690Z,1755881896.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 129.570114 m,
      bearing: 48.654849 deg,
      approach rate: -0.551487 m/s,
      LOS rate: -0.009524 deg/s,
      cmd heading: 37.984468 deg,
      new cmd heading: 37.977336 deg.

2025-08-22T16:58:16.691Z,1755881896.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662830 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:16.799Z,1755881896.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501033
2025-08-22T16:58:17.051Z,1755881897.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752654
2025-08-22T16:58:17.175Z,1755881897.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:17.185Z,1755881897.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 129.334457 m,
      bearing: 48.650772 deg,
      approach rate: -0.488419 m/s,
      LOS rate: -0.008466 deg/s,
      cmd heading: 37.977334 deg,
      new cmd heading: 37.969165 deg.

2025-08-22T16:58:17.191Z,1755881897.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662687 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:17.302Z,1755881897.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004527
2025-08-22T16:58:17.555Z,1755881897.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256663
2025-08-22T16:58:17.557Z,1755881897.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:17.560Z,1755881897.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 129.097275 m,
      bearing: 48.645910 deg,
      approach rate: -0.611682 m/s,
      LOS rate: -0.012561 deg/s,
      cmd heading: 37.969165 deg,
      new cmd heading: 37.959424 deg.

2025-08-22T16:58:17.561Z,1755881897.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662517 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:17.807Z,1755881897.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508638
2025-08-22T16:58:17.934Z,1755881897.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:17.938Z,1755881897.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 128.900406 m,
      bearing: 48.641800 deg,
      approach rate: -0.523671 m/s,
      LOS rate: -0.010949 deg/s,
      cmd heading: 37.959425 deg,
      new cmd heading: 37.951193 deg.

2025-08-22T16:58:17.940Z,1755881897.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662373 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:18.059Z,1755881898.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760847
2025-08-22T16:58:18.311Z,1755881898.311 [DAT](INFO): DAT read: Rx Time:16:58:18.9238

2025-08-22T16:58:18.311Z,1755881898.311 [DAT](INFO): Rx dataTimestamp_ set to:1755881898.310780
2025-08-22T16:58:18.312Z,1755881898.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013669
2025-08-22T16:58:18.396Z,1755881898.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:18.398Z,1755881898.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:18.401Z,1755881898.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 128.635117 m,
      bearing: 48.637956 deg,
      approach rate: -0.570052 m/s,
      LOS rate: -0.008277 deg/s,
      cmd heading: 37.951191 deg,
      new cmd heading: 37.943487 deg.

2025-08-22T16:58:18.402Z,1755881898.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662239 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:18.563Z,1755881898.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264598
2025-08-22T16:58:18.734Z,1755881898.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.33 m.
2025-08-22T16:58:18.737Z,1755881898.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.333908 m,
      nav range: 128.447723 m,
      bearing: 48.635237 deg,
      approach rate: -0.557075 m/s,
      LOS rate: -0.008094 deg/s,
      cmd heading: 37.943487 deg,
      new cmd heading: 37.938041 deg.

2025-08-22T16:58:18.738Z,1755881898.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662144 target range: 135.333908 and range: 136.20 m.
2025-08-22T16:58:18.835Z,1755881898.835 [DAT](INFO): DAT read: 16:58:18.9238 LVL= 28896, 31873, 28722, 26195, AGC= 69, IDX=  24,-0.15, 2.677, 0.799, 2.425, 2.314, PHS= 0.465,-1.469, 0.068, RAW= 138.8,  10.6, CAL= 138.3,  11.6, ROT=  11.7, -11.6

2025-08-22T16:58:18.836Z,1755881898.836 [DAT](INFO): got valid direction response:
 16:58:18.9238 LVL= 28896, 31873, 28722, 26195, AGC= 69, IDX=  24,-0.15, 2.677, 0.799, 2.425, 2.314, PHS= 0.465,-1.469, 0.068, RAW= 138.8,  10.6, CAL= 138.3,  11.6, ROT=  11.7, -11.6

2025-08-22T16:58:18.855Z,1755881898.855 [DAT](INFO): DAT read: Bearing 204.1,  11.0 (Local)

2025-08-22T16:58:18.855Z,1755881898.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,  11.0 (Local)

2025-08-22T16:58:18.857Z,1755881898.857 [DAT](INFO): DAT read: Range 11 to 50 : 132.0 m  (Round-trip  176.1 ms) speed  0.6 m/s

2025-08-22T16:58:18.870Z,1755881898.870 [DAT](INFO): DAT read: user:345>

2025-08-22T16:58:18.871Z,1755881898.871 [DAT](INFO): DAT read: Tx time:16:58:20.0435

2025-08-22T16:58:18.871Z,1755881898.871 [DAT](INFO): Ping request sent.
2025-08-22T16:58:18.871Z,1755881898.871 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:18.871Z,1755881898.871 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:18.872Z,1755881898.872 [DAT](INFO): direction in FSK: [0.959222,0.198645,0.201078]
2025-08-22T16:58:18.872Z,1755881898.872 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:18.873Z,1755881898.873 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:18.880Z,1755881898.880 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:18.880Z,1755881898.880 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:19.214Z,1755881899.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.000000 m,
      deltaT: 7.309396 s,
      deltaX: -4.199997 m,
      approachRate: -0.574602 m/s,
      rangeRepo size: 4

2025-08-22T16:58:19.216Z,1755881899.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.161285 m,
      bearing: 49.114209 deg,
      lat: 36.779424 deg,
      lon: -121.859629 deg,
      deltaT: 7.309396 s,
      deltaX: -4.172623 m,
      approachRate: -0.570857 m/s,
      posRepo size: 4

2025-08-22T16:58:19.217Z,1755881899.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:19.224Z,1755881899.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 128.247894 m,
      bearing: 48.917036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008094 deg/s,
      cmd heading: 37.938040 deg,
      new cmd heading: 37.930351 deg.

2025-08-22T16:58:19.225Z,1755881899.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662010 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:19.591Z,1755881899.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:19.594Z,1755881899.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 127.996643 m,
      bearing: 48.915017 deg,
      approach rate: -0.658322 m/s,
      LOS rate: -0.005302 deg/s,
      cmd heading: 37.930352 deg,
      new cmd heading: 37.926306 deg.

2025-08-22T16:58:19.595Z,1755881899.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661939 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:19.983Z,1755881899.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:19.986Z,1755881899.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 127.774818 m,
      bearing: 48.913272 deg,
      approach rate: -0.566096 m/s,
      LOS rate: -0.004459 deg/s,
      cmd heading: 37.926306 deg,
      new cmd heading: 37.922811 deg.

2025-08-22T16:58:19.987Z,1755881899.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661878 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:20.404Z,1755881900.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:20.406Z,1755881900.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:20.409Z,1755881900.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 127.544121 m,
      bearing: 48.911391 deg,
      approach rate: -0.544814 m/s,
      LOS rate: -0.004451 deg/s,
      cmd heading: 37.922812 deg,
      new cmd heading: 37.919042 deg.

2025-08-22T16:58:20.411Z,1755881900.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661812 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:20.579Z,1755881900.579 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:20.579Z,1755881900.579 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:20.579Z,1755881900.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:20.801Z,1755881900.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:20.808Z,1755881900.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 127.336899 m,
      bearing: 48.909786 deg,
      approach rate: -0.524942 m/s,
      LOS rate: -0.004073 deg/s,
      cmd heading: 37.919042 deg,
      new cmd heading: 37.915826 deg.

2025-08-22T16:58:20.809Z,1755881900.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661756 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:20.831Z,1755881900.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959651
2025-08-22T16:58:21.083Z,1755881901.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212012
2025-08-22T16:58:21.292Z,1755881901.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:21.299Z,1755881901.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 127.071495 m,
      bearing: 48.906914 deg,
      approach rate: -0.541204 m/s,
      LOS rate: -0.005868 deg/s,
      cmd heading: 37.915825 deg,
      new cmd heading: 37.910069 deg.

2025-08-22T16:58:21.300Z,1755881901.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661656 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:21.335Z,1755881901.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463890
2025-08-22T16:58:21.587Z,1755881901.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715476
2025-08-22T16:58:21.655Z,1755881901.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:21.658Z,1755881901.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 126.870712 m,
      bearing: 48.904736 deg,
      approach rate: -0.551883 m/s,
      LOS rate: -0.005997 deg/s,
      cmd heading: 37.910070 deg,
      new cmd heading: 37.905707 deg.

2025-08-22T16:58:21.659Z,1755881901.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661579 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:21.839Z,1755881901.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967515
2025-08-22T16:58:22.050Z,1755881902.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:22.053Z,1755881902.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 126.646873 m,
      bearing: 48.902336 deg,
      approach rate: -0.567734 m/s,
      LOS rate: -0.006098 deg/s,
      cmd heading: 37.905706 deg,
      new cmd heading: 37.900897 deg.

2025-08-22T16:58:22.054Z,1755881902.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661495 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:22.092Z,1755881902.092 [DAT](INFO): DAT read: Rx Time:16:58:22.6212

2025-08-22T16:58:22.092Z,1755881902.092 [DAT](INFO): Rx dataTimestamp_ set to:1755881902.091861
2025-08-22T16:58:22.093Z,1755881902.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221968
2025-08-22T16:58:22.343Z,1755881902.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471575
2025-08-22T16:58:22.537Z,1755881902.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:22.543Z,1755881902.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:22.550Z,1755881902.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 126.391685 m,
      bearing: 48.900942 deg,
      approach rate: -0.517256 m/s,
      LOS rate: -0.002831 deg/s,
      cmd heading: 37.900897 deg,
      new cmd heading: 37.898104 deg.

2025-08-22T16:58:22.551Z,1755881902.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661447 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:22.604Z,1755881902.604 [DAT](INFO): DAT read: 16:58:22.6212 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.28,-1.522, 2.929,-1.758,-1.840, PHS= 0.421,-1.469, 0.038, RAW= 139.0,  11.7, CAL= 138.4,  12.7, ROT=  11.6, -12.7

2025-08-22T16:58:22.605Z,1755881902.605 [DAT](INFO): got valid direction response:
 16:58:22.6212 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.28,-1.522, 2.929,-1.758,-1.840, PHS= 0.421,-1.469, 0.038, RAW= 139.0,  11.7, CAL= 138.4,  12.7, ROT=  11.6, -12.7

2025-08-22T16:58:22.606Z,1755881902.606 [DAT](INFO): DAT read: $Error in header

2025-08-22T16:58:22.607Z,1755881902.607 [DAT](INFO): Received a bad header
2025-08-22T16:58:22.618Z,1755881902.618 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:58:22.619Z,1755881902.619 [DAT](INFO): direction in FSK: [0.955609,0.196158,0.219846]
2025-08-22T16:58:22.622Z,1755881902.622 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:22.622Z,1755881902.622 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:22.622Z,1755881902.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:22.846Z,1755881902.846 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:22.846Z,1755881902.846 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:22.847Z,1755881902.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:22.867Z,1755881902.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:22.870Z,1755881902.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 126.193085 m,
      bearing: 48.899897 deg,
      approach rate: -0.612147 m/s,
      LOS rate: -0.003226 deg/s,
      cmd heading: 37.898104 deg,
      new cmd heading: 37.896011 deg.

2025-08-22T16:58:22.871Z,1755881902.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661410 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:23.098Z,1755881903.098 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:23.098Z,1755881903.098 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:23.099Z,1755881903.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:23.330Z,1755881903.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:23.333Z,1755881903.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 125.949738 m,
      bearing: 48.896784 deg,
      approach rate: -0.525587 m/s,
      LOS rate: -0.006736 deg/s,
      cmd heading: 37.896010 deg,
      new cmd heading: 37.889773 deg.

2025-08-22T16:58:23.338Z,1755881903.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661301 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:23.350Z,1755881903.350 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:23.351Z,1755881903.351 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:23.351Z,1755881903.351 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:23.602Z,1755881903.602 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:23.602Z,1755881903.602 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:23.602Z,1755881903.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:23.698Z,1755881903.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:23.701Z,1755881903.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 125.745056 m,
      bearing: 48.894157 deg,
      approach rate: -0.556606 m/s,
      LOS rate: -0.007156 deg/s,
      cmd heading: 37.889774 deg,
      new cmd heading: 37.884511 deg.

2025-08-22T16:58:23.702Z,1755881903.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661209 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:23.854Z,1755881903.854 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:23.855Z,1755881903.855 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:23.855Z,1755881903.855 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:24.079Z,1755881904.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:24.082Z,1755881904.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 125.533745 m,
      bearing: 48.891488 deg,
      approach rate: -0.554860 m/s,
      LOS rate: -0.007020 deg/s,
      cmd heading: 37.884512 deg,
      new cmd heading: 37.879165 deg.

2025-08-22T16:58:24.083Z,1755881904.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661116 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:24.106Z,1755881904.106 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:24.106Z,1755881904.106 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:24.106Z,1755881904.106 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:24.358Z,1755881904.358 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:24.358Z,1755881904.358 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:24.358Z,1755881904.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:24.506Z,1755881904.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:24.508Z,1755881904.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 125.289719 m,
      bearing: 48.888152 deg,
      approach rate: -0.571983 m/s,
      LOS rate: -0.007834 deg/s,
      cmd heading: 37.879164 deg,
      new cmd heading: 37.872479 deg.

2025-08-22T16:58:24.510Z,1755881904.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660999 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:24.610Z,1755881904.610 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:24.610Z,1755881904.610 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:24.611Z,1755881904.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:24.862Z,1755881904.862 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:24.862Z,1755881904.862 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:24.863Z,1755881904.863 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:24.883Z,1755881904.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:24.885Z,1755881904.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:24.888Z,1755881904.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 125.073082 m,
      bearing: 48.885168 deg,
      approach rate: -0.570814 m/s,
      LOS rate: -0.007876 deg/s,
      cmd heading: 37.872480 deg,
      new cmd heading: 37.866502 deg.

2025-08-22T16:58:24.889Z,1755881904.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660895 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:25.114Z,1755881905.114 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:25.114Z,1755881905.114 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:25.114Z,1755881905.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:25.353Z,1755881905.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:25.355Z,1755881905.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 124.797264 m,
      bearing: 48.881565 deg,
      approach rate: -0.589880 m/s,
      LOS rate: -0.007724 deg/s,
      cmd heading: 37.866500 deg,
      new cmd heading: 37.859277 deg.

2025-08-22T16:58:25.356Z,1755881905.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660769 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:25.366Z,1755881905.366 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:25.367Z,1755881905.367 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:25.367Z,1755881905.367 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:25.619Z,1755881905.619 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:25.619Z,1755881905.619 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:25.619Z,1755881905.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:25.713Z,1755881905.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:25.716Z,1755881905.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 124.584785 m,
      bearing: 48.878719 deg,
      approach rate: -0.589753 m/s,
      LOS rate: -0.007914 deg/s,
      cmd heading: 37.859278 deg,
      new cmd heading: 37.853575 deg.

2025-08-22T16:58:25.717Z,1755881905.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660670 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:25.870Z,1755881905.870 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:25.870Z,1755881905.870 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:25.870Z,1755881905.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:26.102Z,1755881906.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:26.104Z,1755881906.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 124.355713 m,
      bearing: 48.875615 deg,
      approach rate: -0.589406 m/s,
      LOS rate: -0.007999 deg/s,
      cmd heading: 37.853574 deg,
      new cmd heading: 37.847357 deg.

2025-08-22T16:58:26.106Z,1755881906.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660561 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:26.124Z,1755881906.124 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:26.124Z,1755881906.124 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:26.124Z,1755881906.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:26.375Z,1755881906.375 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:26.375Z,1755881906.375 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:26.376Z,1755881906.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:26.525Z,1755881906.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:26.528Z,1755881906.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 124.111038 m,
      bearing: 48.870366 deg,
      approach rate: -0.577857 m/s,
      LOS rate: -0.012421 deg/s,
      cmd heading: 37.847355 deg,
      new cmd heading: 37.836837 deg.

2025-08-22T16:58:26.529Z,1755881906.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660377 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:26.626Z,1755881906.626 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:26.626Z,1755881906.626 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:26.627Z,1755881906.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:26.878Z,1755881906.878 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:26.878Z,1755881906.878 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:26.879Z,1755881906.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:26.910Z,1755881906.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:26.913Z,1755881906.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:26.933Z,1755881906.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 123.891983 m,
      bearing: 48.865686 deg,
      approach rate: -0.565837 m/s,
      LOS rate: -0.012113 deg/s,
      cmd heading: 37.836837 deg,
      new cmd heading: 37.827458 deg.

2025-08-22T16:58:26.938Z,1755881906.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660214 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:27.133Z,1755881907.133 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:27.133Z,1755881907.133 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:27.133Z,1755881907.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:27.378Z,1755881907.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:27.381Z,1755881907.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 123.630310 m,
      bearing: 48.859910 deg,
      approach rate: -0.562139 m/s,
      LOS rate: -0.012433 deg/s,
      cmd heading: 37.827459 deg,
      new cmd heading: 37.815884 deg.

2025-08-22T16:58:27.382Z,1755881907.382 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:27.383Z,1755881907.383 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:27.383Z,1755881907.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:27.384Z,1755881907.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660012 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:27.634Z,1755881907.634 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:27.634Z,1755881907.634 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:27.634Z,1755881907.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:27.721Z,1755881907.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:27.725Z,1755881907.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 123.440643 m,
      bearing: 48.855707 deg,
      approach rate: -0.552187 m/s,
      LOS rate: -0.012255 deg/s,
      cmd heading: 37.815885 deg,
      new cmd heading: 37.807467 deg.

2025-08-22T16:58:27.738Z,1755881907.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659865 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:27.886Z,1755881907.886 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:27.886Z,1755881907.886 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:27.886Z,1755881907.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:28.128Z,1755881908.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:28.131Z,1755881908.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 123.221352 m,
      bearing: 48.850794 deg,
      approach rate: -0.538854 m/s,
      LOS rate: -0.012094 deg/s,
      cmd heading: 37.807467 deg,
      new cmd heading: 37.797624 deg.

2025-08-22T16:58:28.132Z,1755881908.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659693 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:28.138Z,1755881908.138 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:28.138Z,1755881908.138 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:28.139Z,1755881908.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:28.390Z,1755881908.390 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:28.391Z,1755881908.391 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:28.391Z,1755881908.391 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:28.540Z,1755881908.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:28.543Z,1755881908.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 122.982674 m,
      bearing: 48.849125 deg,
      approach rate: -0.579477 m/s,
      LOS rate: -0.004062 deg/s,
      cmd heading: 37.797625 deg,
      new cmd heading: 37.794279 deg.

2025-08-22T16:58:28.544Z,1755881908.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659635 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:28.643Z,1755881908.643 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:28.643Z,1755881908.643 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:28.643Z,1755881908.643 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:28.895Z,1755881908.895 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:28.896Z,1755881908.896 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:28.896Z,1755881908.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:28.962Z,1755881908.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:28.964Z,1755881908.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:28.971Z,1755881908.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 122.756798 m,
      bearing: 48.847549 deg,
      approach rate: -0.532359 m/s,
      LOS rate: -0.003721 deg/s,
      cmd heading: 37.794278 deg,
      new cmd heading: 37.791121 deg.

2025-08-22T16:58:28.972Z,1755881908.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659580 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:29.146Z,1755881909.146 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:29.147Z,1755881909.147 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:29.147Z,1755881909.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:29.399Z,1755881909.399 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:29.400Z,1755881909.400 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:29.400Z,1755881909.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:29.443Z,1755881909.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:29.450Z,1755881909.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 122.481163 m,
      bearing: 48.846160 deg,
      approach rate: -0.575386 m/s,
      LOS rate: -0.002906 deg/s,
      cmd heading: 37.791122 deg,
      new cmd heading: 37.788339 deg.

2025-08-22T16:58:29.451Z,1755881909.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659531 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:29.650Z,1755881909.650 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:29.651Z,1755881909.651 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:29.651Z,1755881909.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:29.737Z,1755881909.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:29.744Z,1755881909.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 122.317505 m,
      bearing: 48.845351 deg,
      approach rate: -0.557047 m/s,
      LOS rate: -0.002757 deg/s,
      cmd heading: 37.788339 deg,
      new cmd heading: 37.786719 deg.

2025-08-22T16:58:29.745Z,1755881909.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659503 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:29.902Z,1755881909.902 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:29.903Z,1755881909.903 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:29.903Z,1755881909.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:30.134Z,1755881910.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:30.137Z,1755881910.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 122.092148 m,
      bearing: 48.844271 deg,
      approach rate: -0.567623 m/s,
      LOS rate: -0.002725 deg/s,
      cmd heading: 37.786720 deg,
      new cmd heading: 37.784557 deg.

2025-08-22T16:58:30.138Z,1755881910.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659465 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:30.157Z,1755881910.157 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:30.158Z,1755881910.158 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:30.158Z,1755881910.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:30.408Z,1755881910.408 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:30.408Z,1755881910.408 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:30.408Z,1755881910.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:30.571Z,1755881910.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:30.574Z,1755881910.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 121.854713 m,
      bearing: 48.844298 deg,
      approach rate: -0.543039 m/s,
      LOS rate: 0.000062 deg/s,
      cmd heading: 37.784555 deg,
      new cmd heading: 37.784609 deg.

2025-08-22T16:58:30.575Z,1755881910.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659466 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:30.659Z,1755881910.659 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:30.659Z,1755881910.659 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:30.660Z,1755881910.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:30.910Z,1755881910.910 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:30.911Z,1755881910.911 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:30.911Z,1755881910.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:30.960Z,1755881910.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:30.963Z,1755881910.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 121.643471 m,
      bearing: 48.844407 deg,
      approach rate: -0.543334 m/s,
      LOS rate: 0.000279 deg/s,
      cmd heading: 37.784610 deg,
      new cmd heading: 37.784827 deg.

2025-08-22T16:58:30.964Z,1755881910.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659470 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:31.163Z,1755881911.163 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:31.163Z,1755881911.163 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:31.163Z,1755881911.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:31.417Z,1755881911.417 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:58:31.418Z,1755881911.418 [DAT](INFO): response not received
2025-08-22T16:58:31.419Z,1755881911.419 [DAT](INFO): DAT read: user:347>

2025-08-22T16:58:31.419Z,1755881911.419 [DAT](INFO): DAT read: Tx time:16:58:32.4935

2025-08-22T16:58:31.420Z,1755881911.420 [DAT](INFO): Ping request sent.
2025-08-22T16:58:31.420Z,1755881911.420 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:31.421Z,1755881911.421 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:31.422Z,1755881911.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002270
2025-08-22T16:58:31.510Z,1755881911.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:31.512Z,1755881911.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:31.519Z,1755881911.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 121.344574 m,
      bearing: 48.844224 deg,
      approach rate: -0.541884 m/s,
      LOS rate: -0.000331 deg/s,
      cmd heading: 37.784828 deg,
      new cmd heading: 37.784463 deg.

2025-08-22T16:58:31.520Z,1755881911.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659463 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:31.666Z,1755881911.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246442
2025-08-22T16:58:31.852Z,1755881911.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:31.858Z,1755881911.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 121.152641 m,
      bearing: 48.844171 deg,
      approach rate: -0.564775 m/s,
      LOS rate: -0.000156 deg/s,
      cmd heading: 37.784463 deg,
      new cmd heading: 37.784357 deg.

2025-08-22T16:58:31.859Z,1755881911.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659461 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:31.921Z,1755881911.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500829
2025-08-22T16:58:32.171Z,1755881912.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750940
2025-08-22T16:58:32.255Z,1755881912.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:32.258Z,1755881912.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 120.930573 m,
      bearing: 48.844124 deg,
      approach rate: -0.550530 m/s,
      LOS rate: -0.000117 deg/s,
      cmd heading: 37.784357 deg,
      new cmd heading: 37.784263 deg.

2025-08-22T16:58:32.259Z,1755881912.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659460 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:32.423Z,1755881912.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002681
2025-08-22T16:58:32.675Z,1755881912.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254868
2025-08-22T16:58:32.685Z,1755881912.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:32.688Z,1755881912.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 120.694389 m,
      bearing: 48.843070 deg,
      approach rate: -0.549354 m/s,
      LOS rate: -0.002458 deg/s,
      cmd heading: 37.784262 deg,
      new cmd heading: 37.782148 deg.

2025-08-22T16:58:32.689Z,1755881912.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659423 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:32.927Z,1755881912.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506866
2025-08-22T16:58:33.065Z,1755881913.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:33.068Z,1755881913.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 120.485680 m,
      bearing: 48.842137 deg,
      approach rate: -0.549119 m/s,
      LOS rate: -0.002459 deg/s,
      cmd heading: 37.782148 deg,
      new cmd heading: 37.780278 deg.

2025-08-22T16:58:33.069Z,1755881913.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659390 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:33.179Z,1755881913.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759206
2025-08-22T16:58:33.431Z,1755881913.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010464
2025-08-22T16:58:33.492Z,1755881913.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:33.511Z,1755881913.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 120.251305 m,
      bearing: 48.839859 deg,
      approach rate: -0.548785 m/s,
      LOS rate: -0.005344 deg/s,
      cmd heading: 37.780280 deg,
      new cmd heading: 37.775715 deg.

2025-08-22T16:58:33.512Z,1755881913.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659311 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:33.683Z,1755881913.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262523
2025-08-22T16:58:33.867Z,1755881913.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:33.869Z,1755881913.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:33.876Z,1755881913.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 120.044189 m,
      bearing: 48.837861 deg,
      approach rate: -0.549320 m/s,
      LOS rate: -0.005307 deg/s,
      cmd heading: 37.775714 deg,
      new cmd heading: 37.771711 deg.

2025-08-22T16:58:33.877Z,1755881913.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659241 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:33.939Z,1755881913.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518649
2025-08-22T16:58:34.187Z,1755881914.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767188
2025-08-22T16:58:34.278Z,1755881914.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:34.281Z,1755881914.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 119.819313 m,
      bearing: 48.835649 deg,
      approach rate: -0.549445 m/s,
      LOS rate: -0.005414 deg/s,
      cmd heading: 37.771711 deg,
      new cmd heading: 37.767280 deg.

2025-08-22T16:58:34.282Z,1755881914.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659163 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:34.441Z,1755881914.441 [DAT](INFO): DAT read: Rx Time:16:58:35.0619

2025-08-22T16:58:34.443Z,1755881914.443 [DAT](INFO): Rx dataTimestamp_ set to:1755881914.442024
2025-08-22T16:58:34.444Z,1755881914.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023968
2025-08-22T16:58:34.691Z,1755881914.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270506
2025-08-22T16:58:34.705Z,1755881914.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:34.708Z,1755881914.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 119.576881 m,
      bearing: 48.832062 deg,
      approach rate: -0.568421 m/s,
      LOS rate: -0.008428 deg/s,
      cmd heading: 37.767278 deg,
      new cmd heading: 37.760089 deg.

2025-08-22T16:58:34.709Z,1755881914.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659038 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:34.946Z,1755881914.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525161
2025-08-22T16:58:35.090Z,1755881915.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T16:58:35.093Z,1755881915.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.161285 m,
      nav range: 119.357689 m,
      bearing: 48.828805 deg,
      approach rate: -0.568692 m/s,
      LOS rate: -0.008467 deg/s,
      cmd heading: 37.760090 deg,
      new cmd heading: 37.753563 deg.

2025-08-22T16:58:35.094Z,1755881915.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658924 target range: 131.161285 and range: 132.00 m.
2025-08-22T16:58:35.201Z,1755881915.201 [DAT](INFO): DAT read: 16:58:35.0619 LVL= 31392, 32753, 32754, 32755, AGC= 69, IDX= 350,-0.04, 0.338,-1.458, 0.081,-0.032, PHS= 0.472,-1.381, 0.068, RAW= 138.0,  10.0, CAL= 137.6,  11.0, ROT=  12.4, -11.0

2025-08-22T16:58:35.202Z,1755881915.202 [DAT](INFO): got valid direction response:
 16:58:35.0619 LVL= 31392, 32753, 32754, 32755, AGC= 69, IDX= 350,-0.04, 0.338,-1.458, 0.081,-0.032, PHS= 0.472,-1.381, 0.068, RAW= 138.0,  10.0, CAL= 137.6,  11.0, ROT=  12.4, -11.0

2025-08-22T16:58:35.203Z,1755881915.203 [DAT](INFO): DAT read: Bearing 204.4,  10.9 (Local)

2025-08-22T16:58:35.204Z,1755881915.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,  10.9 (Local)

2025-08-22T16:58:35.205Z,1755881915.205 [DAT](INFO): DAT read: Range 11 to 50 : 123.1 m  (Round-trip  164.2 ms) speed  0.4 m/s

2025-08-22T16:58:35.208Z,1755881915.208 [DAT](INFO): DAT read: user:348>

2025-08-22T16:58:35.211Z,1755881915.211 [DAT](INFO): DAT read: Tx time:16:58:36.1935

2025-08-22T16:58:35.211Z,1755881915.211 [DAT](INFO): Ping request sent.
2025-08-22T16:58:35.211Z,1755881915.211 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:35.212Z,1755881915.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:35.213Z,1755881915.213 [DAT](INFO): direction in FSK: [0.958728,0.210790,0.190809]
2025-08-22T16:58:35.214Z,1755881915.214 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:35.214Z,1755881915.214 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:35.235Z,1755881915.235 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:35.236Z,1755881915.236 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:35.545Z,1755881915.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.099998 m,
      deltaT: 16.378583 s,
      deltaX: -8.900002 m,
      approachRate: -0.543393 m/s,
      rangeRepo size: 4

2025-08-22T16:58:35.555Z,1755881915.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.319771 m,
      bearing: 49.373954 deg,
      lat: 36.779424 deg,
      lon: -121.859622 deg,
      deltaT: 16.378583 s,
      deltaX: -8.841515 m,
      approachRate: -0.539822 m/s,
      posRepo size: 4

2025-08-22T16:58:35.556Z,1755881915.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:35.567Z,1755881915.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 119.633713 m,
      bearing: 49.036519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008467 deg/s,
      cmd heading: 37.753563 deg,
      new cmd heading: 37.745881 deg.

2025-08-22T16:58:35.568Z,1755881915.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658790 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:35.901Z,1755881915.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:35.904Z,1755881915.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:35.911Z,1755881915.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 119.425034 m,
      bearing: 49.032925 deg,
      approach rate: -0.579045 m/s,
      LOS rate: -0.009990 deg/s,
      cmd heading: 37.745883 deg,
      new cmd heading: 37.738682 deg.

2025-08-22T16:58:35.913Z,1755881915.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658664 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:35.950Z,1755881915.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:35.950Z,1755881915.950 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:35.951Z,1755881915.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:36.203Z,1755881916.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991117
2025-08-22T16:58:36.299Z,1755881916.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:36.303Z,1755881916.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 119.202690 m,
      bearing: 49.029109 deg,
      approach rate: -0.563062 m/s,
      LOS rate: -0.009681 deg/s,
      cmd heading: 37.738684 deg,
      new cmd heading: 37.731038 deg.

2025-08-22T16:58:36.304Z,1755881916.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658531 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:36.457Z,1755881916.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244951
2025-08-22T16:58:36.470Z,1755881916.470 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-22T16:58:36.471Z,1755881916.471 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-22T16:58:36.471Z,1755881916.471 [RudderServo] Communications Fault, FailCount= 1
2025-08-22T16:58:36.471Z,1755881916.471 [RudderServo](ERROR): Communications Fault
2025-08-22T16:58:36.553Z,1755881916.553 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-22T16:58:36.703Z,1755881916.703 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720450, +10.,1490.9,  0
2025-08-22T16:58:36.707Z,1755881916.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495258
2025-08-22T16:58:36.721Z,1755881916.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:36.725Z,1755881916.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 118.971619 m,
      bearing: 49.025128 deg,
      approach rate: -0.547985 m/s,
      LOS rate: -0.009458 deg/s,
      cmd heading: 37.731037 deg,
      new cmd heading: 37.723061 deg.

2025-08-22T16:58:36.726Z,1755881916.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658392 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:36.820Z,1755881916.820 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-22T16:58:36.820Z,1755881916.820 [RudderServo](INFO): Powering down
2025-08-22T16:58:36.959Z,1755881916.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747243
2025-08-22T16:58:37.109Z,1755881917.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:37.112Z,1755881917.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 118.758430 m,
      bearing: 49.021370 deg,
      approach rate: -0.548905 m/s,
      LOS rate: -0.009695 deg/s,
      cmd heading: 37.723060 deg,
      new cmd heading: 37.715529 deg.

2025-08-22T16:58:37.113Z,1755881917.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658260 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:37.211Z,1755881917.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999201
2025-08-22T16:58:37.466Z,1755881917.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253550
2025-08-22T16:58:37.549Z,1755881917.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:37.551Z,1755881917.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 118.516693 m,
      bearing: 49.017771 deg,
      approach rate: -0.550341 m/s,
      LOS rate: -0.008211 deg/s,
      cmd heading: 37.715529 deg,
      new cmd heading: 37.708316 deg.

2025-08-22T16:58:37.552Z,1755881917.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658134 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:37.635Z,1755881917.635 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-22T16:58:37.715Z,1755881917.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503268
2025-08-22T16:58:37.755Z,1755881917.755 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-22T16:58:37.833Z,1755881917.833 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-22T16:58:37.833Z,1755881917.833 [RudderServo] No Fault, FailCount= 1
2025-08-22T16:58:37.928Z,1755881917.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:37.930Z,1755881917.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:37.932Z,1755881917.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 118.301186 m,
      bearing: 49.014545 deg,
      approach rate: -0.565313 m/s,
      LOS rate: -0.008477 deg/s,
      cmd heading: 37.708317 deg,
      new cmd heading: 37.701853 deg.

2025-08-22T16:58:37.934Z,1755881917.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658021 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:37.967Z,1755881917.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755361
2025-08-22T16:58:38.219Z,1755881918.219 [DAT](INFO): DAT read: Rx Time:16:58:38.7589

2025-08-22T16:58:38.219Z,1755881918.219 [DAT](INFO): Rx dataTimestamp_ set to:1755881918.218747
2025-08-22T16:58:38.220Z,1755881918.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008213
2025-08-22T16:58:38.321Z,1755881918.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:38.324Z,1755881918.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 118.082710 m,
      bearing: 49.011256 deg,
      approach rate: -0.558150 m/s,
      LOS rate: -0.008419 deg/s,
      cmd heading: 37.701852 deg,
      new cmd heading: 37.695261 deg.

2025-08-22T16:58:38.325Z,1755881918.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657906 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:38.473Z,1755881918.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261309
2025-08-22T16:58:38.728Z,1755881918.728 [DAT](INFO): DAT read: 16:58:38.7589 LVL= 27856, 32353, 31458, 32755, AGC= 68, IDX= 417, 0.41,-3.132, 1.288, 2.907, 2.831, PHS= 0.423,-1.498, 0.033, RAW= 138.9,  11.8, CAL= 138.3,  12.9, ROT=  11.7, -12.9

2025-08-22T16:58:38.729Z,1755881918.729 [DAT](INFO): got valid direction response:
 16:58:38.7589 LVL= 27856, 32353, 31458, 32755, AGC= 68, IDX= 417, 0.41,-3.132, 1.288, 2.907, 2.831, PHS= 0.423,-1.498, 0.033, RAW= 138.9,  11.8, CAL= 138.3,  12.9, ROT=  11.7, -12.9

2025-08-22T16:58:38.731Z,1755881918.731 [DAT](INFO): DAT read: $Error in header

2025-08-22T16:58:38.731Z,1755881918.731 [DAT](INFO): Received a bad header
2025-08-22T16:58:38.743Z,1755881918.743 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:58:38.745Z,1755881918.745 [DAT](INFO): direction in FSK: [0.954508,0.197669,0.223250]
2025-08-22T16:58:38.748Z,1755881918.748 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:38.748Z,1755881918.748 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:38.748Z,1755881918.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:38.799Z,1755881918.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:38.806Z,1755881918.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 117.818573 m,
      bearing: 49.010821 deg,
      approach rate: -0.553096 m/s,
      LOS rate: -0.000912 deg/s,
      cmd heading: 37.695261 deg,
      new cmd heading: 37.694389 deg.

2025-08-22T16:58:38.807Z,1755881918.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657891 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:38.975Z,1755881918.975 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:38.975Z,1755881918.975 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:38.975Z,1755881918.975 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:39.145Z,1755881919.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:39.153Z,1755881919.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 117.621460 m,
      bearing: 49.010514 deg,
      approach rate: -0.569395 m/s,
      LOS rate: -0.000888 deg/s,
      cmd heading: 37.694390 deg,
      new cmd heading: 37.693775 deg.

2025-08-22T16:58:39.162Z,1755881919.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657880 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:39.227Z,1755881919.227 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:39.227Z,1755881919.227 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:39.227Z,1755881919.227 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:39.480Z,1755881919.480 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:39.481Z,1755881919.481 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:39.481Z,1755881919.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:39.573Z,1755881919.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:39.592Z,1755881919.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 117.374405 m,
      bearing: 49.009780 deg,
      approach rate: -0.576881 m/s,
      LOS rate: -0.001717 deg/s,
      cmd heading: 37.693775 deg,
      new cmd heading: 37.692305 deg.

2025-08-22T16:58:39.593Z,1755881919.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657855 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:39.730Z,1755881919.730 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:39.730Z,1755881919.730 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:39.730Z,1755881919.730 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:39.937Z,1755881919.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:39.940Z,1755881919.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:39.947Z,1755881919.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 117.171654 m,
      bearing: 49.009190 deg,
      approach rate: -0.553805 m/s,
      LOS rate: -0.001614 deg/s,
      cmd heading: 37.692303 deg,
      new cmd heading: 37.691122 deg.

2025-08-22T16:58:39.948Z,1755881919.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657834 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:39.982Z,1755881919.982 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:39.982Z,1755881919.982 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:39.983Z,1755881919.983 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:40.234Z,1755881920.234 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:40.234Z,1755881920.234 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:40.234Z,1755881920.234 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:40.338Z,1755881920.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:40.346Z,1755881920.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 116.950607 m,
      bearing: 49.008563 deg,
      approach rate: -0.554162 m/s,
      LOS rate: -0.001577 deg/s,
      cmd heading: 37.691122 deg,
      new cmd heading: 37.689864 deg.

2025-08-22T16:58:40.347Z,1755881920.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657812 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:40.489Z,1755881920.489 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:40.489Z,1755881920.489 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:40.490Z,1755881920.490 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:40.738Z,1755881920.738 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:40.738Z,1755881920.738 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:40.738Z,1755881920.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:40.803Z,1755881920.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:40.809Z,1755881920.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 116.705376 m,
      bearing: 49.008371 deg,
      approach rate: -0.527855 m/s,
      LOS rate: -0.000414 deg/s,
      cmd heading: 37.689865 deg,
      new cmd heading: 37.689481 deg.

2025-08-22T16:58:40.810Z,1755881920.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657806 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:40.990Z,1755881920.990 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:40.990Z,1755881920.990 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:40.990Z,1755881920.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:41.177Z,1755881921.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:41.182Z,1755881921.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 116.505455 m,
      bearing: 49.008285 deg,
      approach rate: -0.539547 m/s,
      LOS rate: -0.000232 deg/s,
      cmd heading: 37.689479 deg,
      new cmd heading: 37.689307 deg.

2025-08-22T16:58:41.183Z,1755881921.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657803 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:41.243Z,1755881921.243 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:41.243Z,1755881921.243 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:41.243Z,1755881921.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:41.496Z,1755881921.496 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:41.497Z,1755881921.497 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:41.497Z,1755881921.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:41.608Z,1755881921.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:41.611Z,1755881921.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 116.250053 m,
      bearing: 49.007428 deg,
      approach rate: -0.587041 m/s,
      LOS rate: -0.001974 deg/s,
      cmd heading: 37.689308 deg,
      new cmd heading: 37.687591 deg.

2025-08-22T16:58:41.612Z,1755881921.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657773 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:41.747Z,1755881921.747 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:41.747Z,1755881921.747 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:41.747Z,1755881921.747 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:41.971Z,1755881921.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:41.974Z,1755881921.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:41.976Z,1755881921.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 116.047523 m,
      bearing: 49.006746 deg,
      approach rate: -0.554879 m/s,
      LOS rate: -0.001872 deg/s,
      cmd heading: 37.687590 deg,
      new cmd heading: 37.686224 deg.

2025-08-22T16:58:41.977Z,1755881921.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657749 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:41.999Z,1755881921.999 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:41.999Z,1755881921.999 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:41.000Z,1755881922.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:42.250Z,1755881922.250 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:42.250Z,1755881922.250 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:42.250Z,1755881922.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:42.359Z,1755881922.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:42.362Z,1755881922.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 115.833511 m,
      bearing: 49.006072 deg,
      approach rate: -0.554742 m/s,
      LOS rate: -0.001750 deg/s,
      cmd heading: 37.686224 deg,
      new cmd heading: 37.684874 deg.

2025-08-22T16:58:42.363Z,1755881922.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657725 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:42.505Z,1755881922.505 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:42.505Z,1755881922.505 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:42.506Z,1755881922.506 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:42.754Z,1755881922.754 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:42.754Z,1755881922.754 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:42.755Z,1755881922.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:42.784Z,1755881922.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:42.808Z,1755881922.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 115.595764 m,
      bearing: 49.004443 deg,
      approach rate: -0.558970 m/s,
      LOS rate: -0.003837 deg/s,
      cmd heading: 37.684875 deg,
      new cmd heading: 37.681611 deg.

2025-08-22T16:58:42.808Z,1755881922.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657668 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:43.006Z,1755881923.006 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:43.006Z,1755881923.006 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:43.006Z,1755881923.006 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:43.190Z,1755881923.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:43.193Z,1755881923.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 115.371346 m,
      bearing: 49.002858 deg,
      approach rate: -0.553758 m/s,
      LOS rate: -0.003920 deg/s,
      cmd heading: 37.681611 deg,
      new cmd heading: 37.678433 deg.

2025-08-22T16:58:43.194Z,1755881923.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657613 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:43.259Z,1755881923.259 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:43.259Z,1755881923.259 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:43.259Z,1755881923.259 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:43.513Z,1755881923.513 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:43.513Z,1755881923.513 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:43.514Z,1755881923.514 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:43.630Z,1755881923.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:43.632Z,1755881923.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 115.123306 m,
      bearing: 49.000372 deg,
      approach rate: -0.563926 m/s,
      LOS rate: -0.005664 deg/s,
      cmd heading: 37.678435 deg,
      new cmd heading: 37.673452 deg.

2025-08-22T16:58:43.633Z,1755881923.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657526 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:43.762Z,1755881923.762 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:43.762Z,1755881923.762 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:43.762Z,1755881923.762 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:43.988Z,1755881923.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:43.991Z,1755881923.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:43.993Z,1755881923.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 114.921196 m,
      bearing: 48.998221 deg,
      approach rate: -0.559732 m/s,
      LOS rate: -0.005966 deg/s,
      cmd heading: 37.673452 deg,
      new cmd heading: 37.669144 deg.

2025-08-22T16:58:43.994Z,1755881923.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657451 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:44.015Z,1755881924.015 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:44.015Z,1755881924.015 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:44.015Z,1755881924.015 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:44.266Z,1755881924.266 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:44.266Z,1755881924.266 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:44.267Z,1755881924.267 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:44.400Z,1755881924.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:44.419Z,1755881924.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 114.695404 m,
      bearing: 48.995826 deg,
      approach rate: -0.551582 m/s,
      LOS rate: -0.005862 deg/s,
      cmd heading: 37.669142 deg,
      new cmd heading: 37.664343 deg.

2025-08-22T16:58:44.420Z,1755881924.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657367 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:44.520Z,1755881924.520 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:44.520Z,1755881924.520 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:44.520Z,1755881924.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:44.770Z,1755881924.770 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:44.770Z,1755881924.770 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:44.771Z,1755881924.771 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:44.833Z,1755881924.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:44.840Z,1755881924.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 114.450500 m,
      bearing: 48.994683 deg,
      approach rate: -0.565559 m/s,
      LOS rate: -0.002645 deg/s,
      cmd heading: 37.664344 deg,
      new cmd heading: 37.662053 deg.

2025-08-22T16:58:44.841Z,1755881924.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657327 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:45.022Z,1755881925.022 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:45.023Z,1755881925.023 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:45.023Z,1755881925.023 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:45.243Z,1755881925.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:45.246Z,1755881925.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 114.209000 m,
      bearing: 48.993551 deg,
      approach rate: -0.589485 m/s,
      LOS rate: -0.002769 deg/s,
      cmd heading: 37.662052 deg,
      new cmd heading: 37.659784 deg.

2025-08-22T16:58:45.247Z,1755881925.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657287 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:45.274Z,1755881925.274 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:45.274Z,1755881925.274 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:45.275Z,1755881925.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:45.526Z,1755881925.526 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:45.526Z,1755881925.526 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:45.527Z,1755881925.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:45.648Z,1755881925.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:45.667Z,1755881925.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 113.986526 m,
      bearing: 48.992120 deg,
      approach rate: -0.549216 m/s,
      LOS rate: -0.003540 deg/s,
      cmd heading: 37.659785 deg,
      new cmd heading: 37.656917 deg.

2025-08-22T16:58:45.668Z,1755881925.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657237 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:45.763Z,1755881925.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:58:45.779Z,1755881925.779 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:45.779Z,1755881925.779 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:45.779Z,1755881925.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:46.029Z,1755881926.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:46.030Z,1755881926.030 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:46.030Z,1755881926.030 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:46.031Z,1755881926.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:46.035Z,1755881926.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:46.038Z,1755881926.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 113.776619 m,
      bearing: 48.990739 deg,
      approach rate: -0.542632 m/s,
      LOS rate: -0.003578 deg/s,
      cmd heading: 37.656916 deg,
      new cmd heading: 37.654148 deg.

2025-08-22T16:58:46.039Z,1755881926.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657189 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:46.283Z,1755881926.283 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:46.284Z,1755881926.284 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:46.284Z,1755881926.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:46.456Z,1755881926.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:46.459Z,1755881926.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 113.542130 m,
      bearing: 48.989220 deg,
      approach rate: -0.555963 m/s,
      LOS rate: -0.003608 deg/s,
      cmd heading: 37.654146 deg,
      new cmd heading: 37.651103 deg.

2025-08-22T16:58:46.460Z,1755881926.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657136 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:46.536Z,1755881926.536 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:46.536Z,1755881926.536 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:46.536Z,1755881926.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:46.762Z,1755881926.762 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:58:46.786Z,1755881926.786 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:46.786Z,1755881926.786 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:46.787Z,1755881926.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:46.898Z,1755881926.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:46.903Z,1755881926.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 113.321449 m,
      bearing: 48.987844 deg,
      approach rate: -0.504602 m/s,
      LOS rate: -0.003152 deg/s,
      cmd heading: 37.651104 deg,
      new cmd heading: 37.648347 deg.

2025-08-22T16:58:46.904Z,1755881926.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657088 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:47.039Z,1755881927.039 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:47.039Z,1755881927.039 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:47.039Z,1755881927.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:47.257Z,1755881927.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:47.260Z,1755881927.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 113.112045 m,
      bearing: 48.986539 deg,
      approach rate: -0.576442 m/s,
      LOS rate: -0.003599 deg/s,
      cmd heading: 37.648348 deg,
      new cmd heading: 37.645733 deg.

2025-08-22T16:58:47.261Z,1755881927.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657042 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:47.290Z,1755881927.290 [DAT](INFO): Reached modem response timeout
2025-08-22T16:58:47.290Z,1755881927.290 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:58:47.291Z,1755881927.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:47.543Z,1755881927.543 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:58:47.543Z,1755881927.543 [DAT](INFO): response not received
2025-08-22T16:58:47.543Z,1755881927.543 [DAT](INFO): DAT read: user:350>

2025-08-22T16:58:47.544Z,1755881927.544 [DAT](INFO): DAT read: Tx time:16:58:48.6434

2025-08-22T16:58:47.544Z,1755881927.544 [DAT](INFO): Ping request sent.
2025-08-22T16:58:47.545Z,1755881927.545 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:47.546Z,1755881927.546 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:47.549Z,1755881927.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003753
2025-08-22T16:58:47.711Z,1755881927.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:47.718Z,1755881927.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 112.867043 m,
      bearing: 48.985050 deg,
      approach rate: -0.539067 m/s,
      LOS rate: -0.003284 deg/s,
      cmd heading: 37.645732 deg,
      new cmd heading: 37.642746 deg.

2025-08-22T16:58:47.719Z,1755881927.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656990 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:47.797Z,1755881927.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252205
2025-08-22T16:58:48.047Z,1755881928.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502287
2025-08-22T16:58:48.068Z,1755881928.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:48.070Z,1755881928.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:48.072Z,1755881928.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 112.670143 m,
      bearing: 48.983885 deg,
      approach rate: -0.549728 m/s,
      LOS rate: -0.003257 deg/s,
      cmd heading: 37.642747 deg,
      new cmd heading: 37.640413 deg.

2025-08-22T16:58:48.090Z,1755881928.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656949 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:48.301Z,1755881928.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757038
2025-08-22T16:58:48.482Z,1755881928.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:48.487Z,1755881928.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 112.454239 m,
      bearing: 48.982617 deg,
      approach rate: -0.528999 m/s,
      LOS rate: -0.003114 deg/s,
      cmd heading: 37.640414 deg,
      new cmd heading: 37.637873 deg.

2025-08-22T16:58:48.488Z,1755881928.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656905 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:48.552Z,1755881928.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007906
2025-08-22T16:58:48.802Z,1755881928.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258174
2025-08-22T16:58:48.931Z,1755881928.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:48.935Z,1755881928.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 112.213707 m,
      bearing: 48.981340 deg,
      approach rate: -0.530781 m/s,
      LOS rate: -0.002823 deg/s,
      cmd heading: 37.637874 deg,
      new cmd heading: 37.635315 deg.

2025-08-22T16:58:48.936Z,1755881928.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656860 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:49.055Z,1755881929.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510197
2025-08-22T16:58:49.290Z,1755881929.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:49.293Z,1755881929.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 112.018188 m,
      bearing: 48.980296 deg,
      approach rate: -0.570619 m/s,
      LOS rate: -0.003053 deg/s,
      cmd heading: 37.635316 deg,
      new cmd heading: 37.633224 deg.

2025-08-22T16:58:49.294Z,1755881929.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656824 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:49.307Z,1755881929.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762705
2025-08-22T16:58:49.559Z,1755881929.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014269
2025-08-22T16:58:49.722Z,1755881929.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:49.724Z,1755881929.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 111.786911 m,
      bearing: 48.980643 deg,
      approach rate: -0.535409 m/s,
      LOS rate: 0.000805 deg/s,
      cmd heading: 37.633222 deg,
      new cmd heading: 37.633917 deg.

2025-08-22T16:58:49.729Z,1755881929.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656836 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:49.817Z,1755881929.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272752
2025-08-22T16:58:50.067Z,1755881930.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522289
2025-08-22T16:58:50.084Z,1755881930.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:50.086Z,1755881930.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:50.089Z,1755881930.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 111.583832 m,
      bearing: 48.981005 deg,
      approach rate: -0.534180 m/s,
      LOS rate: 0.000954 deg/s,
      cmd heading: 37.633919 deg,
      new cmd heading: 37.634644 deg.

2025-08-22T16:58:50.090Z,1755881930.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656848 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:50.319Z,1755881930.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774232
2025-08-22T16:58:50.489Z,1755881930.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:50.492Z,1755881930.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 111.367233 m,
      bearing: 48.981396 deg,
      approach rate: -0.536948 m/s,
      LOS rate: 0.000972 deg/s,
      cmd heading: 37.634643 deg,
      new cmd heading: 37.635427 deg.

2025-08-22T16:58:50.493Z,1755881930.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656862 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:50.571Z,1755881930.571 [DAT](INFO): DAT read: Rx Time:16:58:51.1999

2025-08-22T16:58:50.571Z,1755881930.571 [DAT](INFO): Rx dataTimestamp_ set to:1755881930.570746
2025-08-22T16:58:50.572Z,1755881930.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027277
2025-08-22T16:58:50.823Z,1755881930.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278230
2025-08-22T16:58:50.922Z,1755881930.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:50.925Z,1755881930.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 111.133141 m,
      bearing: 48.981032 deg,
      approach rate: -0.540223 m/s,
      LOS rate: -0.000841 deg/s,
      cmd heading: 37.635428 deg,
      new cmd heading: 37.634699 deg.

2025-08-22T16:58:50.926Z,1755881930.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656849 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:51.078Z,1755881931.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532974
2025-08-22T16:58:51.318Z,1755881931.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.32 m.
2025-08-22T16:58:51.320Z,1755881931.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.319771 m,
      nav range: 110.918701 m,
      bearing: 48.980698 deg,
      approach rate: -0.542869 m/s,
      LOS rate: -0.000848 deg/s,
      cmd heading: 37.634701 deg,
      new cmd heading: 37.634031 deg.

2025-08-22T16:58:51.332Z,1755881931.332 [DAT](INFO): DAT read: 16:58:51.1999 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 356,-0.20,-1.980, 2.387,-2.257,-2.342, PHS= 0.464,-1.509, 0.041, RAW= 138.3,  11.2, CAL= 137.7,  12.2, ROT=  12.3, -12.2

2025-08-22T16:58:51.334Z,1755881931.334 [DAT](INFO): got valid direction response:
 16:58:51.1999 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 356,-0.20,-1.980, 2.387,-2.257,-2.342, PHS= 0.464,-1.509, 0.041, RAW= 138.3,  11.2, CAL= 137.7,  12.2, ROT=  12.3, -12.2

2025-08-22T16:58:51.335Z,1755881931.335 [DAT](INFO): DAT read: Bearing 206.5,  10.9 (Local)

2025-08-22T16:58:51.335Z,1755881931.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5,  10.9 (Local)

2025-08-22T16:58:51.337Z,1755881931.337 [DAT](INFO): DAT read: Range 11 to 50 : 114.2 m  (Round-trip  152.3 ms) speed  0.2 m/s

2025-08-22T16:58:51.338Z,1755881931.338 [DAT](INFO): DAT read: user:351>

2025-08-22T16:58:51.338Z,1755881931.338 [DAT](INFO): DAT read: Tx time:16:58:52.2934

2025-08-22T16:58:51.339Z,1755881931.339 [DAT](INFO): Ping request sent.
2025-08-22T16:58:51.339Z,1755881931.339 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:51.339Z,1755881931.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:51.340Z,1755881931.340 [DAT](INFO): direction in FSK: [0.954980,0.208219,0.211325]
2025-08-22T16:58:51.340Z,1755881931.340 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:51.340Z,1755881931.340 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:51.361Z,1755881931.361 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:51.361Z,1755881931.361 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:51.362Z,1755881931.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656838 target range: 122.319771 and range: 123.10 m.
2025-08-22T16:58:51.774Z,1755881931.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.199997 m,
      deltaT: 16.131583 s,
      deltaX: -8.900002 m,
      approachRate: -0.551713 m/s,
      rangeRepo size: 4

2025-08-22T16:58:51.776Z,1755881931.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.477661 m,
      bearing: 48.993376 deg,
      lat: 36.779424 deg,
      lon: -121.859619 deg,
      deltaT: 16.131583 s,
      deltaX: -8.842110 m,
      approachRate: -0.548124 m/s,
      posRepo size: 4

2025-08-22T16:58:51.777Z,1755881931.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:51.785Z,1755881931.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 110.849991 m,
      bearing: 49.054122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000848 deg/s,
      cmd heading: 37.634032 deg,
      new cmd heading: 37.633271 deg.

2025-08-22T16:58:51.794Z,1755881931.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656824 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:52.107Z,1755881932.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:52.109Z,1755881932.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:52.112Z,1755881932.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 110.652565 m,
      bearing: 49.053557 deg,
      approach rate: -0.574193 m/s,
      LOS rate: -0.001646 deg/s,
      cmd heading: 37.633270 deg,
      new cmd heading: 37.632138 deg.

2025-08-22T16:58:52.113Z,1755881932.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656805 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:52.334Z,1755881932.334 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:52.334Z,1755881932.334 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:52.335Z,1755881932.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:52.550Z,1755881932.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:52.552Z,1755881932.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 110.425415 m,
      bearing: 49.052904 deg,
      approach rate: -0.520903 m/s,
      LOS rate: -0.001500 deg/s,
      cmd heading: 37.632140 deg,
      new cmd heading: 37.630832 deg.

2025-08-22T16:58:52.553Z,1755881932.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656782 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:52.587Z,1755881932.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248537
2025-08-22T16:58:52.838Z,1755881932.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499776
2025-08-22T16:58:52.931Z,1755881932.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:52.934Z,1755881932.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 110.201790 m,
      bearing: 49.050594 deg,
      approach rate: -0.579239 m/s,
      LOS rate: -0.005997 deg/s,
      cmd heading: 37.630832 deg,
      new cmd heading: 37.626201 deg.

2025-08-22T16:58:52.935Z,1755881932.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656701 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:53.091Z,1755881933.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752078
2025-08-22T16:58:53.318Z,1755881933.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:53.321Z,1755881933.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 109.988937 m,
      bearing: 49.048371 deg,
      approach rate: -0.549920 m/s,
      LOS rate: -0.005754 deg/s,
      cmd heading: 37.626201 deg,
      new cmd heading: 37.621747 deg.

2025-08-22T16:58:53.322Z,1755881933.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656623 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:53.343Z,1755881933.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003926
2025-08-22T16:58:53.595Z,1755881933.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255826
2025-08-22T16:58:53.771Z,1755881933.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:53.774Z,1755881933.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 109.742165 m,
      bearing: 49.048836 deg,
      approach rate: -0.545204 m/s,
      LOS rate: 0.001030 deg/s,
      cmd heading: 37.621747 deg,
      new cmd heading: 37.622680 deg.

2025-08-22T16:58:53.775Z,1755881933.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656640 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:53.847Z,1755881933.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508188
2025-08-22T16:58:54.099Z,1755881934.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759957
2025-08-22T16:58:54.147Z,1755881934.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:54.150Z,1755881934.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:54.154Z,1755881934.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 109.536736 m,
      bearing: 49.049225 deg,
      approach rate: -0.543005 m/s,
      LOS rate: 0.001030 deg/s,
      cmd heading: 37.622680 deg,
      new cmd heading: 37.623459 deg.

2025-08-22T16:58:54.155Z,1755881934.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656653 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:54.352Z,1755881934.352 [DAT](INFO): DAT read: Rx Time:16:58:54.8470

2025-08-22T16:58:54.353Z,1755881934.353 [DAT](INFO): Rx dataTimestamp_ set to:1755881934.352483
2025-08-22T16:58:54.359Z,1755881934.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019656
2025-08-22T16:58:54.537Z,1755881934.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m.
2025-08-22T16:58:54.544Z,1755881934.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.477661 m,
      nav range: 109.331375 m,
      bearing: 49.049660 deg,
      approach rate: -0.529917 m/s,
      LOS rate: 0.001125 deg/s,
      cmd heading: 37.623458 deg,
      new cmd heading: 37.624331 deg.

2025-08-22T16:58:54.545Z,1755881934.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656668 target range: 113.477661 and range: 114.20 m.
2025-08-22T16:58:54.603Z,1755881934.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264621
2025-08-22T16:58:54.864Z,1755881934.864 [DAT](INFO): DAT read: 16:58:54.8470 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.02, 0.471,-1.368, 0.204, 0.116, PHS= 0.456,-1.440, 0.043, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-08-22T16:58:54.866Z,1755881934.866 [DAT](INFO): got valid direction response:
 16:58:54.8470 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.02, 0.471,-1.368, 0.204, 0.116, PHS= 0.456,-1.440, 0.043, RAW= 138.0,  10.9, CAL= 137.5,  11.9, ROT=  12.5, -11.9

2025-08-22T16:58:54.868Z,1755881934.868 [DAT](INFO): DAT read: Bearing 206.1,  11.0 (Local)

2025-08-22T16:58:54.868Z,1755881934.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.1,  11.0 (Local)

2025-08-22T16:58:54.872Z,1755881934.872 [DAT](INFO): DAT read: Range 11 to 50 : 112.2 m  (Round-trip  149.6 ms) speed  0.6 m/s

2025-08-22T16:58:54.875Z,1755881934.875 [DAT](INFO): DAT read: user:352>

2025-08-22T16:58:54.876Z,1755881934.876 [DAT](INFO): DAT read: Tx time:16:58:55.9433

2025-08-22T16:58:54.877Z,1755881934.877 [DAT](INFO): Ping request sent.
2025-08-22T16:58:54.877Z,1755881934.877 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:58:54.878Z,1755881934.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:58:54.879Z,1755881934.879 [DAT](INFO): direction in FSK: [0.955314,0.211788,0.206204]
2025-08-22T16:58:54.879Z,1755881934.879 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:54.879Z,1755881934.879 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:54.883Z,1755881934.883 [DAT](INFO): publishing transmit ping time
2025-08-22T16:58:54.883Z,1755881934.883 [DAT](INFO): publishing direction and range info
2025-08-22T16:58:55.066Z,1755881935.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.199997 m,
      deltaT: 3.528667 s,
      deltaX: -2.000000 m,
      approachRate: -0.566786 m/s,
      rangeRepo size: 4

2025-08-22T16:58:55.068Z,1755881935.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.491203 m,
      bearing: 49.110679 deg,
      lat: 36.779424 deg,
      lon: -121.859615 deg,
      deltaT: 3.528667 s,
      deltaX: -1.986458 m,
      approachRate: -0.562949 m/s,
      posRepo size: 4

2025-08-22T16:58:55.068Z,1755881935.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:55.076Z,1755881935.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 109.381760 m,
      bearing: 49.159172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001125 deg/s,
      cmd heading: 37.624329 deg,
      new cmd heading: 37.625508 deg.

2025-08-22T16:58:55.077Z,1755881935.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656689 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:55.382Z,1755881935.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:55.384Z,1755881935.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 109.206505 m,
      bearing: 49.158881 deg,
      approach rate: -0.554162 m/s,
      LOS rate: -0.000923 deg/s,
      cmd heading: 37.625507 deg,
      new cmd heading: 37.624923 deg.

2025-08-22T16:58:55.390Z,1755881935.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656679 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:55.796Z,1755881935.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:55.799Z,1755881935.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 108.955841 m,
      bearing: 49.158899 deg,
      approach rate: -0.598420 m/s,
      LOS rate: 0.000044 deg/s,
      cmd heading: 37.624923 deg,
      new cmd heading: 37.624961 deg.

2025-08-22T16:58:55.800Z,1755881935.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656679 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:56.162Z,1755881936.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:56.166Z,1755881936.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:56.170Z,1755881936.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 108.752945 m,
      bearing: 49.158887 deg,
      approach rate: -0.549811 m/s,
      LOS rate: -0.000034 deg/s,
      cmd heading: 37.624961 deg,
      new cmd heading: 37.624936 deg.

2025-08-22T16:58:56.172Z,1755881936.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656679 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:56.369Z,1755881936.369 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:56.369Z,1755881936.369 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:56.370Z,1755881936.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:58:56.566Z,1755881936.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:56.569Z,1755881936.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 108.528740 m,
      bearing: 49.158810 deg,
      approach rate: -0.559500 m/s,
      LOS rate: -0.000192 deg/s,
      cmd heading: 37.624937 deg,
      new cmd heading: 37.624783 deg.

2025-08-22T16:58:56.570Z,1755881936.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656676 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:56.619Z,1755881936.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742489
2025-08-22T16:58:56.872Z,1755881936.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994987
2025-08-22T16:58:57.123Z,1755881937.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245898
2025-08-22T16:58:57.167Z,1755881937.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:57.199Z,1755881937.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 108.197021 m,
      bearing: 49.156603 deg,
      approach rate: -0.551501 m/s,
      LOS rate: -0.003681 deg/s,
      cmd heading: 37.624783 deg,
      new cmd heading: 37.620356 deg.

2025-08-22T16:58:57.200Z,1755881937.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656599 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:57.380Z,1755881937.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503259
2025-08-22T16:58:57.627Z,1755881937.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749944
2025-08-22T16:58:57.660Z,1755881937.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:57.663Z,1755881937.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 107.917549 m,
      bearing: 49.154510 deg,
      approach rate: -0.566703 m/s,
      LOS rate: -0.004255 deg/s,
      cmd heading: 37.620354 deg,
      new cmd heading: 37.616158 deg.

2025-08-22T16:58:57.664Z,1755881937.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656526 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:57.904Z,1755881937.904 [DAT](INFO): DAT read: 16:58:58.4943 LVL= 26528, 32753, 29474, 32755, AGC= 69, IDX= 412, 0.22, 2.379, 0.520, 2.106, 2.056, PHS= 0.425,-1.491, 0.006, RAW= 138.0,  12.1, CAL= 137.4,  13.2, ROT=  12.6, -13.2

2025-08-22T16:58:57.905Z,1755881937.905 [DAT](INFO): got valid direction response:
 16:58:58.4943 LVL= 26528, 32753, 29474, 32755, AGC= 69, IDX= 412, 0.22, 2.379, 0.520, 2.106, 2.056, PHS= 0.425,-1.491, 0.006, RAW= 138.0,  12.1, CAL= 137.4,  13.2, ROT=  12.6, -13.2

2025-08-22T16:58:57.906Z,1755881937.906 [DAT](INFO): DAT read: Rx Time:16:58:58.4943

2025-08-22T16:58:57.906Z,1755881937.906 [DAT](INFO): Rx dataTimestamp_ set to:1755881937.905986
2025-08-22T16:58:57.907Z,1755881937.907 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T16:58:57.907Z,1755881937.907 [DAT](INFO): Received low SNR in chirp
2025-08-22T16:58:57.922Z,1755881937.922 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:58:57.923Z,1755881937.923 [DAT](INFO): direction in FSK: [0.950132,0.212380,0.228351]
2025-08-22T16:58:57.927Z,1755881937.927 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:57.927Z,1755881937.927 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:57.927Z,1755881937.927 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:58.130Z,1755881938.130 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:58.130Z,1755881938.130 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:58.130Z,1755881938.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:58.202Z,1755881938.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:58:58.204Z,1755881938.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:58.212Z,1755881938.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 107.613777 m,
      bearing: 49.155246 deg,
      approach rate: -0.558402 m/s,
      LOS rate: 0.001358 deg/s,
      cmd heading: 37.616157 deg,
      new cmd heading: 37.617634 deg.

2025-08-22T16:58:58.213Z,1755881938.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656552 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:58.382Z,1755881938.382 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:58.382Z,1755881938.382 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:58.383Z,1755881938.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:58.563Z,1755881938.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:58.566Z,1755881938.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 107.404510 m,
      bearing: 49.155734 deg,
      approach rate: -0.582982 m/s,
      LOS rate: 0.001361 deg/s,
      cmd heading: 37.617636 deg,
      new cmd heading: 37.618613 deg.

2025-08-22T16:58:58.567Z,1755881938.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656569 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:58.635Z,1755881938.635 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:58.635Z,1755881938.635 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:58.635Z,1755881938.635 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:58.886Z,1755881938.886 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:58.886Z,1755881938.886 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:58.886Z,1755881938.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:58.998Z,1755881938.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:59.000Z,1755881939.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 107.152580 m,
      bearing: 49.154968 deg,
      approach rate: -0.580192 m/s,
      LOS rate: -0.001769 deg/s,
      cmd heading: 37.618612 deg,
      new cmd heading: 37.617076 deg.

2025-08-22T16:58:59.001Z,1755881939.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656542 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:59.139Z,1755881939.139 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:59.139Z,1755881939.139 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:59.139Z,1755881939.139 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:59.386Z,1755881939.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:59.389Z,1755881939.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 106.927139 m,
      bearing: 49.154103 deg,
      approach rate: -0.579528 m/s,
      LOS rate: -0.002229 deg/s,
      cmd heading: 37.617076 deg,
      new cmd heading: 37.615341 deg.

2025-08-22T16:58:59.390Z,1755881939.390 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:59.391Z,1755881939.391 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:59.391Z,1755881939.391 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:59.392Z,1755881939.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656512 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:59.643Z,1755881939.643 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:59.643Z,1755881939.643 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:59.643Z,1755881939.643 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:58:59.824Z,1755881939.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:58:59.831Z,1755881939.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 106.676483 m,
      bearing: 49.153080 deg,
      approach rate: -0.572515 m/s,
      LOS rate: -0.002342 deg/s,
      cmd heading: 37.615341 deg,
      new cmd heading: 37.613290 deg.

2025-08-22T16:58:59.832Z,1755881939.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656476 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:58:59.894Z,1755881939.894 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:58:59.894Z,1755881939.894 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:58:59.895Z,1755881939.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:00.146Z,1755881940.146 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:00.146Z,1755881940.146 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:00.147Z,1755881940.147 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:00.249Z,1755881940.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:00.255Z,1755881940.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:00.262Z,1755881940.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 106.441383 m,
      bearing: 49.154323 deg,
      approach rate: -0.546026 m/s,
      LOS rate: 0.002894 deg/s,
      cmd heading: 37.613292 deg,
      new cmd heading: 37.615784 deg.

2025-08-22T16:59:00.263Z,1755881940.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656519 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:00.398Z,1755881940.398 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:00.398Z,1755881940.398 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:00.399Z,1755881940.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:00.624Z,1755881940.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:00.628Z,1755881940.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 106.220436 m,
      bearing: 49.155496 deg,
      approach rate: -0.597790 m/s,
      LOS rate: 0.003181 deg/s,
      cmd heading: 37.615785 deg,
      new cmd heading: 37.618136 deg.

2025-08-22T16:59:00.629Z,1755881940.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656560 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:00.650Z,1755881940.650 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:00.650Z,1755881940.650 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:00.650Z,1755881940.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:00.902Z,1755881940.902 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:00.902Z,1755881940.902 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:00.903Z,1755881940.903 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:01.014Z,1755881941.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:01.017Z,1755881941.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 106.002472 m,
      bearing: 49.156759 deg,
      approach rate: -0.559854 m/s,
      LOS rate: 0.003250 deg/s,
      cmd heading: 37.618138 deg,
      new cmd heading: 37.620668 deg.

2025-08-22T16:59:01.018Z,1755881941.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656605 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:01.155Z,1755881941.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:01.155Z,1755881941.155 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:01.155Z,1755881941.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:01.407Z,1755881941.407 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:01.407Z,1755881941.407 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:01.407Z,1755881941.407 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:01.412Z,1755881941.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:01.415Z,1755881941.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 105.780327 m,
      bearing: 49.158066 deg,
      approach rate: -0.557641 m/s,
      LOS rate: 0.003287 deg/s,
      cmd heading: 37.620668 deg,
      new cmd heading: 37.623287 deg.

2025-08-22T16:59:01.416Z,1755881941.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656650 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:01.658Z,1755881941.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:01.658Z,1755881941.658 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:01.659Z,1755881941.659 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:01.910Z,1755881941.910 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:01.910Z,1755881941.910 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:01.910Z,1755881941.910 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:01.952Z,1755881941.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:01.960Z,1755881941.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 105.515953 m,
      bearing: 49.160508 deg,
      approach rate: -0.490017 m/s,
      LOS rate: 0.004538 deg/s,
      cmd heading: 37.623288 deg,
      new cmd heading: 37.628184 deg.

2025-08-22T16:59:01.967Z,1755881941.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656736 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:02.163Z,1755881942.163 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:02.163Z,1755881942.163 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:02.163Z,1755881942.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:02.315Z,1755881942.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:02.317Z,1755881942.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:02.319Z,1755881942.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 105.284142 m,
      bearing: 49.162743 deg,
      approach rate: -0.634980 m/s,
      LOS rate: 0.006137 deg/s,
      cmd heading: 37.628185 deg,
      new cmd heading: 37.632666 deg.

2025-08-22T16:59:02.320Z,1755881942.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656814 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:02.415Z,1755881942.415 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:02.415Z,1755881942.415 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:02.415Z,1755881942.415 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:02.666Z,1755881942.666 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:02.666Z,1755881942.666 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:02.666Z,1755881942.666 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:02.786Z,1755881942.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:02.791Z,1755881942.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 105.018700 m,
      bearing: 49.165382 deg,
      approach rate: -0.567528 m/s,
      LOS rate: 0.005656 deg/s,
      cmd heading: 37.632666 deg,
      new cmd heading: 37.637957 deg.

2025-08-22T16:59:02.792Z,1755881942.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656906 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:02.919Z,1755881942.919 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:02.919Z,1755881942.919 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:02.919Z,1755881942.919 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:03.171Z,1755881943.171 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:03.171Z,1755881943.171 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:03.171Z,1755881943.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:03.211Z,1755881943.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:03.214Z,1755881943.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 104.787231 m,
      bearing: 49.166849 deg,
      approach rate: -0.542741 m/s,
      LOS rate: 0.003448 deg/s,
      cmd heading: 37.637955 deg,
      new cmd heading: 37.640896 deg.

2025-08-22T16:59:03.215Z,1755881943.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656958 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:03.424Z,1755881943.424 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:03.424Z,1755881943.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:03.424Z,1755881943.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:03.544Z,1755881943.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:03.547Z,1755881943.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 104.588402 m,
      bearing: 49.168223 deg,
      approach rate: -0.596592 m/s,
      LOS rate: 0.004128 deg/s,
      cmd heading: 37.640896 deg,
      new cmd heading: 37.643648 deg.

2025-08-22T16:59:03.548Z,1755881943.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657006 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:03.674Z,1755881943.674 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:03.674Z,1755881943.674 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:03.674Z,1755881943.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:03.926Z,1755881943.926 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:03.926Z,1755881943.926 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:03.926Z,1755881943.926 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:04.001Z,1755881944.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:04.020Z,1755881944.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 104.334465 m,
      bearing: 49.169730 deg,
      approach rate: -0.555846 m/s,
      LOS rate: 0.003307 deg/s,
      cmd heading: 37.643648 deg,
      new cmd heading: 37.646670 deg.

2025-08-22T16:59:04.021Z,1755881944.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657058 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:04.179Z,1755881944.179 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:04.179Z,1755881944.179 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:04.179Z,1755881944.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:04.374Z,1755881944.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:04.376Z,1755881944.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:04.379Z,1755881944.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 104.128777 m,
      bearing: 49.171066 deg,
      approach rate: -0.548503 m/s,
      LOS rate: 0.003570 deg/s,
      cmd heading: 37.646671 deg,
      new cmd heading: 37.649348 deg.

2025-08-22T16:59:04.380Z,1755881944.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657105 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:04.431Z,1755881944.431 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:04.431Z,1755881944.431 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:04.431Z,1755881944.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:04.682Z,1755881944.682 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:04.682Z,1755881944.682 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:04.683Z,1755881944.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T16:59:04.759Z,1755881944.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:04.774Z,1755881944.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 103.912704 m,
      bearing: 49.172518 deg,
      approach rate: -0.564438 m/s,
      LOS rate: 0.003801 deg/s,
      cmd heading: 37.649348 deg,
      new cmd heading: 37.652259 deg.

2025-08-22T16:59:04.778Z,1755881944.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657156 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:04.934Z,1755881944.934 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:04.934Z,1755881944.934 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:04.935Z,1755881944.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:05.187Z,1755881945.187 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:05.187Z,1755881945.187 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:05.187Z,1755881945.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:05.226Z,1755881945.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:05.229Z,1755881945.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 103.662735 m,
      bearing: 49.174475 deg,
      approach rate: -0.535078 m/s,
      LOS rate: 0.004199 deg/s,
      cmd heading: 37.652258 deg,
      new cmd heading: 37.656182 deg.

2025-08-22T16:59:05.234Z,1755881945.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657224 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:05.438Z,1755881945.438 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:05.438Z,1755881945.438 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:05.439Z,1755881945.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:05.582Z,1755881945.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:05.585Z,1755881945.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 103.460762 m,
      bearing: 49.176127 deg,
      approach rate: -0.574296 m/s,
      LOS rate: 0.004707 deg/s,
      cmd heading: 37.656182 deg,
      new cmd heading: 37.659493 deg.

2025-08-22T16:59:05.590Z,1755881945.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657282 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:05.691Z,1755881945.691 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:05.691Z,1755881945.691 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:05.691Z,1755881945.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:05.943Z,1755881945.943 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:05.943Z,1755881945.943 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:05.943Z,1755881945.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:06.031Z,1755881946.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:06.049Z,1755881946.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 103.205956 m,
      bearing: 49.178168 deg,
      approach rate: -0.562467 m/s,
      LOS rate: 0.004515 deg/s,
      cmd heading: 37.659491 deg,
      new cmd heading: 37.663582 deg.

2025-08-22T16:59:06.050Z,1755881946.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657354 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:06.194Z,1755881946.194 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:06.194Z,1755881946.194 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:06.195Z,1755881946.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:06.425Z,1755881946.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:06.428Z,1755881946.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:06.438Z,1755881946.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 102.988617 m,
      bearing: 49.180000 deg,
      approach rate: -0.547629 m/s,
      LOS rate: 0.004627 deg/s,
      cmd heading: 37.663582 deg,
      new cmd heading: 37.667255 deg.

2025-08-22T16:59:06.450Z,1755881946.450 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:06.450Z,1755881946.450 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:06.450Z,1755881946.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:06.463Z,1755881946.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657418 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:06.698Z,1755881946.698 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:06.698Z,1755881946.698 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:06.699Z,1755881946.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:06.817Z,1755881946.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:06.820Z,1755881946.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 102.774933 m,
      bearing: 49.181852 deg,
      approach rate: -0.548528 m/s,
      LOS rate: 0.004763 deg/s,
      cmd heading: 37.667254 deg,
      new cmd heading: 37.670964 deg.

2025-08-22T16:59:06.821Z,1755881946.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657482 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:06.951Z,1755881946.951 [DAT](INFO): Reached modem response timeout
2025-08-22T16:59:06.951Z,1755881946.951 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:59:06.951Z,1755881946.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:07.203Z,1755881947.203 [DAT](INFO): DAT read: Response Not Received

2025-08-22T16:59:07.203Z,1755881947.203 [DAT](INFO): response not received
2025-08-22T16:59:07.203Z,1755881947.203 [DAT](INFO): DAT read: user:354>

2025-08-22T16:59:07.204Z,1755881947.204 [DAT](INFO): DAT read: Tx time:16:59:08.3933

2025-08-22T16:59:07.204Z,1755881947.204 [DAT](INFO): Ping request sent.
2025-08-22T16:59:07.204Z,1755881947.204 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:07.205Z,1755881947.205 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:07.205Z,1755881947.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-22T16:59:07.300Z,1755881947.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:07.307Z,1755881947.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 102.514992 m,
      bearing: 49.185004 deg,
      approach rate: -0.538277 m/s,
      LOS rate: 0.006543 deg/s,
      cmd heading: 37.670966 deg,
      new cmd heading: 37.677285 deg.

2025-08-22T16:59:07.308Z,1755881947.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657593 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:07.455Z,1755881947.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250467
2025-08-22T16:59:07.668Z,1755881947.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:07.671Z,1755881947.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 102.308960 m,
      bearing: 49.187532 deg,
      approach rate: -0.559483 m/s,
      LOS rate: 0.006880 deg/s,
      cmd heading: 37.677284 deg,
      new cmd heading: 37.682351 deg.

2025-08-22T16:59:07.672Z,1755881947.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657681 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:07.708Z,1755881947.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503130
2025-08-22T16:59:07.959Z,1755881947.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754093
2025-08-22T16:59:08.097Z,1755881948.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:08.110Z,1755881948.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 102.075851 m,
      bearing: 49.190501 deg,
      approach rate: -0.544322 m/s,
      LOS rate: 0.006948 deg/s,
      cmd heading: 37.682352 deg,
      new cmd heading: 37.688303 deg.

2025-08-22T16:59:08.111Z,1755881948.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657785 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:08.211Z,1755881948.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006153
2025-08-22T16:59:08.463Z,1755881948.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258190
2025-08-22T16:59:08.475Z,1755881948.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:08.477Z,1755881948.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:08.480Z,1755881948.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 101.851677 m,
      bearing: 49.193332 deg,
      approach rate: -0.588998 m/s,
      LOS rate: 0.007455 deg/s,
      cmd heading: 37.688304 deg,
      new cmd heading: 37.693979 deg.

2025-08-22T16:59:08.481Z,1755881948.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657884 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:08.715Z,1755881948.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510109
2025-08-22T16:59:08.883Z,1755881948.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:08.885Z,1755881948.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 101.624420 m,
      bearing: 49.196191 deg,
      approach rate: -0.560367 m/s,
      LOS rate: 0.007064 deg/s,
      cmd heading: 37.693980 deg,
      new cmd heading: 37.699710 deg.

2025-08-22T16:59:08.886Z,1755881948.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657984 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:08.969Z,1755881948.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764919
2025-08-22T16:59:09.219Z,1755881949.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014256
2025-08-22T16:59:09.304Z,1755881949.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:09.307Z,1755881949.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 101.391556 m,
      bearing: 49.198087 deg,
      approach rate: -0.552580 m/s,
      LOS rate: 0.004510 deg/s,
      cmd heading: 37.699711 deg,
      new cmd heading: 37.703512 deg.

2025-08-22T16:59:09.308Z,1755881949.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658050 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:09.470Z,1755881949.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266015
2025-08-22T16:59:09.693Z,1755881949.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:09.696Z,1755881949.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 101.178833 m,
      bearing: 49.199781 deg,
      approach rate: -0.547363 m/s,
      LOS rate: 0.004368 deg/s,
      cmd heading: 37.703512 deg,
      new cmd heading: 37.706907 deg.

2025-08-22T16:59:09.696Z,1755881949.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658110 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:09.723Z,1755881949.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518360
2025-08-22T16:59:09.976Z,1755881949.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771261
2025-08-22T16:59:10.113Z,1755881950.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:10.116Z,1755881950.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 100.946243 m,
      bearing: 49.201213 deg,
      approach rate: -0.553682 m/s,
      LOS rate: 0.003416 deg/s,
      cmd heading: 37.706906 deg,
      new cmd heading: 37.709776 deg.

2025-08-22T16:59:10.117Z,1755881950.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658160 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:10.227Z,1755881950.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022185
2025-08-22T16:59:10.479Z,1755881950.479 [DAT](INFO): DAT read: Rx Time:16:59:10.9350

2025-08-22T16:59:10.479Z,1755881950.479 [DAT](INFO): Rx dataTimestamp_ set to:1755881950.478819
2025-08-22T16:59:10.480Z,1755881950.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275263
2025-08-22T16:59:10.489Z,1755881950.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:10.491Z,1755881950.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:10.494Z,1755881950.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 100.736946 m,
      bearing: 49.202498 deg,
      approach rate: -0.553412 m/s,
      LOS rate: 0.003405 deg/s,
      cmd heading: 37.709775 deg,
      new cmd heading: 37.712350 deg.

2025-08-22T16:59:10.495Z,1755881950.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658205 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:10.731Z,1755881950.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526243
2025-08-22T16:59:10.912Z,1755881950.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-22T16:59:10.919Z,1755881950.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491203 m,
      nav range: 100.508400 m,
      bearing: 49.203851 deg,
      approach rate: -0.542378 m/s,
      LOS rate: 0.003220 deg/s,
      cmd heading: 37.712350 deg,
      new cmd heading: 37.715063 deg.

2025-08-22T16:59:10.927Z,1755881950.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658252 target range: 111.491203 and range: 112.20 m.
2025-08-22T16:59:10.993Z,1755881950.993 [DAT](INFO): DAT read: 16:59:10.9350 LVL= 32176, 32753, 31906, 32755, AGC= 71, IDX= 349,-0.16, 2.718, 0.830, 2.476, 2.387, PHS= 0.432,-1.512, 0.045, RAW= 139.2,  11.6, CAL= 138.6,  12.6, ROT=  11.4, -12.6

2025-08-22T16:59:10.994Z,1755881950.994 [DAT](INFO): got valid direction response:
 16:59:10.9350 LVL= 32176, 32753, 31906, 32755, AGC= 71, IDX= 349,-0.16, 2.718, 0.830, 2.476, 2.387, PHS= 0.432,-1.512, 0.045, RAW= 139.2,  11.6, CAL= 138.6,  12.6, ROT=  11.4, -12.6

2025-08-22T16:59:10.995Z,1755881950.995 [DAT](INFO): DAT read: Bearing 207.7,  10.7 (Local)

2025-08-22T16:59:10.996Z,1755881950.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.7,  10.7 (Local)

2025-08-22T16:59:10.997Z,1755881950.997 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m  (Round-trip  137.5 ms) speed  0.5 m/s

2025-08-22T16:59:10.998Z,1755881950.998 [DAT](INFO): DAT read: user:355>

2025-08-22T16:59:10.999Z,1755881950.999 [DAT](INFO): DAT read: Tx time:16:59:12.0433

2025-08-22T16:59:10.999Z,1755881950.999 [DAT](INFO): Ping request sent.
2025-08-22T16:59:10.999Z,1755881950.999 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:10.999Z,1755881950.999 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:11.000Z,1755881951.000 [DAT](INFO): direction in FSK: [0.956663,0.192897,0.218143]
2025-08-22T16:59:11.001Z,1755881951.001 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:11.001Z,1755881951.001 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:11.012Z,1755881951.012 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:11.012Z,1755881951.012 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:11.389Z,1755881951.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.099998 m,
      deltaT: 16.129179 s,
      deltaX: -9.099998 m,
      approachRate: -0.564195 m/s,
      rangeRepo size: 4

2025-08-22T16:59:11.391Z,1755881951.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.449326 m,
      bearing: 48.150293 deg,
      lat: 36.779426 deg,
      lon: -121.859615 deg,
      deltaT: 16.129179 s,
      deltaX: -9.041878 m,
      approachRate: -0.560591 m/s,
      posRepo size: 4

2025-08-22T16:59:11.392Z,1755881951.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:11.395Z,1755881951.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 100.397377 m,
      bearing: 49.100410 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003220 deg/s,
      cmd heading: 37.715065 deg,
      new cmd heading: 37.718127 deg.

2025-08-22T16:59:11.396Z,1755881951.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658306 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:11.748Z,1755881951.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:11.751Z,1755881951.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 100.190826 m,
      bearing: 49.102269 deg,
      approach rate: -0.573481 m/s,
      LOS rate: 0.005173 deg/s,
      cmd heading: 37.718128 deg,
      new cmd heading: 37.721854 deg.

2025-08-22T16:59:11.752Z,1755881951.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658371 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:12.180Z,1755881952.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:12.184Z,1755881952.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 99.953918 m,
      bearing: 49.101373 deg,
      approach rate: -0.548685 m/s,
      LOS rate: -0.002080 deg/s,
      cmd heading: 37.721854 deg,
      new cmd heading: 37.720058 deg.

2025-08-22T16:59:12.238Z,1755881952.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658339 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:12.558Z,1755881952.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:12.560Z,1755881952.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:12.563Z,1755881952.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 99.745247 m,
      bearing: 49.100365 deg,
      approach rate: -0.548625 m/s,
      LOS rate: -0.002657 deg/s,
      cmd heading: 37.720058 deg,
      new cmd heading: 37.718037 deg.

2025-08-22T16:59:12.564Z,1755881952.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658304 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:12.746Z,1755881952.746 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:12.746Z,1755881952.746 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:12.747Z,1755881952.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:13.001Z,1755881953.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001372
2025-08-22T16:59:13.009Z,1755881953.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:13.023Z,1755881953.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 99.519180 m,
      bearing: 49.099210 deg,
      approach rate: -0.504903 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 37.718036 deg,
      new cmd heading: 37.715722 deg.

2025-08-22T16:59:13.024Z,1755881953.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658264 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:13.250Z,1755881953.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251236
2025-08-22T16:59:13.395Z,1755881953.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:13.398Z,1755881953.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 99.268608 m,
      bearing: 49.100768 deg,
      approach rate: -0.647579 m/s,
      LOS rate: 0.004036 deg/s,
      cmd heading: 37.715721 deg,
      new cmd heading: 37.718844 deg.

2025-08-22T16:59:13.399Z,1755881953.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658318 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:13.503Z,1755881953.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503483
2025-08-22T16:59:13.755Z,1755881953.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755430
2025-08-22T16:59:13.784Z,1755881953.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:13.787Z,1755881953.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 99.044334 m,
      bearing: 49.102177 deg,
      approach rate: -0.575709 m/s,
      LOS rate: 0.003625 deg/s,
      cmd heading: 37.718845 deg,
      new cmd heading: 37.721670 deg.

2025-08-22T16:59:13.788Z,1755881953.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658367 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:14.009Z,1755881954.009 [DAT](INFO): DAT read: Rx Time:16:59:14.5823

2025-08-22T16:59:14.011Z,1755881954.011 [DAT](INFO): Rx dataTimestamp_ set to:1755881954.009722
2025-08-22T16:59:14.012Z,1755881954.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012792
2025-08-22T16:59:14.217Z,1755881954.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.45 m.
2025-08-22T16:59:14.220Z,1755881954.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.449326 m,
      nav range: 98.804047 m,
      bearing: 49.103340 deg,
      approach rate: -0.555494 m/s,
      LOS rate: 0.002696 deg/s,
      cmd heading: 37.721670 deg,
      new cmd heading: 37.724002 deg.

2025-08-22T16:59:14.221Z,1755881954.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658408 target range: 102.449326 and range: 103.10 m.
2025-08-22T16:59:14.259Z,1755881954.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259448
2025-08-22T16:59:14.521Z,1755881954.521 [DAT](INFO): DAT read: 16:59:14.5822 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.19, 2.886, 1.093, 2.650, 2.570, PHS= 0.418,-1.433, 0.035, RAW= 138.7,  11.6, CAL= 138.1,  12.6, ROT=  11.9, -12.6

2025-08-22T16:59:14.522Z,1755881954.522 [DAT](INFO): got valid direction response:
 16:59:14.5822 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.19, 2.886, 1.093, 2.650, 2.570, PHS= 0.418,-1.433, 0.035, RAW= 138.7,  11.6, CAL= 138.1,  12.6, ROT=  11.9, -12.6

2025-08-22T16:59:14.523Z,1755881954.523 [DAT](INFO): DAT read: Bearing 208.1,  11.3 (Local)

2025-08-22T16:59:14.523Z,1755881954.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.1,  11.3 (Local)

2025-08-22T16:59:14.525Z,1755881954.525 [DAT](INFO): DAT read: Range 11 to 50 : 101.1 m  (Round-trip  134.8 ms) speed  0.5 m/s

2025-08-22T16:59:14.538Z,1755881954.538 [DAT](INFO): DAT read: user:356>

2025-08-22T16:59:14.538Z,1755881954.538 [DAT](INFO): DAT read: Tx time:16:59:15.6948

2025-08-22T16:59:14.539Z,1755881954.539 [DAT](INFO): Ping request sent.
2025-08-22T16:59:14.539Z,1755881954.539 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:14.539Z,1755881954.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:14.540Z,1755881954.540 [DAT](INFO): direction in FSK: [0.954943,0.201238,0.218143]
2025-08-22T16:59:14.540Z,1755881954.540 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:14.540Z,1755881954.540 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:14.548Z,1755881954.548 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:14.548Z,1755881954.548 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:14.671Z,1755881954.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.099998 m,
      deltaT: 3.528253 s,
      deltaX: -2.000000 m,
      approachRate: -0.566853 m/s,
      rangeRepo size: 4

2025-08-22T16:59:14.673Z,1755881954.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.463142 m,
      bearing: 48.749948 deg,
      lat: 36.779428 deg,
      lon: -121.859615 deg,
      deltaT: 3.528253 s,
      deltaX: -1.986183 m,
      approachRate: -0.562937 m/s,
      posRepo size: 4

2025-08-22T16:59:14.678Z,1755881954.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:14.680Z,1755881954.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 98.692299 m,
      bearing: 49.021011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002696 deg/s,
      cmd heading: 37.724002 deg,
      new cmd heading: 37.726447 deg.

2025-08-22T16:59:14.690Z,1755881954.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658451 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:15.098Z,1755881955.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:15.100Z,1755881955.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:15.103Z,1755881955.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 98.437119 m,
      bearing: 49.023215 deg,
      approach rate: -0.593582 m/s,
      LOS rate: 0.005140 deg/s,
      cmd heading: 37.726447 deg,
      new cmd heading: 37.730866 deg.

2025-08-22T16:59:15.104Z,1755881955.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658528 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:15.270Z,1755881955.270 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:15.270Z,1755881955.270 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:15.271Z,1755881955.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:15.472Z,1755881955.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:15.475Z,1755881955.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 98.238480 m,
      bearing: 49.024926 deg,
      approach rate: -0.534300 m/s,
      LOS rate: 0.004612 deg/s,
      cmd heading: 37.730867 deg,
      new cmd heading: 37.734296 deg.

2025-08-22T16:59:15.476Z,1755881955.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658588 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:15.523Z,1755881955.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984485
2025-08-22T16:59:15.775Z,1755881955.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235690
2025-08-22T16:59:15.867Z,1755881955.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:15.869Z,1755881955.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 98.009453 m,
      bearing: 49.026954 deg,
      approach rate: -0.580483 m/s,
      LOS rate: 0.005153 deg/s,
      cmd heading: 37.734295 deg,
      new cmd heading: 37.738362 deg.

2025-08-22T16:59:15.870Z,1755881955.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658659 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:16.029Z,1755881956.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489934
2025-08-22T16:59:16.279Z,1755881956.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739883
2025-08-22T16:59:16.296Z,1755881956.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:16.299Z,1755881956.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 97.777161 m,
      bearing: 49.026955 deg,
      approach rate: -0.540481 m/s,
      LOS rate: 0.000002 deg/s,
      cmd heading: 37.738363 deg,
      new cmd heading: 37.738364 deg.

2025-08-22T16:59:16.300Z,1755881956.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658659 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:16.532Z,1755881956.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992983
2025-08-22T16:59:16.683Z,1755881956.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:16.686Z,1755881956.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 97.577011 m,
      bearing: 49.026949 deg,
      approach rate: -0.541922 m/s,
      LOS rate: -0.000015 deg/s,
      cmd heading: 37.738363 deg,
      new cmd heading: 37.738352 deg.

2025-08-22T16:59:16.687Z,1755881956.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658659 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:16.783Z,1755881956.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244010
2025-08-22T16:59:16.883Z,1755881956.883 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:59:17.037Z,1755881957.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497937
2025-08-22T16:59:17.129Z,1755881957.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:17.131Z,1755881957.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:17.134Z,1755881957.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 97.323227 m,
      bearing: 49.029053 deg,
      approach rate: -0.544944 m/s,
      LOS rate: 0.004528 deg/s,
      cmd heading: 37.738352 deg,
      new cmd heading: 37.742570 deg.

2025-08-22T16:59:17.135Z,1755881957.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658732 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:17.287Z,1755881957.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747867
2025-08-22T16:59:17.475Z,1755881957.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:17.477Z,1755881957.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 97.135742 m,
      bearing: 49.030610 deg,
      approach rate: -0.546405 m/s,
      LOS rate: 0.004546 deg/s,
      cmd heading: 37.742570 deg,
      new cmd heading: 37.745690 deg.

2025-08-22T16:59:17.478Z,1755881957.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658787 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:17.540Z,1755881957.540 [DAT](INFO): DAT read: Rx Time:16:59:18.2310

2025-08-22T16:59:17.540Z,1755881957.540 [DAT](INFO): Rx dataTimestamp_ set to:1755881957.539957
2025-08-22T16:59:17.541Z,1755881957.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002283
2025-08-22T16:59:17.791Z,1755881957.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251818
2025-08-22T16:59:17.886Z,1755881957.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:59:17.894Z,1755881957.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.46 m.
2025-08-22T16:59:17.896Z,1755881957.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.463142 m,
      nav range: 96.907967 m,
      bearing: 49.032491 deg,
      approach rate: -0.543721 m/s,
      LOS rate: 0.004501 deg/s,
      cmd heading: 37.745691 deg,
      new cmd heading: 37.749462 deg.

2025-08-22T16:59:17.897Z,1755881957.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658852 target range: 100.463142 and range: 101.10 m.
2025-08-22T16:59:18.046Z,1755881958.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507048
2025-08-22T16:59:18.300Z,1755881958.300 [DAT](INFO): DAT read: 16:59:18.2310 LVL= 27568, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.22,-0.406,-2.295,-0.629,-0.712, PHS= 0.408,-1.537, 0.040, RAW= 139.7,  12.1, CAL= 139.1,  13.1, ROT=  10.9, -13.1

2025-08-22T16:59:18.303Z,1755881958.303 [DAT](INFO): got valid direction response:
 16:59:18.2310 LVL= 27568, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.22,-0.406,-2.295,-0.629,-0.712, PHS= 0.408,-1.537, 0.040, RAW= 139.7,  12.1, CAL= 139.1,  13.1, ROT=  10.9, -13.1

2025-08-22T16:59:18.305Z,1755881958.305 [DAT](INFO): DAT read: Bearing 209.0,  10.4 (Local)

2025-08-22T16:59:18.306Z,1755881958.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.0,  10.4 (Local)

2025-08-22T16:59:18.308Z,1755881958.308 [DAT](INFO): DAT read: Range 11 to 50 : 99.0 m  (Round-trip  132.1 ms) speed  0.4 m/s

2025-08-22T16:59:18.314Z,1755881958.314 [DAT](INFO): DAT read: user:357>

2025-08-22T16:59:18.315Z,1755881958.315 [DAT](INFO): DAT read: Tx time:16:59:19.3448

2025-08-22T16:59:18.316Z,1755881958.316 [DAT](INFO): Ping request sent.
2025-08-22T16:59:18.316Z,1755881958.316 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:18.316Z,1755881958.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:18.338Z,1755881958.338 [DAT](INFO): direction in FSK: [0.956404,0.184174,0.226651]
2025-08-22T16:59:18.338Z,1755881958.338 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:18.338Z,1755881958.338 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:18.354Z,1755881958.354 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:18.354Z,1755881958.354 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:18.436Z,1755881958.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.000000 m,
      deltaT: 3.781966 s,
      deltaX: -2.099998 m,
      approachRate: -0.555266 m/s,
      rangeRepo size: 4

2025-08-22T16:59:18.438Z,1755881958.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.376198 m,
      bearing: 47.803623 deg,
      lat: 36.779429 deg,
      lon: -121.859622 deg,
      deltaT: 3.781966 s,
      deltaX: -2.086945 m,
      approachRate: -0.551815 m/s,
      posRepo size: 4

2025-08-22T16:59:18.439Z,1755881958.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:18.441Z,1755881958.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 96.161026 m,
      bearing: 48.755327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004501 deg/s,
      cmd heading: 37.749462 deg,
      new cmd heading: 37.754336 deg.

2025-08-22T16:59:18.454Z,1755881958.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658937 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:18.694Z,1755881958.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:18.697Z,1755881958.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 96.005287 m,
      bearing: 48.754893 deg,
      approach rate: -0.602749 m/s,
      LOS rate: -0.001680 deg/s,
      cmd heading: 37.754335 deg,
      new cmd heading: 37.753467 deg.

2025-08-22T16:59:18.698Z,1755881958.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658922 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:19.156Z,1755881959.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:19.176Z,1755881959.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:19.190Z,1755881959.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 95.753357 m,
      bearing: 48.753359 deg,
      approach rate: -0.521951 m/s,
      LOS rate: -0.003188 deg/s,
      cmd heading: 37.753468 deg,
      new cmd heading: 37.750390 deg.

2025-08-22T16:59:19.191Z,1755881959.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658869 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:19.304Z,1755881959.304 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:19.304Z,1755881959.304 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:19.305Z,1755881959.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:19.555Z,1755881959.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238959
2025-08-22T16:59:19.560Z,1755881959.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:19.563Z,1755881959.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 95.534615 m,
      bearing: 48.751967 deg,
      approach rate: -0.570206 m/s,
      LOS rate: -0.003635 deg/s,
      cmd heading: 37.750391 deg,
      new cmd heading: 37.747602 deg.

2025-08-22T16:59:19.564Z,1755881959.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658820 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:19.808Z,1755881959.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492439
2025-08-22T16:59:19.960Z,1755881959.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:19.964Z,1755881959.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 95.315331 m,
      bearing: 48.750552 deg,
      approach rate: -0.547319 m/s,
      LOS rate: -0.003541 deg/s,
      cmd heading: 37.747601 deg,
      new cmd heading: 37.744763 deg.

2025-08-22T16:59:19.965Z,1755881959.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658770 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:20.062Z,1755881960.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745635
2025-08-22T16:59:20.312Z,1755881960.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995670
2025-08-22T16:59:20.456Z,1755881960.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:20.458Z,1755881960.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 95.044708 m,
      bearing: 48.748909 deg,
      approach rate: -0.546555 m/s,
      LOS rate: -0.003327 deg/s,
      cmd heading: 37.744763 deg,
      new cmd heading: 37.741468 deg.

2025-08-22T16:59:20.459Z,1755881960.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658713 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:20.563Z,1755881960.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247115
2025-08-22T16:59:20.816Z,1755881960.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500132
2025-08-22T16:59:20.875Z,1755881960.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:20.886Z,1755881960.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 94.819771 m,
      bearing: 48.747560 deg,
      approach rate: -0.536156 m/s,
      LOS rate: -0.003221 deg/s,
      cmd heading: 37.741467 deg,
      new cmd heading: 37.738764 deg.

2025-08-22T16:59:20.887Z,1755881960.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658666 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:21.067Z,1755881961.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750999
2025-08-22T16:59:21.320Z,1755881961.320 [DAT](INFO): DAT read: Rx Time:16:59:21.8783

2025-08-22T16:59:21.321Z,1755881961.321 [DAT](INFO): Rx dataTimestamp_ set to:1755881961.320007
2025-08-22T16:59:21.322Z,1755881961.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006153
2025-08-22T16:59:21.417Z,1755881961.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:21.419Z,1755881961.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.38 m.
2025-08-22T16:59:21.422Z,1755881961.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.376198 m,
      nav range: 94.514832 m,
      bearing: 48.748460 deg,
      approach rate: -0.560344 m/s,
      LOS rate: 0.001659 deg/s,
      cmd heading: 37.738766 deg,
      new cmd heading: 37.740571 deg.

2025-08-22T16:59:21.423Z,1755881961.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658697 target range: 98.376198 and range: 99.00 m.
2025-08-22T16:59:21.571Z,1755881961.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255445
2025-08-22T16:59:21.831Z,1755881961.831 [DAT](INFO): DAT read: 16:59:21.8783 LVL= 28656, 29393, 27682, 32755, AGC= 69, IDX= 409, 0.31, 1.982, 0.038, 1.733, 1.626, PHS= 0.457,-1.543, 0.063, RAW= 139.3,  11.2, CAL= 138.7,  12.1, ROT=  11.3, -12.1

2025-08-22T16:59:21.832Z,1755881961.832 [DAT](INFO): got valid direction response:
 16:59:21.8783 LVL= 28656, 29393, 27682, 32755, AGC= 69, IDX= 409, 0.31, 1.982, 0.038, 1.733, 1.626, PHS= 0.457,-1.543, 0.063, RAW= 139.3,  11.2, CAL= 138.7,  12.1, ROT=  11.3, -12.1

2025-08-22T16:59:21.833Z,1755881961.833 [DAT](INFO): DAT read: Bearing 208.0,  11.0 (Local)

2025-08-22T16:59:21.833Z,1755881961.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0,  11.0 (Local)

2025-08-22T16:59:21.834Z,1755881961.834 [DAT](INFO): DAT read: Range 11 to 50 : 96.9 m  (Round-trip  129.3 ms) speed  0.6 m/s

2025-08-22T16:59:21.835Z,1755881961.835 [DAT](INFO): DAT read: user:358>

2025-08-22T16:59:21.836Z,1755881961.836 [DAT](INFO): DAT read: Tx time:16:59:22.9932

2025-08-22T16:59:21.836Z,1755881961.836 [DAT](INFO): Ping request sent.
2025-08-22T16:59:21.836Z,1755881961.836 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:21.836Z,1755881961.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:21.838Z,1755881961.838 [DAT](INFO): direction in FSK: [0.958829,0.191593,0.209619]
2025-08-22T16:59:21.838Z,1755881961.838 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:21.838Z,1755881961.838 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:21.841Z,1755881961.841 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:21.841Z,1755881961.841 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:21.911Z,1755881961.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.900002 m,
      deltaT: 3.528526 s,
      deltaX: -2.099998 m,
      approachRate: -0.595149 m/s,
      rangeRepo size: 4

2025-08-22T16:59:21.918Z,1755881961.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.289879 m,
      bearing: 48.289728 deg,
      lat: 36.779433 deg,
      lon: -121.859628 deg,
      deltaT: 3.528526 s,
      deltaX: -2.086319 m,
      approachRate: -0.591272 m/s,
      posRepo size: 4

2025-08-22T16:59:21.919Z,1755881961.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:21.938Z,1755881961.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 94.210976 m,
      bearing: 48.289388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001659 deg/s,
      cmd heading: 37.740572 deg,
      new cmd heading: 37.742203 deg.

2025-08-22T16:59:21.939Z,1755881961.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658726 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:22.286Z,1755881962.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:22.288Z,1755881962.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 93.986610 m,
      bearing: 48.288019 deg,
      approach rate: -0.598724 m/s,
      LOS rate: -0.003664 deg/s,
      cmd heading: 37.742201 deg,
      new cmd heading: 37.739455 deg.

2025-08-22T16:59:22.289Z,1755881962.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658678 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:22.679Z,1755881962.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:22.682Z,1755881962.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 93.772377 m,
      bearing: 48.286661 deg,
      approach rate: -0.543774 m/s,
      LOS rate: -0.003454 deg/s,
      cmd heading: 37.739456 deg,
      new cmd heading: 37.736734 deg.

2025-08-22T16:59:22.683Z,1755881962.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658630 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:23.067Z,1755881963.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:23.070Z,1755881963.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 93.543915 m,
      bearing: 48.285153 deg,
      approach rate: -0.589782 m/s,
      LOS rate: -0.003902 deg/s,
      cmd heading: 37.736734 deg,
      new cmd heading: 37.733711 deg.

2025-08-22T16:59:23.071Z,1755881963.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658578 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:23.498Z,1755881963.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:23.500Z,1755881963.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:23.503Z,1755881963.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 93.306961 m,
      bearing: 48.285921 deg,
      approach rate: -0.547057 m/s,
      LOS rate: 0.001777 deg/s,
      cmd heading: 37.733711 deg,
      new cmd heading: 37.735251 deg.

2025-08-22T16:59:23.504Z,1755881963.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658604 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:23.598Z,1755881963.598 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:23.599Z,1755881963.599 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:23.599Z,1755881963.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:23.851Z,1755881963.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014462
2025-08-22T16:59:23.893Z,1755881963.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:23.895Z,1755881963.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 93.091820 m,
      bearing: 48.286634 deg,
      approach rate: -0.547828 m/s,
      LOS rate: 0.001820 deg/s,
      cmd heading: 37.735252 deg,
      new cmd heading: 37.736681 deg.

2025-08-22T16:59:23.896Z,1755881963.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658629 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:24.107Z,1755881964.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270781
2025-08-22T16:59:24.316Z,1755881964.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:24.324Z,1755881964.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 92.855270 m,
      bearing: 48.288007 deg,
      approach rate: -0.558520 m/s,
      LOS rate: 0.003250 deg/s,
      cmd heading: 37.736682 deg,
      new cmd heading: 37.739435 deg.

2025-08-22T16:59:24.325Z,1755881964.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658677 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:24.355Z,1755881964.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518555
2025-08-22T16:59:24.606Z,1755881964.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770366
2025-08-22T16:59:24.691Z,1755881964.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:24.694Z,1755881964.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 92.636711 m,
      bearing: 48.289295 deg,
      approach rate: -0.583008 m/s,
      LOS rate: 0.003445 deg/s,
      cmd heading: 37.739435 deg,
      new cmd heading: 37.742018 deg.

2025-08-22T16:59:24.695Z,1755881964.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658722 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:24.859Z,1755881964.859 [DAT](INFO): DAT read: Rx Time:16:59:25.5240

2025-08-22T16:59:24.859Z,1755881964.859 [DAT](INFO): Rx dataTimestamp_ set to:1755881964.858696
2025-08-22T16:59:24.860Z,1755881964.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023443
2025-08-22T16:59:25.094Z,1755881965.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:25.096Z,1755881965.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 92.407448 m,
      bearing: 48.290719 deg,
      approach rate: -0.569920 m/s,
      LOS rate: 0.003548 deg/s,
      cmd heading: 37.742017 deg,
      new cmd heading: 37.744872 deg.

2025-08-22T16:59:25.097Z,1755881965.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658772 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:25.111Z,1755881965.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274448
2025-08-22T16:59:25.363Z,1755881965.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526401
2025-08-22T16:59:25.523Z,1755881965.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:25.526Z,1755881965.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.29 m.
2025-08-22T16:59:25.528Z,1755881965.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.289879 m,
      nav range: 92.173866 m,
      bearing: 48.292506 deg,
      approach rate: -0.540738 m/s,
      LOS rate: 0.004146 deg/s,
      cmd heading: 37.744872 deg,
      new cmd heading: 37.748453 deg.

2025-08-22T16:59:25.529Z,1755881965.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658835 target range: 96.289879 and range: 96.90 m.
2025-08-22T16:59:25.625Z,1755881965.625 [DAT](INFO): DAT read: 16:59:25.5240 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.41, 2.554, 0.670, 2.343, 2.238, PHS= 0.418,-1.523, 0.061, RAW= 140.1,  11.7, CAL= 139.4,  12.6, ROT=  10.6, -12.6

2025-08-22T16:59:25.626Z,1755881965.626 [DAT](INFO): got valid direction response:
 16:59:25.5240 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.41, 2.554, 0.670, 2.343, 2.238, PHS= 0.418,-1.523, 0.061, RAW= 140.1,  11.7, CAL= 139.4,  12.6, ROT=  10.6, -12.6

2025-08-22T16:59:25.627Z,1755881965.627 [DAT](INFO): DAT read: Bearing 208.4,  10.9 (Local)

2025-08-22T16:59:25.628Z,1755881965.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.4,  10.9 (Local)

2025-08-22T16:59:25.634Z,1755881965.634 [DAT](INFO): DAT read: Range 11 to 50 : 94.9 m  (Round-trip  126.6 ms) speed  0.4 m/s

2025-08-22T16:59:25.635Z,1755881965.635 [DAT](INFO): DAT read: user:359>

2025-08-22T16:59:25.636Z,1755881965.636 [DAT](INFO): DAT read: Tx time:16:59:26.6432

2025-08-22T16:59:25.636Z,1755881965.636 [DAT](INFO): Ping request sent.
2025-08-22T16:59:25.636Z,1755881965.636 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:25.637Z,1755881965.637 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:25.643Z,1755881965.643 [DAT](INFO): direction in FSK: [0.959263,0.179521,0.218143]
2025-08-22T16:59:25.643Z,1755881965.643 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:25.643Z,1755881965.643 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:25.647Z,1755881965.647 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:25.647Z,1755881965.647 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:25.906Z,1755881965.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.900002 m,
      deltaT: 3.796125 s,
      deltaX: -2.000000 m,
      approachRate: -0.526853 m/s,
      rangeRepo size: 4

2025-08-22T16:59:25.908Z,1755881965.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.303154 m,
      bearing: 47.584078 deg,
      lat: 36.779437 deg,
      lon: -121.859628 deg,
      deltaT: 3.796125 s,
      deltaX: -1.986725 m,
      approachRate: -0.523356 m/s,
      posRepo size: 4

2025-08-22T16:59:25.909Z,1755881965.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:25.928Z,1755881965.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 92.197746 m,
      bearing: 48.110453 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004146 deg/s,
      cmd heading: 37.748454 deg,
      new cmd heading: 37.751606 deg.

2025-08-22T16:59:25.933Z,1755881965.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658890 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:26.337Z,1755881966.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:26.363Z,1755881966.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 91.955635 m,
      bearing: 48.108969 deg,
      approach rate: -0.561424 m/s,
      LOS rate: -0.003448 deg/s,
      cmd heading: 37.751606 deg,
      new cmd heading: 37.748632 deg.

2025-08-22T16:59:26.364Z,1755881966.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658838 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:26.704Z,1755881966.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:26.707Z,1755881966.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 91.751411 m,
      bearing: 48.107678 deg,
      approach rate: -0.556000 m/s,
      LOS rate: -0.003525 deg/s,
      cmd heading: 37.748632 deg,
      new cmd heading: 37.746042 deg.

2025-08-22T16:59:26.708Z,1755881966.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658793 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:27.132Z,1755881967.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:27.135Z,1755881967.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 91.522339 m,
      bearing: 48.106239 deg,
      approach rate: -0.535479 m/s,
      LOS rate: -0.003371 deg/s,
      cmd heading: 37.746043 deg,
      new cmd heading: 37.743159 deg.

2025-08-22T16:59:27.136Z,1755881967.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658742 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:27.544Z,1755881967.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:27.547Z,1755881967.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:27.550Z,1755881967.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 91.276917 m,
      bearing: 48.106718 deg,
      approach rate: -0.591430 m/s,
      LOS rate: 0.001158 deg/s,
      cmd heading: 37.743161 deg,
      new cmd heading: 37.744122 deg.

2025-08-22T16:59:27.551Z,1755881967.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658759 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:27.635Z,1755881967.635 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:27.635Z,1755881967.635 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:27.636Z,1755881967.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:27.887Z,1755881967.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250025
2025-08-22T16:59:27.940Z,1755881967.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:27.947Z,1755881967.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 91.057404 m,
      bearing: 48.107047 deg,
      approach rate: -0.558264 m/s,
      LOS rate: 0.000837 deg/s,
      cmd heading: 37.744121 deg,
      new cmd heading: 37.744779 deg.

2025-08-22T16:59:27.948Z,1755881967.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658771 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:28.139Z,1755881968.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502084
2025-08-22T16:59:28.357Z,1755881968.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:28.363Z,1755881968.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 90.813400 m,
      bearing: 48.105675 deg,
      approach rate: -0.585364 m/s,
      LOS rate: -0.003300 deg/s,
      cmd heading: 37.744780 deg,
      new cmd heading: 37.742029 deg.

2025-08-22T16:59:28.364Z,1755881968.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658723 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:28.393Z,1755881968.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756448
2025-08-22T16:59:28.643Z,1755881968.643 [DAT](INFO): DAT read: Rx Time:16:59:29.1712

2025-08-22T16:59:28.644Z,1755881968.644 [DAT](INFO): Rx dataTimestamp_ set to:1755881968.643528
2025-08-22T16:59:28.644Z,1755881968.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007847
2025-08-22T16:59:28.729Z,1755881968.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:28.732Z,1755881968.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 90.599503 m,
      bearing: 48.104361 deg,
      approach rate: -0.574818 m/s,
      LOS rate: -0.003541 deg/s,
      cmd heading: 37.742027 deg,
      new cmd heading: 37.739392 deg.

2025-08-22T16:59:28.733Z,1755881968.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658677 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:28.895Z,1755881968.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257964
2025-08-22T16:59:29.135Z,1755881969.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m.
2025-08-22T16:59:29.153Z,1755881969.153 [DAT](INFO): DAT read: 16:59:29.1712 LVL= 30272, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.21, 1.278,-0.629, 1.059, 0.929, PHS= 0.451,-1.513, 0.086, RAW= 139.9,  10.8, CAL= 139.4,  11.8, ROT=  10.6, -11.8

2025-08-22T16:59:29.154Z,1755881969.154 [DAT](INFO): got valid direction response:
 16:59:29.1712 LVL= 30272, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.21, 1.278,-0.629, 1.059, 0.929, PHS= 0.451,-1.513, 0.086, RAW= 139.9,  10.8, CAL= 139.4,  11.8, ROT=  10.6, -11.8

2025-08-22T16:59:29.156Z,1755881969.156 [DAT](INFO): DAT read: Bearing 207.6,  11.8 (Local)

2025-08-22T16:59:29.156Z,1755881969.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.6,  11.8 (Local)

2025-08-22T16:59:29.158Z,1755881969.158 [DAT](INFO): DAT read: Range 11 to 50 : 92.9 m  (Round-trip  123.9 ms) speed  0.7 m/s

2025-08-22T16:59:29.159Z,1755881969.159 [DAT](INFO): DAT read: user:360>

2025-08-22T16:59:29.160Z,1755881969.160 [DAT](INFO): DAT read: Tx time:16:59:30.2932

2025-08-22T16:59:29.161Z,1755881969.161 [DAT](INFO): Ping request sent.
2025-08-22T16:59:29.161Z,1755881969.161 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:29.162Z,1755881969.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:29.163Z,1755881969.163 [DAT](INFO): direction in FSK: [0.962163,0.180064,0.204496]
2025-08-22T16:59:29.163Z,1755881969.163 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:29.164Z,1755881969.164 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:29.169Z,1755881969.169 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:29.169Z,1755881969.169 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:29.182Z,1755881969.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.303154 m,
      nav range: 90.366219 m,
      bearing: 48.102886 deg,
      approach rate: -0.574795 m/s,
      LOS rate: -0.003643 deg/s,
      cmd heading: 37.739391 deg,
      new cmd heading: 37.736433 deg.

2025-08-22T16:59:29.183Z,1755881969.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658625 target range: 94.303154 and range: 94.90 m.
2025-08-22T16:59:29.576Z,1755881969.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.900002 m,
      deltaT: 3.527206 s,
      deltaX: -2.000000 m,
      approachRate: -0.567021 m/s,
      rangeRepo size: 4

2025-08-22T16:59:29.579Z,1755881969.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.315109 m,
      bearing: 47.747172 deg,
      lat: 36.779438 deg,
      lon: -121.859634 deg,
      deltaT: 3.527206 s,
      deltaX: -1.988045 m,
      approachRate: -0.563632 m/s,
      posRepo size: 4

2025-08-22T16:59:29.579Z,1755881969.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:29.582Z,1755881969.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 89.823257 m,
      bearing: 47.807732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003643 deg/s,
      cmd heading: 37.736433 deg,
      new cmd heading: 37.733221 deg.

2025-08-22T16:59:29.583Z,1755881969.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658569 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:29.934Z,1755881969.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:29.936Z,1755881969.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:29.939Z,1755881969.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 89.616020 m,
      bearing: 47.805185 deg,
      approach rate: -0.575389 m/s,
      LOS rate: -0.007088 deg/s,
      cmd heading: 37.733220 deg,
      new cmd heading: 37.728114 deg.

2025-08-22T16:59:29.940Z,1755881969.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658480 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:30.155Z,1755881970.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:30.155Z,1755881970.155 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:30.155Z,1755881970.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:30.370Z,1755881970.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:30.373Z,1755881970.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 89.365578 m,
      bearing: 47.802126 deg,
      approach rate: -0.576243 m/s,
      LOS rate: -0.007059 deg/s,
      cmd heading: 37.728114 deg,
      new cmd heading: 37.721978 deg.

2025-08-22T16:59:30.377Z,1755881970.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658373 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:30.406Z,1755881970.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245272
2025-08-22T16:59:30.660Z,1755881970.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498963
2025-08-22T16:59:30.750Z,1755881970.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:30.752Z,1755881970.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 89.147041 m,
      bearing: 47.799395 deg,
      approach rate: -0.576171 m/s,
      LOS rate: -0.007217 deg/s,
      cmd heading: 37.721977 deg,
      new cmd heading: 37.716502 deg.

2025-08-22T16:59:30.754Z,1755881970.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658277 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:30.911Z,1755881970.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749409
2025-08-22T16:59:31.146Z,1755881971.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:31.149Z,1755881971.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 88.918571 m,
      bearing: 47.796537 deg,
      approach rate: -0.575800 m/s,
      LOS rate: -0.007221 deg/s,
      cmd heading: 37.716503 deg,
      new cmd heading: 37.710772 deg.

2025-08-22T16:59:31.163Z,1755881971.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002197
2025-08-22T16:59:31.171Z,1755881971.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658177 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:31.415Z,1755881971.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253358
2025-08-22T16:59:31.606Z,1755881971.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:31.609Z,1755881971.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 88.665520 m,
      bearing: 47.795586 deg,
      approach rate: -0.550728 m/s,
      LOS rate: -0.002075 deg/s,
      cmd heading: 37.710772 deg,
      new cmd heading: 37.708865 deg.

2025-08-22T16:59:31.610Z,1755881971.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658144 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:31.668Z,1755881971.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506372
2025-08-22T16:59:31.919Z,1755881971.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757306
2025-08-22T16:59:31.965Z,1755881971.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:31.967Z,1755881971.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:31.986Z,1755881971.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 88.466637 m,
      bearing: 47.794792 deg,
      approach rate: -0.550640 m/s,
      LOS rate: -0.002205 deg/s,
      cmd heading: 37.708867 deg,
      new cmd heading: 37.707274 deg.

2025-08-22T16:59:31.987Z,1755881971.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658116 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:32.171Z,1755881972.171 [DAT](INFO): DAT read: Rx Time:16:59:32.8186

2025-08-22T16:59:32.172Z,1755881972.172 [DAT](INFO): Rx dataTimestamp_ set to:1755881972.171444
2025-08-22T16:59:32.173Z,1755881972.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011398
2025-08-22T16:59:32.405Z,1755881972.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:32.412Z,1755881972.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 88.232590 m,
      bearing: 47.792593 deg,
      approach rate: -0.534500 m/s,
      LOS rate: -0.005035 deg/s,
      cmd heading: 37.707275 deg,
      new cmd heading: 37.702865 deg.

2025-08-22T16:59:32.413Z,1755881972.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658039 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:32.423Z,1755881972.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261444
2025-08-22T16:59:32.678Z,1755881972.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515707
2025-08-22T16:59:32.771Z,1755881972.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.32 m.
2025-08-22T16:59:32.776Z,1755881972.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.315109 m,
      nav range: 88.012268 m,
      bearing: 47.790527 deg,
      approach rate: -0.601283 m/s,
      LOS rate: -0.005651 deg/s,
      cmd heading: 37.702866 deg,
      new cmd heading: 37.698725 deg.

2025-08-22T16:59:32.778Z,1755881972.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657967 target range: 92.315109 and range: 92.90 m.
2025-08-22T16:59:32.933Z,1755881972.933 [DAT](INFO): DAT read: 16:59:32.8186 LVL= 25520, 32625, 31042, 32755, AGC= 69, IDX= 422,-0.04,-2.734, 1.670,-2.941,-3.104, PHS= 0.472,-1.464, 0.119, RAW= 140.1,   9.8, CAL= 139.6,  10.7, ROT=  10.4, -10.7

2025-08-22T16:59:32.934Z,1755881972.934 [DAT](INFO): got valid direction response:
 16:59:32.8186 LVL= 25520, 32625, 31042, 32755, AGC= 69, IDX= 422,-0.04,-2.734, 1.670,-2.941,-3.104, PHS= 0.472,-1.464, 0.119, RAW= 140.1,   9.8, CAL= 139.6,  10.7, ROT=  10.4, -10.7

2025-08-22T16:59:32.935Z,1755881972.935 [DAT](INFO): DAT read: Bearing 206.7,  12.0 (Local)

2025-08-22T16:59:32.935Z,1755881972.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.7,  12.0 (Local)

2025-08-22T16:59:32.936Z,1755881972.936 [DAT](INFO): DAT read: Range 11 to 50 : 90.9 m  (Round-trip  121.2 ms) speed  0.4 m/s

2025-08-22T16:59:32.937Z,1755881972.937 [DAT](INFO): DAT read: user:361>

2025-08-22T16:59:32.938Z,1755881972.938 [DAT](INFO): DAT read: Tx time:16:59:33.9432

2025-08-22T16:59:32.939Z,1755881972.939 [DAT](INFO): Ping request sent.
2025-08-22T16:59:32.939Z,1755881972.939 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:32.939Z,1755881972.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:32.940Z,1755881972.940 [DAT](INFO): direction in FSK: [0.966470,0.177380,0.185667]
2025-08-22T16:59:32.940Z,1755881972.940 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:32.940Z,1755881972.940 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:32.944Z,1755881972.944 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:32.944Z,1755881972.944 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:33.220Z,1755881973.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.900002 m,
      deltaT: 3.780422 s,
      deltaX: -2.000000 m,
      approachRate: -0.529041 m/s,
      rangeRepo size: 4

2025-08-22T16:59:33.227Z,1755881973.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.327171 m,
      bearing: 47.632571 deg,
      lat: 36.779439 deg,
      lon: -121.859634 deg,
      deltaT: 3.780422 s,
      deltaX: -1.987938 m,
      approachRate: -0.525851 m/s,
      posRepo size: 4

2025-08-22T16:59:33.227Z,1755881973.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:33.235Z,1755881973.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 87.865074 m,
      bearing: 47.726112 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005651 deg/s,
      cmd heading: 37.698724 deg,
      new cmd heading: 37.693656 deg.

2025-08-22T16:59:33.242Z,1755881973.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657878 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:33.615Z,1755881973.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:33.617Z,1755881973.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 87.627289 m,
      bearing: 47.723334 deg,
      approach rate: -0.602211 m/s,
      LOS rate: -0.007054 deg/s,
      cmd heading: 37.693656 deg,
      new cmd heading: 37.688085 deg.

2025-08-22T16:59:33.622Z,1755881973.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657781 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:33.984Z,1755881973.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:33.987Z,1755881973.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:33.990Z,1755881973.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 87.415138 m,
      bearing: 47.720909 deg,
      approach rate: -0.570043 m/s,
      LOS rate: -0.006532 deg/s,
      cmd heading: 37.688086 deg,
      new cmd heading: 37.683224 deg.

2025-08-22T16:59:33.991Z,1755881973.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657696 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:34.187Z,1755881974.187 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:34.187Z,1755881974.187 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:34.187Z,1755881974.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:34.425Z,1755881974.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:34.427Z,1755881974.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 87.170914 m,
      bearing: 47.718907 deg,
      approach rate: -0.557956 m/s,
      LOS rate: -0.004586 deg/s,
      cmd heading: 37.683223 deg,
      new cmd heading: 37.679208 deg.

2025-08-22T16:59:34.428Z,1755881974.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657626 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:34.455Z,1755881974.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515725
2025-08-22T16:59:34.707Z,1755881974.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767959
2025-08-22T16:59:34.900Z,1755881974.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:34.903Z,1755881974.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 86.905479 m,
      bearing: 47.716755 deg,
      approach rate: -0.557697 m/s,
      LOS rate: -0.004535 deg/s,
      cmd heading: 37.679206 deg,
      new cmd heading: 37.674890 deg.

2025-08-22T16:59:34.904Z,1755881974.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657551 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:34.959Z,1755881974.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019945
2025-08-22T16:59:35.211Z,1755881975.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271905
2025-08-22T16:59:35.364Z,1755881975.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:35.367Z,1755881975.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 86.646858 m,
      bearing: 47.714677 deg,
      approach rate: -0.557578 m/s,
      LOS rate: -0.004494 deg/s,
      cmd heading: 37.674890 deg,
      new cmd heading: 37.670721 deg.

2025-08-22T16:59:35.368Z,1755881975.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657478 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:35.463Z,1755881975.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523843
2025-08-22T16:59:35.715Z,1755881975.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776110
2025-08-22T16:59:35.851Z,1755881975.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:35.854Z,1755881975.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 86.375671 m,
      bearing: 47.709790 deg,
      approach rate: -0.557461 m/s,
      LOS rate: -0.010079 deg/s,
      cmd heading: 37.670720 deg,
      new cmd heading: 37.660914 deg.

2025-08-22T16:59:35.855Z,1755881975.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657307 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:35.967Z,1755881975.967 [DAT](INFO): DAT read: Rx Time:16:59:36.4656

2025-08-22T16:59:35.967Z,1755881975.967 [DAT](INFO): Rx dataTimestamp_ set to:1755881975.967012
2025-08-22T16:59:35.968Z,1755881975.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029092
2025-08-22T16:59:36.213Z,1755881976.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:36.215Z,1755881976.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.33 m.
2025-08-22T16:59:36.219Z,1755881976.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279876
2025-08-22T16:59:36.220Z,1755881976.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.327171 m,
      nav range: 86.170578 m,
      bearing: 47.706073 deg,
      approach rate: -0.562365 m/s,
      LOS rate: -0.010215 deg/s,
      cmd heading: 37.660915 deg,
      new cmd heading: 37.653464 deg.

2025-08-22T16:59:36.221Z,1755881976.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657177 target range: 90.327171 and range: 90.90 m.
2025-08-22T16:59:36.477Z,1755881976.477 [DAT](INFO): DAT read: 16:59:36.4656 LVL= 27536, 32337, 32754, 32755, AGC= 68, IDX= 408, 0.48,-1.202,-3.047,-1.403,-1.576, PHS= 0.476,-1.426, 0.129, RAW= 140.1,   9.4, CAL= 139.7,  10.3, ROT=  10.3, -10.3

2025-08-22T16:59:36.478Z,1755881976.478 [DAT](INFO): got valid direction response:
 16:59:36.4656 LVL= 27536, 32337, 32754, 32755, AGC= 68, IDX= 408, 0.48,-1.202,-3.047,-1.403,-1.576, PHS= 0.476,-1.426, 0.129, RAW= 140.1,   9.4, CAL= 139.7,  10.3, ROT=  10.3, -10.3

2025-08-22T16:59:36.479Z,1755881976.479 [DAT](INFO): DAT read: Bearing 206.1,  12.4 (Local)

2025-08-22T16:59:36.480Z,1755881976.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.1,  12.4 (Local)

2025-08-22T16:59:36.481Z,1755881976.481 [DAT](INFO): DAT read: Range 11 to 50 : 88.7 m  (Round-trip  118.3 ms) speed  0.6 m/s

2025-08-22T16:59:36.482Z,1755881976.482 [DAT](INFO): DAT read: user:362>

2025-08-22T16:59:36.483Z,1755881976.483 [DAT](INFO): DAT read: Tx time:16:59:37.5931

2025-08-22T16:59:36.483Z,1755881976.483 [DAT](INFO): Ping request sent.
2025-08-22T16:59:36.483Z,1755881976.483 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:36.483Z,1755881976.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:36.484Z,1755881976.484 [DAT](INFO): direction in FSK: [0.968030,0.175921,0.178802]
2025-08-22T16:59:36.485Z,1755881976.485 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:36.485Z,1755881976.485 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:36.488Z,1755881976.488 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:36.488Z,1755881976.488 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:36.702Z,1755881976.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.699997 m,
      deltaT: 3.544709 s,
      deltaX: -2.200005 m,
      approachRate: -0.620645 m/s,
      rangeRepo size: 4

2025-08-22T16:59:36.704Z,1755881976.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.142014 m,
      bearing: 47.494001 deg,
      lat: 36.779440 deg,
      lon: -121.859634 deg,
      deltaT: 3.544709 s,
      deltaX: -2.185158 m,
      approachRate: -0.616456 m/s,
      posRepo size: 4

2025-08-22T16:59:36.705Z,1755881976.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:36.712Z,1755881976.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 85.969666 m,
      bearing: 47.650372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010215 deg/s,
      cmd heading: 37.653463 deg,
      new cmd heading: 37.643533 deg.

2025-08-22T16:59:36.713Z,1755881976.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657004 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:37.033Z,1755881977.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:37.036Z,1755881977.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 85.778038 m,
      bearing: 47.647591 deg,
      approach rate: -0.578771 m/s,
      LOS rate: -0.008417 deg/s,
      cmd heading: 37.643532 deg,
      new cmd heading: 37.637959 deg.

2025-08-22T16:59:37.037Z,1755881977.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656906 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:37.449Z,1755881977.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:37.451Z,1755881977.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 85.536545 m,
      bearing: 47.643559 deg,
      approach rate: -0.580621 m/s,
      LOS rate: -0.009721 deg/s,
      cmd heading: 37.637959 deg,
      new cmd heading: 37.629873 deg.

2025-08-22T16:59:37.452Z,1755881977.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656765 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:37.828Z,1755881977.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:37.831Z,1755881977.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 85.322433 m,
      bearing: 47.639886 deg,
      approach rate: -0.563751 m/s,
      LOS rate: -0.009697 deg/s,
      cmd heading: 37.629872 deg,
      new cmd heading: 37.622506 deg.

2025-08-22T16:59:37.832Z,1755881977.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656637 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:38.232Z,1755881978.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:38.234Z,1755881978.234 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:38.234Z,1755881978.234 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:38.235Z,1755881978.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:38.238Z,1755881978.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:38.241Z,1755881978.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 85.094009 m,
      bearing: 47.635969 deg,
      approach rate: -0.558047 m/s,
      LOS rate: -0.009594 deg/s,
      cmd heading: 37.622506 deg,
      new cmd heading: 37.614651 deg.

2025-08-22T16:59:38.242Z,1755881978.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656500 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:38.487Z,1755881978.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003636
2025-08-22T16:59:38.739Z,1755881978.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255359
2025-08-22T16:59:38.752Z,1755881978.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:38.771Z,1755881978.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 84.815216 m,
      bearing: 47.629472 deg,
      approach rate: -0.541918 m/s,
      LOS rate: -0.012670 deg/s,
      cmd heading: 37.614651 deg,
      new cmd heading: 37.601614 deg.

2025-08-22T16:59:38.772Z,1755881978.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656272 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:38.991Z,1755881978.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508307
2025-08-22T16:59:39.243Z,1755881979.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759677
2025-08-22T16:59:39.258Z,1755881979.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:39.261Z,1755881979.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 84.520958 m,
      bearing: 47.622225 deg,
      approach rate: -0.581383 m/s,
      LOS rate: -0.014368 deg/s,
      cmd heading: 37.601615 deg,
      new cmd heading: 37.587071 deg.

2025-08-22T16:59:39.264Z,1755881979.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656018 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:39.495Z,1755881979.495 [DAT](INFO): DAT read: Rx Time:16:59:40.1129

2025-08-22T16:59:39.495Z,1755881979.495 [DAT](INFO): Rx dataTimestamp_ set to:1755881979.494698
2025-08-22T16:59:39.496Z,1755881979.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012388
2025-08-22T16:59:39.677Z,1755881979.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.14 m.
2025-08-22T16:59:39.680Z,1755881979.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.142014 m,
      nav range: 84.280334 m,
      bearing: 47.618611 deg,
      approach rate: -0.574599 m/s,
      LOS rate: -0.008655 deg/s,
      cmd heading: 37.587071 deg,
      new cmd heading: 37.579821 deg.

2025-08-22T16:59:39.681Z,1755881979.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655892 target range: 88.142014 and range: 88.70 m.
2025-08-22T16:59:39.747Z,1755881979.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263447
2025-08-22T16:59:40.015Z,1755881980.015 [DAT](INFO): DAT read: 16:59:40.1129 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413,-0.11,-1.972, 2.413,-2.148,-2.317, PHS= 0.447,-1.508, 0.125, RAW= 141.2,  10.3, CAL= 140.7,  11.2, ROT=   9.3, -11.2

2025-08-22T16:59:40.016Z,1755881980.016 [DAT](INFO): got valid direction response:
 16:59:40.1129 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413,-0.11,-1.972, 2.413,-2.148,-2.317, PHS= 0.447,-1.508, 0.125, RAW= 141.2,  10.3, CAL= 140.7,  11.2, ROT=   9.3, -11.2

2025-08-22T16:59:40.017Z,1755881980.017 [DAT](INFO): DAT read: Bearing 207.1,  11.7 (Local)

2025-08-22T16:59:40.017Z,1755881980.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.1,  11.7 (Local)

2025-08-22T16:59:40.019Z,1755881980.019 [DAT](INFO): DAT read: Range 11 to 50 : 86.7 m  (Round-trip  115.7 ms) speed  0.4 m/s

2025-08-22T16:59:40.019Z,1755881980.019 [DAT](INFO): DAT read: user:363>

2025-08-22T16:59:40.020Z,1755881980.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:40.021Z,1755881980.021 [DAT](INFO): direction in FSK: [0.968061,0.158526,0.194234]
2025-08-22T16:59:40.021Z,1755881980.021 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:40.048Z,1755881980.048 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:40.048Z,1755881980.048 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:40.048Z,1755881980.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:40.151Z,1755881980.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.699997 m,
      deltaT: 3.528866 s,
      deltaX: -2.000000 m,
      approachRate: -0.566754 m/s,
      rangeRepo size: 4

2025-08-22T16:59:40.158Z,1755881980.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.155136 m,
      bearing: 46.631370 deg,
      lat: 36.779442 deg,
      lon: -121.859635 deg,
      deltaT: 3.528866 s,
      deltaX: -1.986877 m,
      approachRate: -0.563036 m/s,
      posRepo size: 4

2025-08-22T16:59:40.159Z,1755881980.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:40.167Z,1755881980.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 84.105270 m,
      bearing: 47.467146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008655 deg/s,
      cmd heading: 37.579820 deg,
      new cmd heading: 37.571707 deg.

2025-08-22T16:59:40.169Z,1755881980.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655750 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:40.251Z,1755881980.251 [DAT](INFO): DAT read: Tx time:16:59:41.2431

2025-08-22T16:59:40.252Z,1755881980.252 [DAT](INFO): Ping request sent.
2025-08-22T16:59:40.252Z,1755881980.252 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:40.252Z,1755881980.252 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:40.253Z,1755881980.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001089
2025-08-22T16:59:40.503Z,1755881980.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250451
2025-08-22T16:59:40.555Z,1755881980.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:40.557Z,1755881980.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:40.572Z,1755881980.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 83.862259 m,
      bearing: 47.462701 deg,
      approach rate: -0.590848 m/s,
      LOS rate: -0.010838 deg/s,
      cmd heading: 37.571706 deg,
      new cmd heading: 37.562791 deg.

2025-08-22T16:59:40.573Z,1755881980.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655594 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:40.755Z,1755881980.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502350
2025-08-22T16:59:40.935Z,1755881980.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:40.945Z,1755881980.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 83.655823 m,
      bearing: 47.458864 deg,
      approach rate: -0.545899 m/s,
      LOS rate: -0.010172 deg/s,
      cmd heading: 37.562793 deg,
      new cmd heading: 37.555100 deg.

2025-08-22T16:59:40.946Z,1755881980.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655460 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:41.008Z,1755881981.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755745
2025-08-22T16:59:41.260Z,1755881981.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007705
2025-08-22T16:59:41.326Z,1755881981.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:41.329Z,1755881981.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 83.424568 m,
      bearing: 47.454370 deg,
      approach rate: -0.591214 m/s,
      LOS rate: -0.011520 deg/s,
      cmd heading: 37.555098 deg,
      new cmd heading: 37.546086 deg.

2025-08-22T16:59:41.330Z,1755881981.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655303 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:41.511Z,1755881981.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258355
2025-08-22T16:59:41.759Z,1755881981.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:41.764Z,1755881981.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511831
2025-08-22T16:59:41.768Z,1755881981.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 83.178230 m,
      bearing: 47.448642 deg,
      approach rate: -0.569621 m/s,
      LOS rate: -0.013286 deg/s,
      cmd heading: 37.546086 deg,
      new cmd heading: 37.534595 deg.

2025-08-22T16:59:41.770Z,1755881981.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655102 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:42.015Z,1755881982.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914
2025-08-22T16:59:42.142Z,1755881982.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:42.144Z,1755881982.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 82.958832 m,
      bearing: 47.443533 deg,
      approach rate: -0.573260 m/s,
      LOS rate: -0.013385 deg/s,
      cmd heading: 37.534594 deg,
      new cmd heading: 37.524349 deg.

2025-08-22T16:59:42.145Z,1755881982.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654923 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:42.267Z,1755881982.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014673
2025-08-22T16:59:42.519Z,1755881982.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266492
2025-08-22T16:59:42.570Z,1755881982.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:42.572Z,1755881982.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:42.575Z,1755881982.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 82.719040 m,
      bearing: 47.436565 deg,
      approach rate: -0.556523 m/s,
      LOS rate: -0.016217 deg/s,
      cmd heading: 37.524349 deg,
      new cmd heading: 37.510374 deg.

2025-08-22T16:59:42.576Z,1755881982.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654680 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:42.772Z,1755881982.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519460
2025-08-22T16:59:42.959Z,1755881982.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:42.961Z,1755881982.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 82.502785 m,
      bearing: 47.430247 deg,
      approach rate: -0.559798 m/s,
      LOS rate: -0.016399 deg/s,
      cmd heading: 37.510374 deg,
      new cmd heading: 37.497705 deg.

2025-08-22T16:59:42.962Z,1755881982.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654458 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:43.024Z,1755881983.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219
2025-08-22T16:59:43.275Z,1755881983.275 [DAT](INFO): DAT read: Rx Time:16:59:43.7602

2025-08-22T16:59:43.276Z,1755881983.276 [DAT](INFO): Rx dataTimestamp_ set to:1755881983.275713
2025-08-22T16:59:43.277Z,1755881983.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025015
2025-08-22T16:59:43.370Z,1755881983.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.16 m.
2025-08-22T16:59:43.373Z,1755881983.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.155136 m,
      nav range: 82.277954 m,
      bearing: 47.423595 deg,
      approach rate: -0.547172 m/s,
      LOS rate: -0.016233 deg/s,
      cmd heading: 37.497704 deg,
      new cmd heading: 37.484365 deg.

2025-08-22T16:59:43.383Z,1755881983.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654226 target range: 86.155136 and range: 86.70 m.
2025-08-22T16:59:43.526Z,1755881983.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274335
2025-08-22T16:59:43.787Z,1755881983.787 [DAT](INFO): DAT read: 16:59:43.7602 LVL= 29984, 32753, 32626, 32755, AGC= 71, IDX= 417, 0.00, 0.378,-1.511, 0.213, 0.019, PHS= 0.460,-1.486, 0.149, RAW= 141.4,   9.7, CAL= 141.0,  10.6, ROT=   9.0, -10.6

2025-08-22T16:59:43.789Z,1755881983.789 [DAT](INFO): got valid direction response:
 16:59:43.7602 LVL= 29984, 32753, 32626, 32755, AGC= 71, IDX= 417, 0.00, 0.378,-1.511, 0.213, 0.019, PHS= 0.460,-1.486, 0.149, RAW= 141.4,   9.7, CAL= 141.0,  10.6, ROT=   9.0, -10.6

2025-08-22T16:59:43.790Z,1755881983.790 [DAT](INFO): DAT read: Bearing 206.8,  11.6 (Local)

2025-08-22T16:59:43.790Z,1755881983.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.8,  11.6 (Local)

2025-08-22T16:59:43.791Z,1755881983.791 [DAT](INFO): DAT read: Range 11 to 50 : 84.6 m  (Round-trip  112.9 ms) speed  0.5 m/s

2025-08-22T16:59:43.792Z,1755881983.792 [DAT](INFO): DAT read: user:364>

2025-08-22T16:59:43.793Z,1755881983.793 [DAT](INFO): DAT read: Tx time:16:59:44.8931

2025-08-22T16:59:43.793Z,1755881983.793 [DAT](INFO): Ping request sent.
2025-08-22T16:59:43.793Z,1755881983.793 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:43.793Z,1755881983.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:43.794Z,1755881983.794 [DAT](INFO): direction in FSK: [0.970834,0.153765,0.183951]
2025-08-22T16:59:43.795Z,1755881983.795 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:43.795Z,1755881983.795 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:43.798Z,1755881983.798 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:43.798Z,1755881983.798 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:43.963Z,1755881983.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.599998 m,
      deltaT: 3.778524 s,
      deltaX: -2.099998 m,
      approachRate: -0.555772 m/s,
      rangeRepo size: 4

2025-08-22T16:59:43.970Z,1755881983.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.062523 m,
      bearing: 46.613884 deg,
      lat: 36.779442 deg,
      lon: -121.859635 deg,
      deltaT: 3.778524 s,
      deltaX: -2.092613 m,
      approachRate: -0.553818 m/s,
      posRepo size: 4

2025-08-22T16:59:43.970Z,1755881983.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:43.973Z,1755881983.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 81.972641 m,
      bearing: 47.398519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016233 deg/s,
      cmd heading: 37.484365 deg,
      new cmd heading: 37.465110 deg.

2025-08-22T16:59:43.978Z,1755881983.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653890 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:44.319Z,1755881984.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:44.322Z,1755881984.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 81.768219 m,
      bearing: 47.390832 deg,
      approach rate: -0.573945 m/s,
      LOS rate: -0.021638 deg/s,
      cmd heading: 37.465111 deg,
      new cmd heading: 37.449697 deg.

2025-08-22T16:59:44.323Z,1755881984.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653621 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:44.719Z,1755881984.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:44.721Z,1755881984.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:44.724Z,1755881984.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 81.535805 m,
      bearing: 47.381376 deg,
      approach rate: -0.577826 m/s,
      LOS rate: -0.023575 deg/s,
      cmd heading: 37.449698 deg,
      new cmd heading: 37.430734 deg.

2025-08-22T16:59:44.725Z,1755881984.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653290 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:44.786Z,1755881984.786 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:44.787Z,1755881984.787 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:44.787Z,1755881984.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:45.038Z,1755881985.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245470
2025-08-22T16:59:45.100Z,1755881985.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:45.102Z,1755881985.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 81.324097 m,
      bearing: 47.372724 deg,
      approach rate: -0.559518 m/s,
      LOS rate: -0.022928 deg/s,
      cmd heading: 37.430734 deg,
      new cmd heading: 37.413383 deg.

2025-08-22T16:59:45.103Z,1755881985.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652987 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:45.291Z,1755881985.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497878
2025-08-22T16:59:45.543Z,1755881985.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749634
2025-08-22T16:59:45.591Z,1755881985.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:45.594Z,1755881985.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 81.048294 m,
      bearing: 47.363359 deg,
      approach rate: -0.561380 m/s,
      LOS rate: -0.019126 deg/s,
      cmd heading: 37.413382 deg,
      new cmd heading: 37.394590 deg.

2025-08-22T16:59:45.595Z,1755881985.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652659 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:45.795Z,1755881985.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001573
2025-08-22T16:59:45.909Z,1755881985.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:45.912Z,1755881985.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 80.869766 m,
      bearing: 47.357230 deg,
      approach rate: -0.560729 m/s,
      LOS rate: -0.019292 deg/s,
      cmd heading: 37.394589 deg,
      new cmd heading: 37.382305 deg.

2025-08-22T16:59:45.913Z,1755881985.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652444 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:46.047Z,1755881986.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253498
2025-08-22T16:59:46.299Z,1755881986.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505648
2025-08-22T16:59:46.337Z,1755881986.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:46.340Z,1755881986.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 80.641731 m,
      bearing: 47.349319 deg,
      approach rate: -0.533365 m/s,
      LOS rate: -0.018556 deg/s,
      cmd heading: 37.382305 deg,
      new cmd heading: 37.366438 deg.

2025-08-22T16:59:46.340Z,1755881986.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652167 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:46.551Z,1755881986.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757982
2025-08-22T16:59:46.717Z,1755881986.717 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +117,  +555,
2025-08-22T16:59:46.735Z,1755881986.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:46.738Z,1755881986.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:46.740Z,1755881986.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 80.407135 m,
      bearing: 47.341194 deg,
      approach rate: -0.585444 m/s,
      LOS rate: -0.020336 deg/s,
      cmd heading: 37.366438 deg,
      new cmd heading: 37.350141 deg.

2025-08-22T16:59:46.741Z,1755881986.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651883 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:46.803Z,1755881986.803 [DAT](INFO): DAT read: Rx Time:16:59:47.4073

2025-08-22T16:59:46.803Z,1755881986.803 [DAT](INFO): Rx dataTimestamp_ set to:1755881986.802831
2025-08-22T16:59:46.804Z,1755881986.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010667
2025-08-22T16:59:47.055Z,1755881987.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261579
2025-08-22T16:59:47.137Z,1755881987.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.06 m.
2025-08-22T16:59:47.140Z,1755881987.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.062523 m,
      nav range: 80.190643 m,
      bearing: 47.333686 deg,
      approach rate: -0.541767 m/s,
      LOS rate: -0.018839 deg/s,
      cmd heading: 37.350142 deg,
      new cmd heading: 37.335086 deg.

2025-08-22T16:59:47.141Z,1755881987.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651620 target range: 84.062523 and range: 84.60 m.
2025-08-22T16:59:47.317Z,1755881987.317 [DAT](INFO): DAT read: 16:59:47.4073 LVL= 28656, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.45, 1.098,-0.756, 0.936, 0.774, PHS= 0.426,-1.485, 0.119, RAW= 141.4,  10.6, CAL= 140.9,  11.5, ROT=   9.1, -11.5

2025-08-22T16:59:47.330Z,1755881987.330 [DAT](INFO): got valid direction response:
 16:59:47.4073 LVL= 28656, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.45, 1.098,-0.756, 0.936, 0.774, PHS= 0.426,-1.485, 0.119, RAW= 141.4,  10.6, CAL= 140.9,  11.5, ROT=   9.1, -11.5

2025-08-22T16:59:47.333Z,1755881987.333 [DAT](INFO): DAT read: Bearing 207.5,  11.5 (Local)

2025-08-22T16:59:47.334Z,1755881987.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.5,  11.5 (Local)

2025-08-22T16:59:47.337Z,1755881987.337 [DAT](INFO): DAT read: Range 11 to 50 : 82.5 m  (Round-trip  110.0 ms) speed  0.4 m/s

2025-08-22T16:59:47.370Z,1755881987.370 [DAT](INFO): DAT read: user:365>

2025-08-22T16:59:47.371Z,1755881987.371 [DAT](INFO): DAT read: Tx time:16:59:48.5431

2025-08-22T16:59:47.371Z,1755881987.371 [DAT](INFO): Ping request sent.
2025-08-22T16:59:47.371Z,1755881987.371 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:47.371Z,1755881987.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:47.372Z,1755881987.372 [DAT](INFO): direction in FSK: [0.967591,0.154983,0.199368]
2025-08-22T16:59:47.372Z,1755881987.372 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:47.373Z,1755881987.373 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:47.395Z,1755881987.395 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:47.395Z,1755881987.395 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:47.650Z,1755881987.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.500000 m,
      deltaT: 3.529393 s,
      deltaX: -2.099998 m,
      approachRate: -0.595003 m/s,
      rangeRepo size: 4

2025-08-22T16:59:47.652Z,1755881987.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.975540 m,
      bearing: 46.704844 deg,
      lat: 36.779446 deg,
      lon: -121.859644 deg,
      deltaT: 3.529393 s,
      deltaX: -2.086983 m,
      approachRate: -0.591315 m/s,
      posRepo size: 4

2025-08-22T16:59:47.653Z,1755881987.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:47.659Z,1755881987.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 79.620026 m,
      bearing: 46.705127 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018839 deg/s,
      cmd heading: 37.335084 deg,
      new cmd heading: 37.315942 deg.

2025-08-22T16:59:47.660Z,1755881987.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651286 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:47.981Z,1755881987.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:47.984Z,1755881987.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 79.417488 m,
      bearing: 46.696599 deg,
      approach rate: -0.602715 m/s,
      LOS rate: -0.025442 deg/s,
      cmd heading: 37.315943 deg,
      new cmd heading: 37.298844 deg.

2025-08-22T16:59:47.985Z,1755881987.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650988 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:48.067Z,1755881988.067 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:59:48.383Z,1755881988.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:48.385Z,1755881988.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 79.190331 m,
      bearing: 46.687167 deg,
      approach rate: -0.565679 m/s,
      LOS rate: -0.023554 deg/s,
      cmd heading: 37.298843 deg,
      new cmd heading: 37.279926 deg.

2025-08-22T16:59:48.409Z,1755881988.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650657 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:48.824Z,1755881988.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:48.842Z,1755881988.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:48.847Z,1755881988.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 78.942734 m,
      bearing: 46.678526 deg,
      approach rate: -0.538761 m/s,
      LOS rate: -0.018862 deg/s,
      cmd heading: 37.279927 deg,
      new cmd heading: 37.262591 deg.

2025-08-22T16:59:48.848Z,1755881988.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650355 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:49.071Z,1755881989.071 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:49.071Z,1755881989.071 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:49.071Z,1755881989.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:49.074Z,1755881989.074 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:59:49.216Z,1755881989.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:49.219Z,1755881989.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 78.726349 m,
      bearing: 46.671170 deg,
      approach rate: -0.578676 m/s,
      LOS rate: -0.019727 deg/s,
      cmd heading: 37.262592 deg,
      new cmd heading: 37.247839 deg.

2025-08-22T16:59:49.220Z,1755881989.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650097 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:49.323Z,1755881989.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951616
2025-08-22T16:59:49.575Z,1755881989.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203567
2025-08-22T16:59:49.644Z,1755881989.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:49.647Z,1755881989.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 78.483955 m,
      bearing: 46.663266 deg,
      approach rate: -0.566089 m/s,
      LOS rate: -0.018516 deg/s,
      cmd heading: 37.247839 deg,
      new cmd heading: 37.231982 deg.

2025-08-22T16:59:49.648Z,1755881989.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649821 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:49.827Z,1755881989.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455695
2025-08-22T16:59:50.021Z,1755881990.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:50.024Z,1755881990.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 78.275841 m,
      bearing: 46.656795 deg,
      approach rate: -0.552976 m/s,
      LOS rate: -0.017239 deg/s,
      cmd heading: 37.231983 deg,
      new cmd heading: 37.219006 deg.

2025-08-22T16:59:50.024Z,1755881990.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649594 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:50.080Z,1755881990.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708544
2025-08-22T16:59:50.330Z,1755881990.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959475
2025-08-22T16:59:50.427Z,1755881990.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:50.434Z,1755881990.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 78.055389 m,
      bearing: 46.650147 deg,
      approach rate: -0.542675 m/s,
      LOS rate: -0.016412 deg/s,
      cmd heading: 37.219005 deg,
      new cmd heading: 37.205671 deg.

2025-08-22T16:59:50.435Z,1755881990.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649361 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:50.583Z,1755881990.583 [DAT](INFO): DAT read: Rx Time:16:59:51.0546

2025-08-22T16:59:50.583Z,1755881990.583 [DAT](INFO): Rx dataTimestamp_ set to:1755881990.582722
2025-08-22T16:59:50.584Z,1755881990.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212561
2025-08-22T16:59:50.835Z,1755881990.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463650
2025-08-22T16:59:50.845Z,1755881990.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:50.847Z,1755881990.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.98 m.
2025-08-22T16:59:50.850Z,1755881990.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.975540 m,
      nav range: 77.811485 m,
      bearing: 46.643440 deg,
      approach rate: -0.580851 m/s,
      LOS rate: -0.016021 deg/s,
      cmd heading: 37.205669 deg,
      new cmd heading: 37.192214 deg.

2025-08-22T16:59:50.851Z,1755881990.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649127 target range: 81.975540 and range: 82.50 m.
2025-08-22T16:59:51.095Z,1755881991.095 [DAT](INFO): DAT read: 16:59:51.0546 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408,-0.03, 0.874,-1.018, 0.682, 0.532, PHS= 0.444,-1.505, 0.106, RAW= 140.6,  10.6, CAL= 140.1,  11.5, ROT=   9.9, -11.5

2025-08-22T16:59:51.097Z,1755881991.097 [DAT](INFO): got valid direction response:
 16:59:51.0546 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408,-0.03, 0.874,-1.018, 0.682, 0.532, PHS= 0.444,-1.505, 0.106, RAW= 140.6,  10.6, CAL= 140.1,  11.5, ROT=   9.9, -11.5

2025-08-22T16:59:51.098Z,1755881991.098 [DAT](INFO): DAT read: Bearing 206.9,  12.1 (Local)

2025-08-22T16:59:51.098Z,1755881991.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.9,  12.1 (Local)

2025-08-22T16:59:51.100Z,1755881991.100 [DAT](INFO): DAT read: Range 11 to 50 : 80.5 m  (Round-trip  107.4 ms) speed  0.4 m/s

2025-08-22T16:59:51.100Z,1755881991.100 [DAT](INFO): DAT read: user:366>

2025-08-22T16:59:51.101Z,1755881991.101 [DAT](INFO): DAT read: Tx time:16:59:52.1431

2025-08-22T16:59:51.109Z,1755881991.109 [DAT](INFO): Ping request sent.
2025-08-22T16:59:51.110Z,1755881991.110 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:51.110Z,1755881991.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:51.111Z,1755881991.111 [DAT](INFO): direction in FSK: [0.965333,0.168478,0.199368]
2025-08-22T16:59:51.111Z,1755881991.111 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:51.111Z,1755881991.111 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:51.135Z,1755881991.135 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:51.135Z,1755881991.135 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:51.308Z,1755881991.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.500000 m,
      deltaT: 3.778534 s,
      deltaX: -2.000000 m,
      approachRate: -0.529306 m/s,
      rangeRepo size: 4

2025-08-22T16:59:51.314Z,1755881991.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.988091 m,
      bearing: 46.658627 deg,
      lat: 36.779447 deg,
      lon: -121.859644 deg,
      deltaT: 3.778534 s,
      deltaX: -1.987450 m,
      approachRate: -0.525984 m/s,
      posRepo size: 4

2025-08-22T16:59:51.315Z,1755881991.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:51.317Z,1755881991.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 77.642830 m,
      bearing: 46.576691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016021 deg/s,
      cmd heading: 37.192214 deg,
      new cmd heading: 37.177465 deg.

2025-08-22T16:59:51.322Z,1755881991.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648869 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:51.676Z,1755881991.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:51.679Z,1755881991.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 77.422066 m,
      bearing: 46.570274 deg,
      approach rate: -0.598463 m/s,
      LOS rate: -0.017446 deg/s,
      cmd heading: 37.177464 deg,
      new cmd heading: 37.164593 deg.

2025-08-22T16:59:51.680Z,1755881991.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648645 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:52.056Z,1755881992.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:52.059Z,1755881992.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 77.208488 m,
      bearing: 46.564260 deg,
      approach rate: -0.561695 m/s,
      LOS rate: -0.015860 deg/s,
      cmd heading: 37.164593 deg,
      new cmd heading: 37.152531 deg.

2025-08-22T16:59:52.060Z,1755881992.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648434 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:52.471Z,1755881992.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:52.474Z,1755881992.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 76.976318 m,
      bearing: 46.557859 deg,
      approach rate: -0.559387 m/s,
      LOS rate: -0.015467 deg/s,
      cmd heading: 37.152531 deg,
      new cmd heading: 37.139692 deg.

2025-08-22T16:59:52.475Z,1755881992.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648210 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:52.884Z,1755881992.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:52.886Z,1755881992.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:52.889Z,1755881992.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 76.736938 m,
      bearing: 46.551468 deg,
      approach rate: -0.576738 m/s,
      LOS rate: -0.015446 deg/s,
      cmd heading: 37.139693 deg,
      new cmd heading: 37.126871 deg.

2025-08-22T16:59:52.890Z,1755881992.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647986 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:53.103Z,1755881993.103 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:53.103Z,1755881993.103 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:53.103Z,1755881993.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:53.284Z,1755881993.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:53.287Z,1755881993.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 76.512108 m,
      bearing: 46.545401 deg,
      approach rate: -0.565383 m/s,
      LOS rate: -0.015302 deg/s,
      cmd heading: 37.126873 deg,
      new cmd heading: 37.114703 deg.

2025-08-22T16:59:53.288Z,1755881993.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647774 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:53.355Z,1755881993.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253153
2025-08-22T16:59:53.610Z,1755881993.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507763
2025-08-22T16:59:53.821Z,1755881993.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:53.840Z,1755881993.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 76.206589 m,
      bearing: 46.535989 deg,
      approach rate: -0.568987 m/s,
      LOS rate: -0.017600 deg/s,
      cmd heading: 37.114702 deg,
      new cmd heading: 37.095801 deg.

2025-08-22T16:59:53.841Z,1755881993.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647444 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:53.859Z,1755881993.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757277
2025-08-22T16:59:54.111Z,1755881994.111 [DAT](INFO): DAT read: Rx Time:16:59:54.6519

2025-08-22T16:59:54.112Z,1755881994.112 [DAT](INFO): Rx dataTimestamp_ set to:1755881994.111516
2025-08-22T16:59:54.112Z,1755881994.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010985
2025-08-22T16:59:54.262Z,1755881994.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.99 m.
2025-08-22T16:59:54.266Z,1755881994.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.988091 m,
      nav range: 75.961403 m,
      bearing: 46.528574 deg,
      approach rate: -0.558070 m/s,
      LOS rate: -0.016932 deg/s,
      cmd heading: 37.095802 deg,
      new cmd heading: 37.080924 deg.

2025-08-22T16:59:54.267Z,1755881994.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647184 target range: 79.988091 and range: 80.50 m.
2025-08-22T16:59:54.363Z,1755881994.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261121
2025-08-22T16:59:54.623Z,1755881994.623 [DAT](INFO): DAT read: 16:59:54.6519 LVL= 30768, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.15,-2.709, 1.650,-2.908,-3.078, PHS= 0.471,-1.510, 0.126, RAW= 140.6,  10.0, CAL= 140.1,  10.9, ROT=   9.9, -10.9

2025-08-22T16:59:54.624Z,1755881994.624 [DAT](INFO): got valid direction response:
 16:59:54.6519 LVL= 30768, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.15,-2.709, 1.650,-2.908,-3.078, PHS= 0.471,-1.510, 0.126, RAW= 140.6,  10.0, CAL= 140.1,  10.9, ROT=   9.9, -10.9

2025-08-22T16:59:54.625Z,1755881994.625 [DAT](INFO): DAT read: Bearing 205.5,  12.1 (Local)

2025-08-22T16:59:54.625Z,1755881994.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,  12.1 (Local)

2025-08-22T16:59:54.627Z,1755881994.627 [DAT](INFO): DAT read: Range 11 to 50 : 78.4 m  (Round-trip  104.6 ms) speed  0.5 m/s

2025-08-22T16:59:54.627Z,1755881994.627 [DAT](INFO): DAT read: user:367>

2025-08-22T16:59:54.628Z,1755881994.628 [DAT](INFO): DAT read: Tx time:16:59:55.7431

2025-08-22T16:59:54.628Z,1755881994.628 [DAT](INFO): Ping request sent.
2025-08-22T16:59:54.628Z,1755881994.628 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:54.629Z,1755881994.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:54.632Z,1755881994.632 [DAT](INFO): direction in FSK: [0.967337,0.168827,0.189095]
2025-08-22T16:59:54.634Z,1755881994.634 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:54.635Z,1755881994.635 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:54.644Z,1755881994.644 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:54.644Z,1755881994.644 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:54.899Z,1755881994.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.400002 m,
      deltaT: 3.529254 s,
      deltaX: -2.099998 m,
      approachRate: -0.595026 m/s,
      rangeRepo size: 4

2025-08-22T16:59:54.906Z,1755881994.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.901245 m,
      bearing: 46.163367 deg,
      lat: 36.779448 deg,
      lon: -121.859644 deg,
      deltaT: 3.529254 s,
      deltaX: -2.086845 m,
      approachRate: -0.591299 m/s,
      posRepo size: 4

2025-08-22T16:59:54.906Z,1755881994.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:54.909Z,1755881994.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 75.682121 m,
      bearing: 46.472604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016932 deg/s,
      cmd heading: 37.080923 deg,
      new cmd heading: 37.059304 deg.

2025-08-22T16:59:54.914Z,1755881994.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646807 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:55.234Z,1755881995.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:55.239Z,1755881995.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:55.244Z,1755881995.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 75.478035 m,
      bearing: 46.462893 deg,
      approach rate: -0.600787 m/s,
      LOS rate: -0.028663 deg/s,
      cmd heading: 37.059305 deg,
      new cmd heading: 37.039832 deg.

2025-08-22T16:59:55.245Z,1755881995.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646467 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:55.370Z,1755881995.370 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:55.371Z,1755881995.371 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:55.371Z,1755881995.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:55.625Z,1755881995.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996164
2025-08-22T16:59:55.721Z,1755881995.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:55.725Z,1755881995.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 75.212357 m,
      bearing: 46.458049 deg,
      approach rate: -0.551034 m/s,
      LOS rate: -0.010084 deg/s,
      cmd heading: 37.039832 deg,
      new cmd heading: 37.030109 deg.

2025-08-22T16:59:55.736Z,1755881995.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646297 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:55.875Z,1755881995.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246313
2025-08-22T16:59:56.060Z,1755881996.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:56.063Z,1755881996.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 75.019806 m,
      bearing: 46.454516 deg,
      approach rate: -0.566901 m/s,
      LOS rate: -0.010428 deg/s,
      cmd heading: 37.030110 deg,
      new cmd heading: 37.023026 deg.

2025-08-22T16:59:56.064Z,1755881996.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646174 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:56.127Z,1755881996.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498481
2025-08-22T16:59:56.379Z,1755881996.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750833
2025-08-22T16:59:56.447Z,1755881996.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:56.450Z,1755881996.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 74.793442 m,
      bearing: 46.450098 deg,
      approach rate: -0.585683 m/s,
      LOS rate: -0.011464 deg/s,
      cmd heading: 37.023027 deg,
      new cmd heading: 37.014165 deg.

2025-08-22T16:59:56.451Z,1755881996.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646019 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:56.633Z,1755881996.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004425
2025-08-22T16:59:56.867Z,1755881996.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:56.869Z,1755881996.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 74.563202 m,
      bearing: 46.444916 deg,
      approach rate: -0.548292 m/s,
      LOS rate: -0.012379 deg/s,
      cmd heading: 37.014165 deg,
      new cmd heading: 37.003768 deg.

2025-08-22T16:59:56.870Z,1755881996.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645838 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:56.896Z,1755881996.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267908
2025-08-22T16:59:57.146Z,1755881997.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518154
2025-08-22T16:59:57.271Z,1755881997.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:57.274Z,1755881997.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:57.276Z,1755881997.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 74.340294 m,
      bearing: 46.439988 deg,
      approach rate: -0.547993 m/s,
      LOS rate: -0.012151 deg/s,
      cmd heading: 37.003769 deg,
      new cmd heading: 36.993883 deg.

2025-08-22T16:59:57.277Z,1755881997.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645665 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:57.399Z,1755881997.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770385
2025-08-22T16:59:57.653Z,1755881997.653 [DAT](INFO): DAT read: Rx Time:16:59:58.2491

2025-08-22T16:59:57.655Z,1755881997.655 [DAT](INFO): Rx dataTimestamp_ set to:1755881997.653659
2025-08-22T16:59:57.656Z,1755881997.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027665
2025-08-22T16:59:57.773Z,1755881997.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T16:59:57.776Z,1755881997.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.901245 m,
      nav range: 74.064758 m,
      bearing: 46.434256 deg,
      approach rate: -0.551814 m/s,
      LOS rate: -0.011522 deg/s,
      cmd heading: 36.993882 deg,
      new cmd heading: 36.982376 deg.

2025-08-22T16:59:57.777Z,1755881997.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645464 target range: 77.901245 and range: 78.40 m.
2025-08-22T16:59:57.903Z,1755881997.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274777
2025-08-22T16:59:58.165Z,1755881998.165 [DAT](INFO): DAT read: 16:59:58.2491 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.33, 2.744, 0.863, 2.525, 2.393, PHS= 0.453,-1.484, 0.088, RAW= 139.8,  10.6, CAL= 139.3,  11.5, ROT=  10.7, -11.5

2025-08-22T16:59:58.167Z,1755881998.167 [DAT](INFO): got valid direction response:
 16:59:58.2491 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.33, 2.744, 0.863, 2.525, 2.393, PHS= 0.453,-1.484, 0.088, RAW= 139.8,  10.6, CAL= 139.3,  11.5, ROT=  10.7, -11.5

2025-08-22T16:59:58.168Z,1755881998.168 [DAT](INFO): DAT read: Bearing 206.1,  12.3 (Local)

2025-08-22T16:59:58.169Z,1755881998.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.1,  12.3 (Local)

2025-08-22T16:59:58.171Z,1755881998.171 [DAT](INFO): DAT read: Range 11 to 50 : 76.4 m  (Round-trip  101.9 ms) speed  0.4 m/s

2025-08-22T16:59:58.172Z,1755881998.172 [DAT](INFO): DAT read: user:368>

2025-08-22T16:59:58.173Z,1755881998.173 [DAT](INFO): DAT read: Tx time:16:59:59.3430

2025-08-22T16:59:58.173Z,1755881998.173 [DAT](INFO): Ping request sent.
2025-08-22T16:59:58.178Z,1755881998.178 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:59:58.178Z,1755881998.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:59:58.180Z,1755881998.180 [DAT](INFO): direction in FSK: [0.962887,0.181939,0.199368]
2025-08-22T16:59:58.180Z,1755881998.180 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:58.180Z,1755881998.180 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:58.196Z,1755881998.196 [DAT](INFO): publishing transmit ping time
2025-08-22T16:59:58.196Z,1755881998.196 [DAT](INFO): publishing direction and range info
2025-08-22T16:59:58.267Z,1755881998.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.400002 m,
      deltaT: 3.540073 s,
      deltaX: -2.000000 m,
      approachRate: -0.564960 m/s,
      rangeRepo size: 4

2025-08-22T16:59:58.269Z,1755881998.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.913895 m,
      bearing: 46.805383 deg,
      lat: 36.779447 deg,
      lon: -121.859644 deg,
      deltaT: 3.540073 s,
      deltaX: -1.987350 m,
      approachRate: -0.561387 m/s,
      posRepo size: 4

2025-08-22T16:59:58.274Z,1755881998.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T16:59:58.276Z,1755881998.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 73.772804 m,
      bearing: 46.470957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011522 deg/s,
      cmd heading: 36.982377 deg,
      new cmd heading: 36.971001 deg.

2025-08-22T16:59:58.290Z,1755881998.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645266 target range: 75.913895 and range: 76.40 m.
2025-08-22T16:59:58.680Z,1755881998.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T16:59:58.687Z,1755881998.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 73.542824 m,
      bearing: 46.466562 deg,
      approach rate: -0.555600 m/s,
      LOS rate: -0.010651 deg/s,
      cmd heading: 36.971001 deg,
      new cmd heading: 36.962183 deg.

2025-08-22T16:59:58.688Z,1755881998.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645112 target range: 75.913895 and range: 76.40 m.
2025-08-22T16:59:59.051Z,1755881999.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T16:59:59.058Z,1755881999.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 73.326195 m,
      bearing: 46.465685 deg,
      approach rate: -0.584481 m/s,
      LOS rate: -0.002373 deg/s,
      cmd heading: 36.962183 deg,
      new cmd heading: 36.960424 deg.

2025-08-22T16:59:59.059Z,1755881999.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645081 target range: 75.913895 and range: 76.40 m.
2025-08-22T16:59:59.429Z,1755881999.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:59:59.431Z,1755881999.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T16:59:59.434Z,1755881999.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 73.114754 m,
      bearing: 46.464824 deg,
      approach rate: -0.556507 m/s,
      LOS rate: -0.002272 deg/s,
      cmd heading: 36.960425 deg,
      new cmd heading: 36.958698 deg.

2025-08-22T16:59:59.435Z,1755881999.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645051 target range: 75.913895 and range: 76.40 m.
2025-08-22T16:59:59.669Z,1755881999.669 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:59:59.669Z,1755881999.669 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:59:59.671Z,1755881999.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:59:59.854Z,1755881999.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T16:59:59.856Z,1755881999.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 72.885780 m,
      bearing: 46.462366 deg,
      approach rate: -0.541599 m/s,
      LOS rate: -0.005832 deg/s,
      cmd heading: 36.958697 deg,
      new cmd heading: 36.953766 deg.

2025-08-22T16:59:59.858Z,1755881999.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644965 target range: 75.913895 and range: 76.40 m.
2025-08-22T16:59:59.920Z,1755881999.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746203
2025-08-22T17:00:00.171Z,1755882000.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997673
2025-08-22T17:00:00.262Z,1755882000.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T17:00:00.265Z,1755882000.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 72.671715 m,
      bearing: 46.460055 deg,
      approach rate: -0.523732 m/s,
      LOS rate: -0.005673 deg/s,
      cmd heading: 36.953765 deg,
      new cmd heading: 36.949128 deg.

2025-08-22T17:00:00.266Z,1755882000.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644884 target range: 75.913895 and range: 76.40 m.
2025-08-22T17:00:00.424Z,1755882000.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250975
2025-08-22T17:00:00.678Z,1755882000.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503731
2025-08-22T17:00:00.722Z,1755882000.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T17:00:00.732Z,1755882000.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 72.442604 m,
      bearing: 46.458128 deg,
      approach rate: -0.503419 m/s,
      LOS rate: -0.004246 deg/s,
      cmd heading: 36.949128 deg,
      new cmd heading: 36.945262 deg.

2025-08-22T17:00:00.744Z,1755882000.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644816 target range: 75.913895 and range: 76.40 m.
2025-08-22T17:00:00.927Z,1755882000.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753412
2025-08-22T17:00:01.126Z,1755882001.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T17:00:01.128Z,1755882001.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 72.201469 m,
      bearing: 46.456034 deg,
      approach rate: -0.596930 m/s,
      LOS rate: -0.005202 deg/s,
      cmd heading: 36.945262 deg,
      new cmd heading: 36.941059 deg.

2025-08-22T17:00:01.129Z,1755882001.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644743 target range: 75.913895 and range: 76.40 m.
2025-08-22T17:00:01.180Z,1755882001.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006302
2025-08-22T17:00:01.431Z,1755882001.431 [DAT](INFO): DAT read: Rx Time:17:00:01.8465

2025-08-22T17:00:01.431Z,1755882001.431 [DAT](INFO): Rx dataTimestamp_ set to:1755882001.430769
2025-08-22T17:00:01.432Z,1755882001.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258370
2025-08-22T17:00:01.529Z,1755882001.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:01.535Z,1755882001.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T17:00:01.542Z,1755882001.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 71.972420 m,
      bearing: 46.454117 deg,
      approach rate: -0.553952 m/s,
      LOS rate: -0.004650 deg/s,
      cmd heading: 36.941058 deg,
      new cmd heading: 36.937212 deg.

2025-08-22T17:00:01.543Z,1755882001.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644676 target range: 75.913895 and range: 76.40 m.
2025-08-22T17:00:01.686Z,1755882001.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511598
2025-08-22T17:00:01.917Z,1755882001.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.91 m.
2025-08-22T17:00:01.924Z,1755882001.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.913895 m,
      nav range: 71.762543 m,
      bearing: 46.450587 deg,
      approach rate: -0.549616 m/s,
      LOS rate: -0.009272 deg/s,
      cmd heading: 36.937212 deg,
      new cmd heading: 36.930131 deg.

2025-08-22T17:00:01.925Z,1755882001.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644552 target range: 75.913895 and range: 76.40 m.
2025-08-22T17:00:01.940Z,1755882001.940 [DAT](INFO): DAT read: 17:00:01.8465 LVL= 28096, 32753, 31042, 32755, AGC= 67, IDX= 422, 0.04, 0.521,-1.368, 0.296, 0.153, PHS= 0.470,-1.476, 0.099, RAW= 139.6,  10.2, CAL= 139.2,  11.1, ROT=  10.8, -11.1

2025-08-22T17:00:01.941Z,1755882001.941 [DAT](INFO): got valid direction response:
 17:00:01.8465 LVL= 28096, 32753, 31042, 32755, AGC= 67, IDX= 422, 0.04, 0.521,-1.368, 0.296, 0.153, PHS= 0.470,-1.476, 0.099, RAW= 139.6,  10.2, CAL= 139.2,  11.1, ROT=  10.8, -11.1

2025-08-22T17:00:01.942Z,1755882001.942 [DAT](INFO): DAT read: Bearing 205.4,  11.9 (Local)

2025-08-22T17:00:01.943Z,1755882001.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.4,  11.9 (Local)

2025-08-22T17:00:01.944Z,1755882001.944 [DAT](INFO): DAT read: Range 11 to 50 : 74.5 m  (Round-trip  99.4 ms) speed  0.4 m/s

2025-08-22T17:00:01.945Z,1755882001.945 [DAT](INFO): DAT read: user:369>

2025-08-22T17:00:01.946Z,1755882001.946 [DAT](INFO): DAT read: Tx time:17:00:02.9430

2025-08-22T17:00:01.946Z,1755882001.946 [DAT](INFO): Ping request sent.
2025-08-22T17:00:01.946Z,1755882001.946 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:01.947Z,1755882001.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:01.947Z,1755882001.947 [DAT](INFO): direction in FSK: [0.963911,0.183876,0.192522]
2025-08-22T17:00:01.948Z,1755882001.948 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:01.948Z,1755882001.948 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:01.951Z,1755882001.951 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:01.951Z,1755882001.951 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:02.311Z,1755882002.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.500000 m,
      deltaT: 3.778389 s,
      deltaX: -1.900002 m,
      approachRate: -0.502860 m/s,
      rangeRepo size: 4

2025-08-22T17:00:02.314Z,1755882002.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.026466 m,
      bearing: 46.551832 deg,
      lat: 36.779447 deg,
      lon: -121.859642 deg,
      deltaT: 3.778389 s,
      deltaX: -1.887428 m,
      approachRate: -0.499533 m/s,
      posRepo size: 4

2025-08-22T17:00:02.314Z,1755882002.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:02.317Z,1755882002.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 71.651802 m,
      bearing: 46.535515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009272 deg/s,
      cmd heading: 36.930133 deg,
      new cmd heading: 36.922830 deg.

2025-08-22T17:00:02.318Z,1755882002.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644425 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:02.768Z,1755882002.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:02.771Z,1755882002.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 71.404190 m,
      bearing: 46.531676 deg,
      approach rate: -0.541376 m/s,
      LOS rate: -0.008424 deg/s,
      cmd heading: 36.922831 deg,
      new cmd heading: 36.915126 deg.

2025-08-22T17:00:02.772Z,1755882002.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644291 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:03.138Z,1755882003.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:03.140Z,1755882003.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 71.186615 m,
      bearing: 46.527461 deg,
      approach rate: -0.588921 m/s,
      LOS rate: -0.011442 deg/s,
      cmd heading: 36.915127 deg,
      new cmd heading: 36.906672 deg.

2025-08-22T17:00:03.142Z,1755882003.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644143 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:03.499Z,1755882003.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:03.502Z,1755882003.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 70.981094 m,
      bearing: 46.523685 deg,
      approach rate: -0.568343 m/s,
      LOS rate: -0.010472 deg/s,
      cmd heading: 36.906671 deg,
      new cmd heading: 36.899097 deg.

2025-08-22T17:00:03.503Z,1755882003.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644011 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:03.923Z,1755882003.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:03.925Z,1755882003.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:03.927Z,1755882003.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 70.744164 m,
      bearing: 46.520999 deg,
      approach rate: -0.556763 m/s,
      LOS rate: -0.006333 deg/s,
      cmd heading: 36.899096 deg,
      new cmd heading: 36.893706 deg.

2025-08-22T17:00:03.928Z,1755882003.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643917 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:03.950Z,1755882003.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:03.950Z,1755882003.950 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:03.951Z,1755882003.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:04.203Z,1755882004.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256591
2025-08-22T17:00:04.314Z,1755882004.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:04.317Z,1755882004.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 70.526741 m,
      bearing: 46.518631 deg,
      approach rate: -0.558375 m/s,
      LOS rate: -0.006102 deg/s,
      cmd heading: 36.893707 deg,
      new cmd heading: 36.888955 deg.

2025-08-22T17:00:04.318Z,1755882004.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643834 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:04.455Z,1755882004.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508318
2025-08-22T17:00:04.709Z,1755882004.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761994
2025-08-22T17:00:04.784Z,1755882004.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:04.792Z,1755882004.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 70.269226 m,
      bearing: 46.515814 deg,
      approach rate: -0.547947 m/s,
      LOS rate: -0.006016 deg/s,
      cmd heading: 36.888957 deg,
      new cmd heading: 36.883302 deg.

2025-08-22T17:00:04.793Z,1755882004.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643735 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:04.958Z,1755882004.958 [DAT](INFO): DAT read: Rx Time:17:00:05.4439

2025-08-22T17:00:04.959Z,1755882004.959 [DAT](INFO): Rx dataTimestamp_ set to:1755882004.958657
2025-08-22T17:00:04.959Z,1755882004.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013184
2025-08-22T17:00:05.162Z,1755882005.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m.
2025-08-22T17:00:05.166Z,1755882005.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.026466 m,
      nav range: 70.055138 m,
      bearing: 46.516554 deg,
      approach rate: -0.567104 m/s,
      LOS rate: 0.001968 deg/s,
      cmd heading: 36.883302 deg,
      new cmd heading: 36.884787 deg.

2025-08-22T17:00:05.168Z,1755882005.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643761 target range: 74.026466 and range: 74.50 m.
2025-08-22T17:00:05.212Z,1755882005.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266093
2025-08-22T17:00:05.468Z,1755882005.468 [DAT](INFO): DAT read: 17:00:05.4439 LVL= 30576, 32753, 30146, 32755, AGC= 66, IDX= 411,-0.27,-0.081,-1.952,-0.345,-0.457, PHS= 0.478,-1.450, 0.068, RAW= 138.3,  10.3, CAL= 137.9,  11.3, ROT=  12.1, -11.3

2025-08-22T17:00:05.469Z,1755882005.469 [DAT](INFO): got valid direction response:
 17:00:05.4439 LVL= 30576, 32753, 30146, 32755, AGC= 66, IDX= 411,-0.27,-0.081,-1.952,-0.345,-0.457, PHS= 0.478,-1.450, 0.068, RAW= 138.3,  10.3, CAL= 137.9,  11.3, ROT=  12.1, -11.3

2025-08-22T17:00:05.470Z,1755882005.470 [DAT](INFO): DAT read: Bearing 205.6,  12.7 (Local)

2025-08-22T17:00:05.470Z,1755882005.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.6,  12.7 (Local)

2025-08-22T17:00:05.472Z,1755882005.472 [DAT](INFO): DAT read: Range 11 to 50 : 72.5 m  (Round-trip  96.7 ms) speed  0.4 m/s

2025-08-22T17:00:05.472Z,1755882005.472 [DAT](INFO): DAT read: user:370>

2025-08-22T17:00:05.473Z,1755882005.473 [DAT](INFO): DAT read: Tx time:17:00:06.5430

2025-08-22T17:00:05.474Z,1755882005.474 [DAT](INFO): Ping request sent.
2025-08-22T17:00:05.474Z,1755882005.474 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:05.474Z,1755882005.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:05.475Z,1755882005.475 [DAT](INFO): direction in FSK: [0.958829,0.205555,0.195946]
2025-08-22T17:00:05.475Z,1755882005.475 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:05.475Z,1755882005.475 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:05.479Z,1755882005.479 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:05.479Z,1755882005.479 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:05.584Z,1755882005.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.500000 m,
      deltaT: 3.527825 s,
      deltaX: -2.000000 m,
      approachRate: -0.566922 m/s,
      rangeRepo size: 4

2025-08-22T17:00:05.590Z,1755882005.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.038559 m,
      bearing: 47.639683 deg,
      lat: 36.779447 deg,
      lon: -121.859639 deg,
      deltaT: 3.527825 s,
      deltaX: -1.987907 m,
      approachRate: -0.563494 m/s,
      posRepo size: 4

2025-08-22T17:00:05.591Z,1755882005.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:05.597Z,1755882005.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 70.007812 m,
      bearing: 46.662458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001968 deg/s,
      cmd heading: 36.884787 deg,
      new cmd heading: 36.886447 deg.

2025-08-22T17:00:05.599Z,1755882005.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643790 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:05.958Z,1755882005.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:05.960Z,1755882005.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:05.963Z,1755882005.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 69.797867 m,
      bearing: 46.660287 deg,
      approach rate: -0.556692 m/s,
      LOS rate: -0.005774 deg/s,
      cmd heading: 36.886447 deg,
      new cmd heading: 36.882092 deg.

2025-08-22T17:00:05.964Z,1755882005.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643714 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:05.970Z,1755882005.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:05.971Z,1755882005.971 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:05.971Z,1755882005.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:06.223Z,1755882006.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749736
2025-08-22T17:00:06.338Z,1755882006.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:06.341Z,1755882006.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 69.595856 m,
      bearing: 46.658221 deg,
      approach rate: -0.534258 m/s,
      LOS rate: -0.005479 deg/s,
      cmd heading: 36.882093 deg,
      new cmd heading: 36.877949 deg.

2025-08-22T17:00:06.342Z,1755882006.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643642 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:06.475Z,1755882006.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001133
2025-08-22T17:00:06.727Z,1755882006.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253331
2025-08-22T17:00:06.823Z,1755882006.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:06.830Z,1755882006.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 69.341110 m,
      bearing: 46.655770 deg,
      approach rate: -0.526211 m/s,
      LOS rate: -0.005081 deg/s,
      cmd heading: 36.877950 deg,
      new cmd heading: 36.873031 deg.

2025-08-22T17:00:06.831Z,1755882006.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643556 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:06.979Z,1755882006.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504845
2025-08-22T17:00:07.195Z,1755882007.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:07.202Z,1755882007.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 69.157654 m,
      bearing: 46.657199 deg,
      approach rate: -0.492937 m/s,
      LOS rate: 0.003850 deg/s,
      cmd heading: 36.873029 deg,
      new cmd heading: 36.875894 deg.

2025-08-22T17:00:07.203Z,1755882007.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643606 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:07.232Z,1755882007.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758491
2025-08-22T17:00:07.484Z,1755882007.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009715
2025-08-22T17:00:07.564Z,1755882007.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:07.571Z,1755882007.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 68.953789 m,
      bearing: 46.658809 deg,
      approach rate: -0.551726 m/s,
      LOS rate: 0.004369 deg/s,
      cmd heading: 36.875894 deg,
      new cmd heading: 36.879123 deg.

2025-08-22T17:00:07.572Z,1755882007.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643662 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:07.736Z,1755882007.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261657
2025-08-22T17:00:07.968Z,1755882007.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:07.970Z,1755882007.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:07.973Z,1755882007.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 68.726753 m,
      bearing: 46.663670 deg,
      approach rate: -0.559979 m/s,
      LOS rate: 0.012028 deg/s,
      cmd heading: 36.879121 deg,
      new cmd heading: 36.888875 deg.

2025-08-22T17:00:07.974Z,1755882007.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643832 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:07.986Z,1755882007.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512709
2025-08-22T17:00:08.240Z,1755882008.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766438
2025-08-22T17:00:08.358Z,1755882008.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:08.361Z,1755882008.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 68.517174 m,
      bearing: 46.668109 deg,
      approach rate: -0.539573 m/s,
      LOS rate: 0.011463 deg/s,
      cmd heading: 36.888875 deg,
      new cmd heading: 36.897780 deg.

2025-08-22T17:00:08.362Z,1755882008.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643988 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:08.490Z,1755882008.490 [DAT](INFO): DAT read: Rx Time:17:00:09.0412

2025-08-22T17:00:08.491Z,1755882008.491 [DAT](INFO): Rx dataTimestamp_ set to:1755882008.490678
2025-08-22T17:00:08.492Z,1755882008.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017824
2025-08-22T17:00:08.743Z,1755882008.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269072
2025-08-22T17:00:08.848Z,1755882008.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.04 m.
2025-08-22T17:00:08.859Z,1755882008.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.038559 m,
      nav range: 68.258484 m,
      bearing: 46.673610 deg,
      approach rate: -0.527806 m/s,
      LOS rate: 0.011268 deg/s,
      cmd heading: 36.897782 deg,
      new cmd heading: 36.908827 deg.

2025-08-22T17:00:08.860Z,1755882008.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644181 target range: 72.038559 and range: 72.50 m.
2025-08-22T17:00:09.000Z,1755882009.000 [DAT](INFO): DAT read: 17:00:09.0412 LVL= 27968, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.17,-3.033, 1.365, 3.008, 2.876, PHS= 0.476,-1.466, 0.088, RAW= 139.1,  10.2, CAL= 138.6,  11.1, ROT=  11.4, -11.1

2025-08-22T17:00:09.001Z,1755882009.001 [DAT](INFO): got valid direction response:
 17:00:09.0412 LVL= 27968, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.17,-3.033, 1.365, 3.008, 2.876, PHS= 0.476,-1.466, 0.088, RAW= 139.1,  10.2, CAL= 138.6,  11.1, ROT=  11.4, -11.1

2025-08-22T17:00:09.002Z,1755882009.002 [DAT](INFO): DAT read: Bearing 205.5,  11.6 (Local)

2025-08-22T17:00:09.003Z,1755882009.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,  11.6 (Local)

2025-08-22T17:00:09.004Z,1755882009.004 [DAT](INFO): DAT read: Range 11 to 50 : 70.5 m  (Round-trip  94.0 ms) speed  0.4 m/s

2025-08-22T17:00:09.005Z,1755882009.005 [DAT](INFO): DAT read: user:371>

2025-08-22T17:00:09.006Z,1755882009.006 [DAT](INFO): DAT read: Tx time:17:00:10.1430

2025-08-22T17:00:09.006Z,1755882009.006 [DAT](INFO): Ping request sent.
2025-08-22T17:00:09.006Z,1755882009.006 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:09.006Z,1755882009.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:09.007Z,1755882009.007 [DAT](INFO): direction in FSK: [0.961933,0.193960,0.192522]
2025-08-22T17:00:09.008Z,1755882009.008 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:09.008Z,1755882009.008 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:09.011Z,1755882009.011 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:09.011Z,1755882009.011 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:09.298Z,1755882009.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.500000 m,
      deltaT: 3.532152 s,
      deltaX: -2.000000 m,
      approachRate: -0.566227 m/s,
      rangeRepo size: 4

2025-08-22T17:00:09.300Z,1755882009.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.051254 m,
      bearing: 46.823320 deg,
      lat: 36.779450 deg,
      lon: -121.859636 deg,
      deltaT: 3.532152 s,
      deltaX: -1.987305 m,
      approachRate: -0.562633 m/s,
      posRepo size: 4

2025-08-22T17:00:09.301Z,1755882009.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:09.308Z,1755882009.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 68.435753 m,
      bearing: 46.644325 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011268 deg/s,
      cmd heading: 36.908826 deg,
      new cmd heading: 36.918855 deg.

2025-08-22T17:00:09.308Z,1755882009.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644356 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:09.641Z,1755882009.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:09.644Z,1755882009.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 68.245148 m,
      bearing: 46.645645 deg,
      approach rate: -0.548200 m/s,
      LOS rate: 0.003806 deg/s,
      cmd heading: 36.918856 deg,
      new cmd heading: 36.921503 deg.

2025-08-22T17:00:09.645Z,1755882009.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644402 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:10.081Z,1755882010.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:10.083Z,1755882010.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:10.086Z,1755882010.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 67.995857 m,
      bearing: 46.646582 deg,
      approach rate: -0.563455 m/s,
      LOS rate: 0.002125 deg/s,
      cmd heading: 36.921503 deg,
      new cmd heading: 36.923383 deg.

2025-08-22T17:00:10.087Z,1755882010.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644435 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:10.254Z,1755882010.254 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:10.254Z,1755882010.254 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:10.255Z,1755882010.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:10.452Z,1755882010.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:10.455Z,1755882010.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 67.791504 m,
      bearing: 46.647083 deg,
      approach rate: -0.553563 m/s,
      LOS rate: 0.001361 deg/s,
      cmd heading: 36.923385 deg,
      new cmd heading: 36.924390 deg.

2025-08-22T17:00:10.456Z,1755882010.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644452 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:10.507Z,1755882010.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501105
2025-08-22T17:00:10.759Z,1755882010.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752289
2025-08-22T17:00:10.902Z,1755882010.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:10.905Z,1755882010.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 67.546776 m,
      bearing: 46.643601 deg,
      approach rate: -0.544063 m/s,
      LOS rate: -0.007768 deg/s,
      cmd heading: 36.924389 deg,
      new cmd heading: 36.917400 deg.

2025-08-22T17:00:10.906Z,1755882010.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644330 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:11.012Z,1755882011.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005568
2025-08-22T17:00:11.263Z,1755882011.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256428
2025-08-22T17:00:11.268Z,1755882011.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:11.271Z,1755882011.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 67.348564 m,
      bearing: 46.640405 deg,
      approach rate: -0.542015 m/s,
      LOS rate: -0.008767 deg/s,
      cmd heading: 36.917401 deg,
      new cmd heading: 36.910989 deg.

2025-08-22T17:00:11.272Z,1755882011.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644218 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:11.515Z,1755882011.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508324
2025-08-22T17:00:11.686Z,1755882011.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:11.688Z,1755882011.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 67.131645 m,
      bearing: 46.636613 deg,
      approach rate: -0.524359 m/s,
      LOS rate: -0.009197 deg/s,
      cmd heading: 36.910988 deg,
      new cmd heading: 36.903379 deg.

2025-08-22T17:00:11.694Z,1755882011.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644085 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:11.770Z,1755882011.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763182
2025-08-22T17:00:12.019Z,1755882012.019 [DAT](INFO): DAT read: Rx Time:17:00:12.6386

2025-08-22T17:00:12.019Z,1755882012.019 [DAT](INFO): Rx dataTimestamp_ set to:1755882012.018739
2025-08-22T17:00:12.020Z,1755882012.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013350
2025-08-22T17:00:12.100Z,1755882012.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:12.102Z,1755882012.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:12.105Z,1755882012.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 66.888786 m,
      bearing: 46.631369 deg,
      approach rate: -0.577726 m/s,
      LOS rate: -0.012519 deg/s,
      cmd heading: 36.903379 deg,
      new cmd heading: 36.892854 deg.

2025-08-22T17:00:12.106Z,1755882012.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643902 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:12.271Z,1755882012.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264301
2025-08-22T17:00:12.474Z,1755882012.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.05 m.
2025-08-22T17:00:12.477Z,1755882012.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.051254 m,
      nav range: 66.681091 m,
      bearing: 46.626833 deg,
      approach rate: -0.557882 m/s,
      LOS rate: -0.012222 deg/s,
      cmd heading: 36.892854 deg,
      new cmd heading: 36.883753 deg.

2025-08-22T17:00:12.478Z,1755882012.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643743 target range: 70.051254 and range: 70.50 m.
2025-08-22T17:00:12.542Z,1755882012.542 [DAT](INFO): DAT read: 17:00:12.6386 LVL= 27936, 32753, 31154, 32755, AGC= 68, IDX= 421,-0.22,-2.653, 1.751,-2.886,-2.999, PHS= 0.448,-1.488, 0.069, RAW= 139.3,  10.9, CAL= 138.8,  11.9, ROT=  11.2, -11.9

2025-08-22T17:00:12.547Z,1755882012.547 [DAT](INFO): got valid direction response:
 17:00:12.6386 LVL= 27936, 32753, 31154, 32755, AGC= 68, IDX= 421,-0.22,-2.653, 1.751,-2.886,-2.999, PHS= 0.448,-1.488, 0.069, RAW= 139.3,  10.9, CAL= 138.8,  11.9, ROT=  11.2, -11.9

2025-08-22T17:00:12.558Z,1755882012.558 [DAT](INFO): DAT read: Bearing 207.1,  11.3 (Local)

2025-08-22T17:00:12.558Z,1755882012.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.1,  11.3 (Local)

2025-08-22T17:00:12.559Z,1755882012.559 [DAT](INFO): DAT read: Range 11 to 50 : 68.6 m  (Round-trip  91.5 ms) speed  0.4 m/s

2025-08-22T17:00:12.560Z,1755882012.560 [DAT](INFO): DAT read: user:372>

2025-08-22T17:00:12.561Z,1755882012.561 [DAT](INFO): DAT read: Tx time:17:00:13.7430

2025-08-22T17:00:12.561Z,1755882012.561 [DAT](INFO): Ping request sent.
2025-08-22T17:00:12.561Z,1755882012.561 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:12.566Z,1755882012.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:12.567Z,1755882012.567 [DAT](INFO): direction in FSK: [0.959873,0.190060,0.206204]
2025-08-22T17:00:12.567Z,1755882012.567 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:12.568Z,1755882012.568 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:12.577Z,1755882012.577 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:12.577Z,1755882012.577 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:12.962Z,1755882012.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.599998 m,
      deltaT: 3.530674 s,
      deltaX: -1.900002 m,
      approachRate: -0.538141 m/s,
      rangeRepo size: 4

2025-08-22T17:00:12.964Z,1755882012.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.163475 m,
      bearing: 47.137351 deg,
      lat: 36.779448 deg,
      lon: -121.859633 deg,
      deltaT: 3.530674 s,
      deltaX: -1.887779 m,
      approachRate: -0.534680 m/s,
      posRepo size: 4

2025-08-22T17:00:12.965Z,1755882012.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:12.968Z,1755882012.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 66.473564 m,
      bearing: 46.952794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012222 deg/s,
      cmd heading: 36.883752 deg,
      new cmd heading: 36.871842 deg.

2025-08-22T17:00:12.969Z,1755882012.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643535 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:13.301Z,1755882013.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:13.304Z,1755882013.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 66.280113 m,
      bearing: 46.948253 deg,
      approach rate: -0.569603 m/s,
      LOS rate: -0.013407 deg/s,
      cmd heading: 36.871840 deg,
      new cmd heading: 36.862734 deg.

2025-08-22T17:00:13.305Z,1755882013.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643376 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:13.723Z,1755882013.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:13.728Z,1755882013.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 66.047920 m,
      bearing: 46.942943 deg,
      approach rate: -0.551813 m/s,
      LOS rate: -0.012664 deg/s,
      cmd heading: 36.862732 deg,
      new cmd heading: 36.852075 deg.

2025-08-22T17:00:13.730Z,1755882013.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643190 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:14.136Z,1755882014.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:14.138Z,1755882014.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:14.141Z,1755882014.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 65.809807 m,
      bearing: 46.939194 deg,
      approach rate: -0.572202 m/s,
      LOS rate: -0.009043 deg/s,
      cmd heading: 36.852074 deg,
      new cmd heading: 36.844548 deg.

2025-08-22T17:00:14.142Z,1755882014.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643059 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:14.286Z,1755882014.286 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:14.286Z,1755882014.286 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:14.287Z,1755882014.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:14.510Z,1755882014.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:14.512Z,1755882014.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 65.600716 m,
      bearing: 46.936420 deg,
      approach rate: -0.563111 m/s,
      LOS rate: -0.007493 deg/s,
      cmd heading: 36.844547 deg,
      new cmd heading: 36.838983 deg.

2025-08-22T17:00:14.513Z,1755882014.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642962 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:14.539Z,1755882014.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977354
2025-08-22T17:00:14.791Z,1755882014.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229286
2025-08-22T17:00:14.959Z,1755882014.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:14.977Z,1755882014.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 65.347641 m,
      bearing: 46.931923 deg,
      approach rate: -0.563476 m/s,
      LOS rate: -0.010052 deg/s,
      cmd heading: 36.838984 deg,
      new cmd heading: 36.829955 deg.

2025-08-22T17:00:14.978Z,1755882014.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642804 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:15.043Z,1755882015.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482252
2025-08-22T17:00:15.294Z,1755882015.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733163
2025-08-22T17:00:15.326Z,1755882015.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:15.328Z,1755882015.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 65.140976 m,
      bearing: 46.928437 deg,
      approach rate: -0.563321 m/s,
      LOS rate: -0.009532 deg/s,
      cmd heading: 36.829954 deg,
      new cmd heading: 36.822960 deg.

2025-08-22T17:00:15.329Z,1755882015.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642682 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:15.547Z,1755882015.547 [DAT](INFO): DAT read: Rx Time:17:00:16.2358

2025-08-22T17:00:15.547Z,1755882015.547 [DAT](INFO): Rx dataTimestamp_ set to:1755882015.546760
2025-08-22T17:00:15.548Z,1755882015.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986389
2025-08-22T17:00:15.747Z,1755882015.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:15.750Z,1755882015.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 64.902962 m,
      bearing: 46.924546 deg,
      approach rate: -0.564294 m/s,
      LOS rate: -0.009260 deg/s,
      cmd heading: 36.822960 deg,
      new cmd heading: 36.815149 deg.

2025-08-22T17:00:15.751Z,1755882015.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642546 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:15.800Z,1755882015.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238157
2025-08-22T17:00:16.050Z,1755882016.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489223
2025-08-22T17:00:16.231Z,1755882016.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:16.241Z,1755882016.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-08-22T17:00:16.252Z,1755882016.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.163475 m,
      nav range: 64.640182 m,
      bearing: 46.927560 deg,
      approach rate: -0.540503 m/s,
      LOS rate: 0.006225 deg/s,
      cmd heading: 36.815150 deg,
      new cmd heading: 36.821203 deg.

2025-08-22T17:00:16.253Z,1755882016.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642651 target range: 68.163475 and range: 68.60 m.
2025-08-22T17:00:16.310Z,1755882016.310 [DAT](INFO): DAT read: 17:00:16.2358 LVL= 29616, 32753, 29138, 32755, AGC= 68, IDX= 409, 0.41, 0.009,-1.914,-0.244,-0.356, PHS= 0.467,-1.513, 0.068, RAW= 139.0,  10.8, CAL= 138.5,  11.8, ROT=  11.5, -11.8

2025-08-22T17:00:16.311Z,1755882016.311 [DAT](INFO): got valid direction response:
 17:00:16.2358 LVL= 29616, 32753, 29138, 32755, AGC= 68, IDX= 409, 0.41, 0.009,-1.914,-0.244,-0.356, PHS= 0.467,-1.513, 0.068, RAW= 139.0,  10.8, CAL= 138.5,  11.8, ROT=  11.5, -11.8

2025-08-22T17:00:16.312Z,1755882016.312 [DAT](INFO): DAT read: Bearing 206.6,  10.9 (Local)

2025-08-22T17:00:16.313Z,1755882016.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.6,  10.9 (Local)

2025-08-22T17:00:16.314Z,1755882016.314 [DAT](INFO): DAT read: Range 11 to 50 : 66.5 m  (Round-trip  88.7 ms) speed  0.4 m/s

2025-08-22T17:00:16.315Z,1755882016.315 [DAT](INFO): DAT read: user:373>

2025-08-22T17:00:16.316Z,1755882016.316 [DAT](INFO): DAT read: Tx time:17:00:17.3429

2025-08-22T17:00:16.317Z,1755882016.317 [DAT](INFO): Ping request sent.
2025-08-22T17:00:16.317Z,1755882016.317 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:16.325Z,1755882016.325 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:16.327Z,1755882016.327 [DAT](INFO): direction in FSK: [0.959216,0.195155,0.204496]
2025-08-22T17:00:16.327Z,1755882016.327 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:16.328Z,1755882016.328 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:16.337Z,1755882016.337 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:16.337Z,1755882016.337 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:16.614Z,1755882016.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.500000 m,
      deltaT: 3.779343 s,
      deltaX: -2.099998 m,
      approachRate: -0.555652 m/s,
      rangeRepo size: 4

2025-08-22T17:00:16.616Z,1755882016.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.076614 m,
      bearing: 47.182945 deg,
      lat: 36.779448 deg,
      lon: -121.859629 deg,
      deltaT: 3.779343 s,
      deltaX: -2.086861 m,
      approachRate: -0.552176 m/s,
      posRepo size: 4

2025-08-22T17:00:16.616Z,1755882016.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:16.619Z,1755882016.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 64.691551 m,
      bearing: 47.082353 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006225 deg/s,
      cmd heading: 36.821201 deg,
      new cmd heading: 36.825924 deg.

2025-08-22T17:00:16.620Z,1755882016.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642734 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:17.024Z,1755882017.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:17.026Z,1755882017.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 64.444611 m,
      bearing: 47.087046 deg,
      approach rate: -0.601263 m/s,
      LOS rate: 0.011471 deg/s,
      cmd heading: 36.825925 deg,
      new cmd heading: 36.835347 deg.

2025-08-22T17:00:17.027Z,1755882017.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642898 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:17.396Z,1755882017.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:17.399Z,1755882017.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 64.233093 m,
      bearing: 47.090974 deg,
      approach rate: -0.567951 m/s,
      LOS rate: 0.010584 deg/s,
      cmd heading: 36.835347 deg,
      new cmd heading: 36.843230 deg.

2025-08-22T17:00:17.400Z,1755882017.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643036 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:17.806Z,1755882017.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:17.809Z,1755882017.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 63.999687 m,
      bearing: 47.095114 deg,
      approach rate: -0.569590 m/s,
      LOS rate: 0.010139 deg/s,
      cmd heading: 36.843229 deg,
      new cmd heading: 36.851538 deg.

2025-08-22T17:00:17.810Z,1755882017.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643181 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:18.248Z,1755882018.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:18.250Z,1755882018.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:18.253Z,1755882018.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 63.761341 m,
      bearing: 47.094901 deg,
      approach rate: -0.536054 m/s,
      LOS rate: -0.000482 deg/s,
      cmd heading: 36.851538 deg,
      new cmd heading: 36.851109 deg.

2025-08-22T17:00:18.257Z,1755882018.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643173 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:18.319Z,1755882018.319 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:18.320Z,1755882018.320 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:18.320Z,1755882018.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:18.571Z,1755882018.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253845
2025-08-22T17:00:18.618Z,1755882018.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:18.621Z,1755882018.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 63.562790 m,
      bearing: 47.094619 deg,
      approach rate: -0.539399 m/s,
      LOS rate: -0.000766 deg/s,
      cmd heading: 36.851111 deg,
      new cmd heading: 36.850547 deg.

2025-08-22T17:00:18.622Z,1755882018.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643163 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:18.824Z,1755882018.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507276
2025-08-22T17:00:19.049Z,1755882019.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:19.056Z,1755882019.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 63.341377 m,
      bearing: 47.095779 deg,
      approach rate: -0.514302 m/s,
      LOS rate: 0.002703 deg/s,
      cmd heading: 36.850547 deg,
      new cmd heading: 36.852875 deg.

2025-08-22T17:00:19.060Z,1755882019.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643204 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:19.075Z,1755882019.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757983
2025-08-22T17:00:19.215Z,1755882019.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:00:19.327Z,1755882019.327 [DAT](INFO): DAT read: Rx Time:17:00:19.8331

2025-08-22T17:00:19.328Z,1755882019.328 [DAT](INFO): Rx dataTimestamp_ set to:1755882019.327424
2025-08-22T17:00:19.329Z,1755882019.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011976
2025-08-22T17:00:19.426Z,1755882019.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.08 m.
2025-08-22T17:00:19.428Z,1755882019.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.076614 m,
      nav range: 63.126884 m,
      bearing: 47.096778 deg,
      approach rate: -0.568871 m/s,
      LOS rate: 0.002659 deg/s,
      cmd heading: 36.852873 deg,
      new cmd heading: 36.854878 deg.

2025-08-22T17:00:19.430Z,1755882019.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643239 target range: 66.076614 and range: 66.50 m.
2025-08-22T17:00:19.579Z,1755882019.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262178
2025-08-22T17:00:19.836Z,1755882019.836 [DAT](INFO): DAT read: 17:00:19.8331 LVL= 25520, 32753, 30402, 32755, AGC= 67, IDX= 413, 0.39, 1.230,-0.645, 1.010, 0.898, PHS= 0.435,-1.498, 0.068, RAW= 139.7,  11.2, CAL= 139.1,  12.2, ROT=  10.9, -12.2

2025-08-22T17:00:19.837Z,1755882019.837 [DAT](INFO): got valid direction response:
 17:00:19.8331 LVL= 25520, 32753, 30402, 32755, AGC= 67, IDX= 413, 0.39, 1.230,-0.645, 1.010, 0.898, PHS= 0.435,-1.498, 0.068, RAW= 139.7,  11.2, CAL= 139.1,  12.2, ROT=  10.9, -12.2

2025-08-22T17:00:19.838Z,1755882019.838 [DAT](INFO): DAT read: Bearing 207.0,  10.2 (Local)

2025-08-22T17:00:19.838Z,1755882019.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0,  10.2 (Local)

2025-08-22T17:00:19.840Z,1755882019.840 [DAT](INFO): DAT read: Range 11 to 50 : 64.5 m  (Round-trip  86.0 ms) speed  0.5 m/s

2025-08-22T17:00:19.840Z,1755882019.840 [DAT](INFO): DAT read: user:374>

2025-08-22T17:00:19.841Z,1755882019.841 [DAT](INFO): DAT read: Tx time:17:00:20.9429

2025-08-22T17:00:19.842Z,1755882019.842 [DAT](INFO): Ping request sent.
2025-08-22T17:00:19.842Z,1755882019.842 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:19.842Z,1755882019.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:19.843Z,1755882019.843 [DAT](INFO): direction in FSK: [0.959782,0.184825,0.211325]
2025-08-22T17:00:19.843Z,1755882019.843 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:19.843Z,1755882019.843 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:19.846Z,1755882019.846 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:19.847Z,1755882019.847 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:19.875Z,1755882019.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.500000 m,
      deltaT: 3.525851 s,
      deltaX: -2.000000 m,
      approachRate: -0.567239 m/s,
      rangeRepo size: 4

2025-08-22T17:00:19.877Z,1755882019.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.089218 m,
      bearing: 46.657747 deg,
      lat: 36.779448 deg,
      lon: -121.859629 deg,
      deltaT: 3.525851 s,
      deltaX: -1.987396 m,
      approachRate: -0.563664 m/s,
      posRepo size: 4

2025-08-22T17:00:19.877Z,1755882019.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:19.884Z,1755882019.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 62.911072 m,
      bearing: 47.097609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002659 deg/s,
      cmd heading: 36.854878 deg,
      new cmd heading: 36.857216 deg.

2025-08-22T17:00:19.885Z,1755882019.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643280 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:20.218Z,1755882020.218 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:00:20.264Z,1755882020.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:20.266Z,1755882020.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:20.269Z,1755882020.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 62.667778 m,
      bearing: 47.097823 deg,
      approach rate: -0.607226 m/s,
      LOS rate: 0.000537 deg/s,
      cmd heading: 36.857217 deg,
      new cmd heading: 36.857648 deg.

2025-08-22T17:00:20.273Z,1755882020.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643287 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:20.335Z,1755882020.335 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:20.335Z,1755882020.335 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:20.335Z,1755882020.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:20.587Z,1755882020.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744958
2025-08-22T17:00:20.639Z,1755882020.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:20.642Z,1755882020.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 62.461121 m,
      bearing: 47.097961 deg,
      approach rate: -0.554361 m/s,
      LOS rate: 0.000371 deg/s,
      cmd heading: 36.857647 deg,
      new cmd heading: 36.857924 deg.

2025-08-22T17:00:20.643Z,1755882020.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643292 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:20.843Z,1755882020.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000578
2025-08-22T17:00:21.074Z,1755882021.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:21.077Z,1755882021.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 62.226425 m,
      bearing: 47.094958 deg,
      approach rate: -0.539139 m/s,
      LOS rate: -0.006924 deg/s,
      cmd heading: 36.857924 deg,
      new cmd heading: 36.851895 deg.

2025-08-22T17:00:21.083Z,1755882021.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643187 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:21.091Z,1755882021.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249535
2025-08-22T17:00:21.343Z,1755882021.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501142
2025-08-22T17:00:21.435Z,1755882021.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:21.437Z,1755882021.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 62.015816 m,
      bearing: 47.092097 deg,
      approach rate: -0.584886 m/s,
      LOS rate: -0.007972 deg/s,
      cmd heading: 36.851896 deg,
      new cmd heading: 36.846155 deg.

2025-08-22T17:00:21.438Z,1755882021.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643087 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:21.595Z,1755882021.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752842
2025-08-22T17:00:21.847Z,1755882021.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005011
2025-08-22T17:00:21.847Z,1755882021.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:21.850Z,1755882021.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 61.785595 m,
      bearing: 47.088629 deg,
      approach rate: -0.559841 m/s,
      LOS rate: -0.008466 deg/s,
      cmd heading: 36.846156 deg,
      new cmd heading: 36.839193 deg.

2025-08-22T17:00:21.851Z,1755882021.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642965 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:22.099Z,1755882022.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256858
2025-08-22T17:00:22.269Z,1755882022.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:22.271Z,1755882022.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:22.274Z,1755882022.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 61.549969 m,
      bearing: 47.086271 deg,
      approach rate: -0.554245 m/s,
      LOS rate: -0.005567 deg/s,
      cmd heading: 36.839192 deg,
      new cmd heading: 36.834459 deg.

2025-08-22T17:00:22.275Z,1755882022.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642883 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:22.352Z,1755882022.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510245
2025-08-22T17:00:22.603Z,1755882022.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760852
2025-08-22T17:00:22.656Z,1755882022.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:22.659Z,1755882022.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 61.335030 m,
      bearing: 47.083700 deg,
      approach rate: -0.557658 m/s,
      LOS rate: -0.006696 deg/s,
      cmd heading: 36.834459 deg,
      new cmd heading: 36.829297 deg.

2025-08-22T17:00:22.660Z,1755882022.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642793 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:22.855Z,1755882022.855 [DAT](INFO): DAT read: Rx Time:17:00:23.4304

2025-08-22T17:00:22.856Z,1755882022.856 [DAT](INFO): Rx dataTimestamp_ set to:1755882022.855562
2025-08-22T17:00:22.856Z,1755882022.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014797
2025-08-22T17:00:23.091Z,1755882023.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.09 m.
2025-08-22T17:00:23.093Z,1755882023.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.089218 m,
      nav range: 61.094395 m,
      bearing: 47.080050 deg,
      approach rate: -0.553987 m/s,
      LOS rate: -0.008435 deg/s,
      cmd heading: 36.829299 deg,
      new cmd heading: 36.821970 deg.

2025-08-22T17:00:23.094Z,1755882023.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642665 target range: 64.089218 and range: 64.50 m.
2025-08-22T17:00:23.107Z,1755882023.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264944
2025-08-22T17:00:23.364Z,1755882023.364 [DAT](INFO): DAT read: 17:00:23.4304 LVL= 28336, 32753, 32754, 32755, AGC= 69, IDX= 418, 0.10, 2.199, 0.275, 1.978, 1.841, PHS= 0.460,-1.521, 0.093, RAW= 140.0,  10.6, CAL= 139.4,  11.5, ROT=  10.6, -11.5

2025-08-22T17:00:23.366Z,1755882023.366 [DAT](INFO): got valid direction response:
 17:00:23.4304 LVL= 28336, 32753, 32754, 32755, AGC= 69, IDX= 418, 0.10, 2.199, 0.275, 1.978, 1.841, PHS= 0.460,-1.521, 0.093, RAW= 140.0,  10.6, CAL= 139.4,  11.5, ROT=  10.6, -11.5

2025-08-22T17:00:23.367Z,1755882023.367 [DAT](INFO): DAT read: Bearing 207.0,   9.9 (Local)

2025-08-22T17:00:23.367Z,1755882023.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0,   9.9 (Local)

2025-08-22T17:00:23.368Z,1755882023.368 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m  (Round-trip  83.3 ms) speed  0.4 m/s

2025-08-22T17:00:23.369Z,1755882023.369 [DAT](INFO): DAT read: user:375>

2025-08-22T17:00:23.370Z,1755882023.370 [DAT](INFO): DAT read: Tx time:17:00:24.5445

2025-08-22T17:00:23.370Z,1755882023.370 [DAT](INFO): Ping request sent.
2025-08-22T17:00:23.370Z,1755882023.370 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:23.370Z,1755882023.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:23.371Z,1755882023.371 [DAT](INFO): direction in FSK: [0.963203,0.180258,0.199368]
2025-08-22T17:00:23.372Z,1755882023.372 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:23.372Z,1755882023.372 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:23.396Z,1755882023.396 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:23.396Z,1755882023.396 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:23.505Z,1755882023.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 3.528469 s,
      deltaX: -2.099998 m,
      approachRate: -0.595159 m/s,
      rangeRepo size: 4

2025-08-22T17:00:23.515Z,1755882023.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.002655 m,
      bearing: 46.926250 deg,
      lat: 36.779450 deg,
      lon: -121.859630 deg,
      deltaT: 3.528469 s,
      deltaX: -2.086563 m,
      approachRate: -0.591351 m/s,
      posRepo size: 4

2025-08-22T17:00:23.516Z,1755882023.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:23.527Z,1755882023.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 60.903397 m,
      bearing: 46.926033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008435 deg/s,
      cmd heading: 36.821970 deg,
      new cmd heading: 36.814988 deg.

2025-08-22T17:00:23.528Z,1755882023.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642543 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:23.869Z,1755882023.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:23.871Z,1755882023.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 60.695210 m,
      bearing: 46.922083 deg,
      approach rate: -0.571825 m/s,
      LOS rate: -0.010888 deg/s,
      cmd heading: 36.814989 deg,
      new cmd heading: 36.807061 deg.

2025-08-22T17:00:23.872Z,1755882023.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642404 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:24.285Z,1755882024.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:24.287Z,1755882024.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:24.290Z,1755882024.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 60.465260 m,
      bearing: 46.915273 deg,
      approach rate: -0.549705 m/s,
      LOS rate: -0.016342 deg/s,
      cmd heading: 36.807063 deg,
      new cmd heading: 36.793391 deg.

2025-08-22T17:00:24.291Z,1755882024.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642166 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:24.367Z,1755882024.367 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:24.367Z,1755882024.367 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:24.368Z,1755882024.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:24.618Z,1755882024.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248259
2025-08-22T17:00:24.675Z,1755882024.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:24.680Z,1755882024.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 60.252007 m,
      bearing: 46.908811 deg,
      approach rate: -0.549682 m/s,
      LOS rate: -0.016714 deg/s,
      cmd heading: 36.793392 deg,
      new cmd heading: 36.780424 deg.

2025-08-22T17:00:24.683Z,1755882024.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641940 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:24.871Z,1755882024.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500729
2025-08-22T17:00:25.114Z,1755882025.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:25.117Z,1755882025.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 60.006817 m,
      bearing: 46.899530 deg,
      approach rate: -0.557835 m/s,
      LOS rate: -0.021203 deg/s,
      cmd heading: 36.780425 deg,
      new cmd heading: 36.761787 deg.

2025-08-22T17:00:25.119Z,1755882025.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641614 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:25.123Z,1755882025.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752383
2025-08-22T17:00:25.375Z,1755882025.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004538
2025-08-22T17:00:25.481Z,1755882025.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:25.483Z,1755882025.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 59.802418 m,
      bearing: 46.891875 deg,
      approach rate: -0.558007 m/s,
      LOS rate: -0.020970 deg/s,
      cmd heading: 36.761786 deg,
      new cmd heading: 36.746423 deg.

2025-08-22T17:00:25.484Z,1755882025.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641346 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:25.628Z,1755882025.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257281
2025-08-22T17:00:25.879Z,1755882025.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508372
2025-08-22T17:00:25.880Z,1755882025.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:25.883Z,1755882025.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 59.580364 m,
      bearing: 46.883655 deg,
      approach rate: -0.555805 m/s,
      LOS rate: -0.020652 deg/s,
      cmd heading: 36.746425 deg,
      new cmd heading: 36.729923 deg.

2025-08-22T17:00:25.884Z,1755882025.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641058 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:26.131Z,1755882026.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760261
2025-08-22T17:00:26.314Z,1755882026.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:26.316Z,1755882026.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:26.337Z,1755882026.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 59.337955 m,
      bearing: 46.876154 deg,
      approach rate: -0.556714 m/s,
      LOS rate: -0.017297 deg/s,
      cmd heading: 36.729923 deg,
      new cmd heading: 36.714860 deg.

2025-08-22T17:00:26.342Z,1755882026.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640795 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:26.383Z,1755882026.383 [DAT](INFO): DAT read: Rx Time:17:00:27.0294

2025-08-22T17:00:26.384Z,1755882026.384 [DAT](INFO): Rx dataTimestamp_ set to:1755882026.383268
2025-08-22T17:00:26.384Z,1755882026.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014220
2025-08-22T17:00:26.634Z,1755882026.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264245
2025-08-22T17:00:26.727Z,1755882026.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.00 m.
2025-08-22T17:00:26.734Z,1755882026.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.002655 m,
      nav range: 59.123901 m,
      bearing: 46.869831 deg,
      approach rate: -0.520484 m/s,
      LOS rate: -0.015430 deg/s,
      cmd heading: 36.714859 deg,
      new cmd heading: 36.702167 deg.

2025-08-22T17:00:26.735Z,1755882026.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640574 target range: 62.002655 and range: 62.40 m.
2025-08-22T17:00:26.890Z,1755882026.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519126
2025-08-22T17:00:27.145Z,1755882027.145 [DAT](INFO): DAT read: 17:00:27.0294 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.09, 3.012, 1.121, 2.778, 2.679, PHS= 0.435,-1.514, 0.054, RAW= 139.4,  11.4, CAL= 138.8,  12.4, ROT=  11.2, -12.4

2025-08-22T17:00:27.146Z,1755882027.146 [DAT](INFO): got valid direction response:
 17:00:27.0294 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.09, 3.012, 1.121, 2.778, 2.679, PHS= 0.435,-1.514, 0.054, RAW= 139.4,  11.4, CAL= 138.8,  12.4, ROT=  11.2, -12.4

2025-08-22T17:00:27.147Z,1755882027.147 [DAT](INFO): DAT read: Bearing 208.1,  10.2 (Local)

2025-08-22T17:00:27.147Z,1755882027.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.1,  10.2 (Local)

2025-08-22T17:00:27.148Z,1755882027.148 [DAT](INFO): DAT read: Range 11 to 50 : 60.6 m  (Round-trip  80.8 ms) speed  0.5 m/s

2025-08-22T17:00:27.149Z,1755882027.149 [DAT](INFO): DAT read: user:376>

2025-08-22T17:00:27.150Z,1755882027.150 [DAT](INFO): DAT read: Tx time:17:00:28.1429

2025-08-22T17:00:27.151Z,1755882027.151 [DAT](INFO): Ping request sent.
2025-08-22T17:00:27.151Z,1755882027.151 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:27.151Z,1755882027.151 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:27.152Z,1755882027.152 [DAT](INFO): direction in FSK: [0.958072,0.189703,0.214735]
2025-08-22T17:00:27.153Z,1755882027.153 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:27.153Z,1755882027.153 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:27.163Z,1755882027.163 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:27.163Z,1755882027.163 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:27.211Z,1755882027.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.599998 m,
      deltaT: 3.779682 s,
      deltaX: -1.800003 m,
      approachRate: -0.476231 m/s,
      rangeRepo size: 4

2025-08-22T17:00:27.222Z,1755882027.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.214046 m,
      bearing: 47.498801 deg,
      lat: 36.779448 deg,
      lon: -121.859629 deg,
      deltaT: 3.779682 s,
      deltaX: -1.788609 m,
      approachRate: -0.473217 m/s,
      posRepo size: 4

2025-08-22T17:00:27.222Z,1755882027.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:27.225Z,1755882027.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 58.846138 m,
      bearing: 47.017538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015430 deg/s,
      cmd heading: 36.702168 deg,
      new cmd heading: 36.687236 deg.

2025-08-22T17:00:27.230Z,1755882027.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640313 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:27.519Z,1755882027.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:27.526Z,1755882027.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 58.642078 m,
      bearing: 47.011476 deg,
      approach rate: -0.661361 m/s,
      LOS rate: -0.019717 deg/s,
      cmd heading: 36.687238 deg,
      new cmd heading: 36.675071 deg.

2025-08-22T17:00:27.527Z,1755882027.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640101 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:27.911Z,1755882027.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:27.913Z,1755882027.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 58.420727 m,
      bearing: 47.004836 deg,
      approach rate: -0.566978 m/s,
      LOS rate: -0.017071 deg/s,
      cmd heading: 36.675070 deg,
      new cmd heading: 36.661740 deg.

2025-08-22T17:00:27.914Z,1755882027.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639868 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:28.332Z,1755882028.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:28.334Z,1755882028.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:28.337Z,1755882028.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 58.184319 m,
      bearing: 46.997172 deg,
      approach rate: -0.556826 m/s,
      LOS rate: -0.018126 deg/s,
      cmd heading: 36.661740 deg,
      new cmd heading: 36.646349 deg.

2025-08-22T17:00:28.341Z,1755882028.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639599 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:28.399Z,1755882028.399 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:28.399Z,1755882028.399 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:28.399Z,1755882028.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:28.651Z,1755882028.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499761
2025-08-22T17:00:28.726Z,1755882028.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:28.728Z,1755882028.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 57.967018 m,
      bearing: 46.990036 deg,
      approach rate: -0.555311 m/s,
      LOS rate: -0.018303 deg/s,
      cmd heading: 36.646349 deg,
      new cmd heading: 36.632025 deg.

2025-08-22T17:00:28.729Z,1755882028.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639349 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:28.902Z,1755882028.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751752
2025-08-22T17:00:29.155Z,1755882029.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004475
2025-08-22T17:00:29.230Z,1755882029.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:29.232Z,1755882029.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 57.685482 m,
      bearing: 46.978533 deg,
      approach rate: -0.558486 m/s,
      LOS rate: -0.022930 deg/s,
      cmd heading: 36.632026 deg,
      new cmd heading: 36.608907 deg.

2025-08-22T17:00:29.242Z,1755882029.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638946 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:29.407Z,1755882029.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255815
2025-08-22T17:00:29.530Z,1755882029.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:29.532Z,1755882029.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 57.517910 m,
      bearing: 46.971617 deg,
      approach rate: -0.558545 m/s,
      LOS rate: -0.023120 deg/s,
      cmd heading: 36.608906 deg,
      new cmd heading: 36.595033 deg.

2025-08-22T17:00:29.534Z,1755882029.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638704 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:29.659Z,1755882029.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508444
2025-08-22T17:00:29.911Z,1755882029.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759879
2025-08-22T17:00:29.920Z,1755882029.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:29.923Z,1755882029.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 57.287842 m,
      bearing: 46.962140 deg,
      approach rate: -0.589076 m/s,
      LOS rate: -0.024363 deg/s,
      cmd heading: 36.595033 deg,
      new cmd heading: 36.576003 deg.

2025-08-22T17:00:29.924Z,1755882029.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638372 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:30.163Z,1755882030.163 [DAT](INFO): DAT read: Rx Time:17:00:30.6251

2025-08-22T17:00:30.164Z,1755882030.164 [DAT](INFO): Rx dataTimestamp_ set to:1755882030.163553
2025-08-22T17:00:30.165Z,1755882030.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014035
2025-08-22T17:00:30.347Z,1755882030.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:30.349Z,1755882030.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.21 m.
2025-08-22T17:00:30.352Z,1755882030.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.214046 m,
      nav range: 57.053772 m,
      bearing: 46.955181 deg,
      approach rate: -0.545788 m/s,
      LOS rate: -0.016293 deg/s,
      cmd heading: 36.576001 deg,
      new cmd heading: 36.562026 deg.

2025-08-22T17:00:30.353Z,1755882030.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638128 target range: 60.214046 and range: 60.60 m.
2025-08-22T17:00:30.415Z,1755882030.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325
2025-08-22T17:00:30.678Z,1755882030.678 [DAT](INFO): DAT read: 17:00:30.6251 LVL= 24896, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.29,-1.372, 2.975,-1.646,-1.734, PHS= 0.464,-1.530, 0.044, RAW= 138.5,  11.2, CAL= 137.9,  12.2, ROT=  12.1, -12.2

2025-08-22T17:00:30.679Z,1755882030.679 [DAT](INFO): got valid direction response:
 17:00:30.6251 LVL= 24896, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.29,-1.372, 2.975,-1.646,-1.734, PHS= 0.464,-1.530, 0.044, RAW= 138.5,  11.2, CAL= 137.9,  12.2, ROT=  12.1, -12.2

2025-08-22T17:00:30.681Z,1755882030.681 [DAT](INFO): DAT read: Bearing 207.8,  10.6 (Local)

2025-08-22T17:00:30.682Z,1755882030.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.8,  10.6 (Local)

2025-08-22T17:00:30.684Z,1755882030.684 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m  (Round-trip  78.1 ms) speed  0.4 m/s

2025-08-22T17:00:30.685Z,1755882030.685 [DAT](INFO): DAT read: user:377>

2025-08-22T17:00:30.687Z,1755882030.687 [DAT](INFO): DAT read: Tx time:17:00:31.7429

2025-08-22T17:00:30.688Z,1755882030.688 [DAT](INFO): Ping request sent.
2025-08-22T17:00:30.688Z,1755882030.688 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:30.688Z,1755882030.688 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:30.698Z,1755882030.698 [DAT](INFO): direction in FSK: [0.955701,0.204885,0.211325]
2025-08-22T17:00:30.698Z,1755882030.698 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:30.698Z,1755882030.698 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:30.702Z,1755882030.702 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:30.702Z,1755882030.702 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:30.825Z,1755882030.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 3.529307 s,
      deltaX: -2.099998 m,
      approachRate: -0.595017 m/s,
      rangeRepo size: 4

2025-08-22T17:00:30.839Z,1755882030.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.127239 m,
      bearing: 48.222018 deg,
      lat: 36.779448 deg,
      lon: -121.859627 deg,
      deltaT: 3.529307 s,
      deltaX: -2.086807 m,
      approachRate: -0.591280 m/s,
      posRepo size: 4

2025-08-22T17:00:30.840Z,1755882030.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:30.840Z,1755882030.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:30.866Z,1755882030.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 56.929638 m,
      bearing: 47.062621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016293 deg/s,
      cmd heading: 36.562027 deg,
      new cmd heading: 36.546558 deg.

2025-08-22T17:00:30.867Z,1755882030.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637858 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:30.893Z,1755882030.893 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T17:00:31.275Z,1755882031.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:31.275Z,1755882031.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:31.278Z,1755882031.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 56.662159 m,
      bearing: 47.055523 deg,
      approach rate: -0.593421 m/s,
      LOS rate: -0.015820 deg/s,
      cmd heading: 36.546556 deg,
      new cmd heading: 36.532295 deg.

2025-08-22T17:00:31.279Z,1755882031.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637609 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:31.658Z,1755882031.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:31.659Z,1755882031.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:31.662Z,1755882031.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 56.451321 m,
      bearing: 47.049930 deg,
      approach rate: -0.550713 m/s,
      LOS rate: -0.014664 deg/s,
      cmd heading: 36.532295 deg,
      new cmd heading: 36.521067 deg.

2025-08-22T17:00:31.663Z,1755882031.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637413 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:32.081Z,1755882032.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:32.081Z,1755882032.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:32.084Z,1755882032.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 56.215790 m,
      bearing: 47.043632 deg,
      approach rate: -0.556542 m/s,
      LOS rate: -0.014944 deg/s,
      cmd heading: 36.521066 deg,
      new cmd heading: 36.508417 deg.

2025-08-22T17:00:32.085Z,1755882032.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637192 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:32.502Z,1755882032.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:32.504Z,1755882032.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:32.505Z,1755882032.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:32.516Z,1755882032.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 55.988556 m,
      bearing: 47.039306 deg,
      approach rate: -0.536236 m/s,
      LOS rate: -0.010250 deg/s,
      cmd heading: 36.508416 deg,
      new cmd heading: 36.499729 deg.

2025-08-22T17:00:32.517Z,1755882032.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637040 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:32.695Z,1755882032.695 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:32.695Z,1755882032.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:32.695Z,1755882032.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:32.873Z,1755882032.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:32.877Z,1755882032.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:32.880Z,1755882032.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 55.775761 m,
      bearing: 47.035223 deg,
      approach rate: -0.577437 m/s,
      LOS rate: -0.011122 deg/s,
      cmd heading: 36.499728 deg,
      new cmd heading: 36.491531 deg.

2025-08-22T17:00:32.881Z,1755882032.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636897 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:32.948Z,1755882032.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260065
2025-08-22T17:00:33.199Z,1755882033.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511113
2025-08-22T17:00:33.297Z,1755882033.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:33.297Z,1755882033.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:33.300Z,1755882033.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 55.542927 m,
      bearing: 47.030866 deg,
      approach rate: -0.549420 m/s,
      LOS rate: -0.010324 deg/s,
      cmd heading: 36.491532 deg,
      new cmd heading: 36.482782 deg.

2025-08-22T17:00:33.301Z,1755882033.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636745 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:33.450Z,1755882033.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763035
2025-08-22T17:00:33.690Z,1755882033.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:33.691Z,1755882033.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:33.695Z,1755882033.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 55.329475 m,
      bearing: 47.026809 deg,
      approach rate: -0.543255 m/s,
      LOS rate: -0.010366 deg/s,
      cmd heading: 36.482783 deg,
      new cmd heading: 36.474637 deg.

2025-08-22T17:00:33.696Z,1755882033.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636603 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:33.711Z,1755882033.711 [DAT](INFO): DAT read: Rx Time:17:00:34.2224

2025-08-22T17:00:33.711Z,1755882033.711 [DAT](INFO): Rx dataTimestamp_ set to:1755882033.710887
2025-08-22T17:00:33.712Z,1755882033.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024266
2025-08-22T17:00:33.963Z,1755882033.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275518
2025-08-22T17:00:34.140Z,1755882034.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.13 m.
2025-08-22T17:00:34.140Z,1755882034.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-08-22T17:00:34.147Z,1755882034.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.127239 m,
      nav range: 55.104698 m,
      bearing: 47.022350 deg,
      approach rate: -0.499437 m/s,
      LOS rate: -0.009948 deg/s,
      cmd heading: 36.474638 deg,
      new cmd heading: 36.465683 deg.

2025-08-22T17:00:34.148Z,1755882034.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636446 target range: 58.127239 and range: 58.50 m.
2025-08-22T17:00:34.223Z,1755882034.223 [DAT](INFO): DAT read: 17:00:34.2224 LVL= 26480, 31681, 30594, 32755, AGC= 64, IDX= 417,-0.46,-1.052,-2.981,-1.357,-1.407, PHS= 0.457,-1.529, 0.005, RAW= 137.5,  11.8, CAL= 136.9,  12.9, ROT=  13.1, -12.9

2025-08-22T17:00:34.224Z,1755882034.224 [DAT](INFO): got valid direction response:
 17:00:34.2224 LVL= 26480, 31681, 30594, 32755, AGC= 64, IDX= 417,-0.46,-1.052,-2.981,-1.357,-1.407, PHS= 0.457,-1.529, 0.005, RAW= 137.5,  11.8, CAL= 136.9,  12.9, ROT=  13.1, -12.9

2025-08-22T17:00:34.225Z,1755882034.225 [DAT](INFO): DAT read: Bearing 208.0,  11.5 (Local)

2025-08-22T17:00:34.225Z,1755882034.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0,  11.5 (Local)

2025-08-22T17:00:34.227Z,1755882034.227 [DAT](INFO): DAT read: Range 11 to 50 : 56.4 m  (Round-trip  75.3 ms) speed  0.4 m/s

2025-08-22T17:00:34.227Z,1755882034.227 [DAT](INFO): DAT read: user:378>

2025-08-22T17:00:34.228Z,1755882034.228 [DAT](INFO): DAT read: Tx time:17:00:35.3429

2025-08-22T17:00:34.228Z,1755882034.228 [DAT](INFO): Ping request sent.
2025-08-22T17:00:34.228Z,1755882034.228 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:34.229Z,1755882034.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:34.234Z,1755882034.234 [DAT](INFO): direction in FSK: [0.949394,0.220931,0.223250]
2025-08-22T17:00:34.234Z,1755882034.234 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:34.234Z,1755882034.234 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:34.237Z,1755882034.237 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:34.247Z,1755882034.247 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:34.582Z,1755882034.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.400002 m,
      deltaT: 3.548189 s,
      deltaX: -2.099998 m,
      approachRate: -0.591851 m/s,
      rangeRepo size: 4

2025-08-22T17:00:34.584Z,1755882034.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.040520 m,
      bearing: 49.255148 deg,
      lat: 36.779446 deg,
      lon: -121.859624 deg,
      deltaT: 3.548189 s,
      deltaX: -2.086720 m,
      approachRate: -0.588108 m/s,
      posRepo size: 4

2025-08-22T17:00:34.585Z,1755882034.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:34.590Z,1755882034.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:34.592Z,1755882034.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 54.924953 m,
      bearing: 47.415077 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009948 deg/s,
      cmd heading: 36.465683 deg,
      new cmd heading: 36.457216 deg.

2025-08-22T17:00:34.593Z,1755882034.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636298 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:34.955Z,1755882034.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:34.957Z,1755882034.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:34.958Z,1755882034.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:34.960Z,1755882034.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 54.708431 m,
      bearing: 47.411538 deg,
      approach rate: -0.552881 m/s,
      LOS rate: -0.009073 deg/s,
      cmd heading: 36.457217 deg,
      new cmd heading: 36.450111 deg.

2025-08-22T17:00:34.961Z,1755882034.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636174 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:34.970Z,1755882034.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:34.970Z,1755882034.970 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:34.970Z,1755882034.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:35.223Z,1755882035.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994539
2025-08-22T17:00:35.380Z,1755882035.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:35.380Z,1755882035.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:35.383Z,1755882035.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 54.475613 m,
      bearing: 47.405073 deg,
      approach rate: -0.550723 m/s,
      LOS rate: -0.015357 deg/s,
      cmd heading: 36.450110 deg,
      new cmd heading: 36.437126 deg.

2025-08-22T17:00:35.384Z,1755882035.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635948 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:35.476Z,1755882035.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246887
2025-08-22T17:00:35.727Z,1755882035.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498250
2025-08-22T17:00:35.759Z,1755882035.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:35.759Z,1755882035.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:35.762Z,1755882035.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 54.266476 m,
      bearing: 47.399008 deg,
      approach rate: -0.551610 m/s,
      LOS rate: -0.016059 deg/s,
      cmd heading: 36.437126 deg,
      new cmd heading: 36.424949 deg.

2025-08-22T17:00:35.763Z,1755882035.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635735 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:35.979Z,1755882035.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750220
2025-08-22T17:00:36.221Z,1755882036.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:36.227Z,1755882036.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:36.234Z,1755882036.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004779
2025-08-22T17:00:36.248Z,1755882036.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 54.042526 m,
      bearing: 47.392150 deg,
      approach rate: -0.486084 m/s,
      LOS rate: -0.014947 deg/s,
      cmd heading: 36.424948 deg,
      new cmd heading: 36.411176 deg.

2025-08-22T17:00:36.249Z,1755882036.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635495 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:36.483Z,1755882036.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254880
2025-08-22T17:00:36.606Z,1755882036.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:36.607Z,1755882036.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-22T17:00:36.607Z,1755882036.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.40 m.
2025-08-22T17:00:36.607Z,1755882036.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T17:00:36.614Z,1755882036.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 53.810905 m,
      bearing: 47.387048 deg,
      approach rate: -0.598564 m/s,
      LOS rate: -0.013241 deg/s,
      cmd heading: 36.411175 deg,
      new cmd heading: 36.400927 deg.

2025-08-22T17:00:36.615Z,1755882036.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635316 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:36.651Z,1755882036.651 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T17:00:36.651Z,1755882036.651 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T17:00:36.735Z,1755882036.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506722
2025-08-22T17:00:36.961Z,1755882036.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:36.971Z,1755882036.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:36.979Z,1755882036.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 53.608150 m,
      bearing: 47.382720 deg,
      approach rate: -0.555668 m/s,
      LOS rate: -0.011908 deg/s,
      cmd heading: 36.400926 deg,
      new cmd heading: 36.392236 deg.

2025-08-22T17:00:36.980Z,1755882036.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635164 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:36.987Z,1755882036.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758359
2025-08-22T17:00:37.242Z,1755882037.242 [DAT](INFO): DAT read: Rx Time:17:00:37.8199

2025-08-22T17:00:37.244Z,1755882037.244 [DAT](INFO): Rx dataTimestamp_ set to:1755882037.242876
2025-08-22T17:00:37.246Z,1755882037.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017043
2025-08-22T17:00:37.405Z,1755882037.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.04 m.
2025-08-22T17:00:37.408Z,1755882037.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.040520 m,
      nav range: 53.371540 m,
      bearing: 47.370701 deg,
      approach rate: -0.545608 m/s,
      LOS rate: -0.027837 deg/s,
      cmd heading: 36.392235 deg,
      new cmd heading: 36.368091 deg.

2025-08-22T17:00:37.409Z,1755882037.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634743 target range: 56.040520 and range: 56.40 m.
2025-08-22T17:00:37.491Z,1755882037.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262347
2025-08-22T17:00:37.748Z,1755882037.748 [DAT](INFO): DAT read: 17:00:37.8199 LVL= 29360, 32753, 30706, 32755, AGC= 68, IDX= 422, 0.16,-2.404, 1.893,-2.652,-2.801, PHS= 0.499,-1.544, 0.105, RAW= 139.5,  10.0, CAL= 139.0,  11.0, ROT=  11.0, -11.0

2025-08-22T17:00:37.749Z,1755882037.749 [DAT](INFO): got valid direction response:
 17:00:37.8199 LVL= 29360, 32753, 30706, 32755, AGC= 68, IDX= 422, 0.16,-2.404, 1.893,-2.652,-2.801, PHS= 0.499,-1.544, 0.105, RAW= 139.5,  10.0, CAL= 139.0,  11.0, ROT=  11.0, -11.0

2025-08-22T17:00:37.754Z,1755882037.754 [DAT](INFO): DAT read: Bearing 206.3,   9.5 (Local)

2025-08-22T17:00:37.754Z,1755882037.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,   9.5 (Local)

2025-08-22T17:00:37.756Z,1755882037.756 [DAT](INFO): DAT read: Range 11 to 50 : 54.6 m  (Round-trip  72.8 ms) speed  0.4 m/s

2025-08-22T17:00:37.757Z,1755882037.757 [DAT](INFO): DAT read: user:379>

2025-08-22T17:00:37.766Z,1755882037.766 [DAT](INFO): DAT read: Tx time:17:00:38.9429

2025-08-22T17:00:37.767Z,1755882037.767 [DAT](INFO): Ping request sent.
2025-08-22T17:00:37.767Z,1755882037.767 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:37.767Z,1755882037.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:37.768Z,1755882037.768 [DAT](INFO): direction in FSK: [0.963592,0.187303,0.190809]
2025-08-22T17:00:37.768Z,1755882037.768 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:37.769Z,1755882037.769 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:37.772Z,1755882037.772 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:37.772Z,1755882037.772 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:37.882Z,1755882037.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 3.526432 s,
      deltaX: -1.800003 m,
      approachRate: -0.510432 m/s,
      rangeRepo size: 4

2025-08-22T17:00:37.884Z,1755882037.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.252316 m,
      bearing: 47.290999 deg,
      lat: 36.779446 deg,
      lon: -121.859621 deg,
      deltaT: 3.526432 s,
      deltaX: -1.788204 m,
      approachRate: -0.507086 m/s,
      posRepo size: 4

2025-08-22T17:00:37.885Z,1755882037.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:37.888Z,1755882037.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 53.298004 m,
      bearing: 47.525197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027837 deg/s,
      cmd heading: 36.368090 deg,
      new cmd heading: 36.342037 deg.

2025-08-22T17:00:37.898Z,1755882037.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634288 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:38.293Z,1755882038.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:38.296Z,1755882038.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 53.064838 m,
      bearing: 47.514196 deg,
      approach rate: -0.555544 m/s,
      LOS rate: -0.026326 deg/s,
      cmd heading: 36.342036 deg,
      new cmd heading: 36.319938 deg.

2025-08-22T17:00:38.297Z,1755882038.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633902 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:38.691Z,1755882038.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:38.693Z,1755882038.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 52.855583 m,
      bearing: 47.502315 deg,
      approach rate: -0.525931 m/s,
      LOS rate: -0.029979 deg/s,
      cmd heading: 36.319937 deg,
      new cmd heading: 36.296081 deg.

2025-08-22T17:00:38.698Z,1755882038.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633486 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:39.043Z,1755882039.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:39.045Z,1755882039.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:39.048Z,1755882039.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 52.645840 m,
      bearing: 47.490246 deg,
      approach rate: -0.591365 m/s,
      LOS rate: -0.034165 deg/s,
      cmd heading: 36.296083 deg,
      new cmd heading: 36.271848 deg.

2025-08-22T17:00:39.049Z,1755882039.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633063 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:39.257Z,1755882039.257 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:39.258Z,1755882039.258 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:39.259Z,1755882039.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:39.478Z,1755882039.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:39.481Z,1755882039.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 52.412418 m,
      bearing: 47.478139 deg,
      approach rate: -0.540213 m/s,
      LOS rate: -0.028144 deg/s,
      cmd heading: 36.271846 deg,
      new cmd heading: 36.247525 deg.

2025-08-22T17:00:39.482Z,1755882039.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632639 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:39.507Z,1755882039.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739719
2025-08-22T17:00:39.758Z,1755882039.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991584
2025-08-22T17:00:39.851Z,1755882039.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:39.854Z,1755882039.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 52.210781 m,
      bearing: 47.467443 deg,
      approach rate: -0.539831 m/s,
      LOS rate: -0.028747 deg/s,
      cmd heading: 36.247524 deg,
      new cmd heading: 36.226048 deg.

2025-08-22T17:00:39.855Z,1755882039.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632264 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:40.011Z,1755882040.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243764
2025-08-22T17:00:40.265Z,1755882040.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497839
2025-08-22T17:00:40.323Z,1755882040.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:40.326Z,1755882040.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 51.955864 m,
      bearing: 47.453801 deg,
      approach rate: -0.539725 m/s,
      LOS rate: -0.029024 deg/s,
      cmd heading: 36.226050 deg,
      new cmd heading: 36.198633 deg.

2025-08-22T17:00:40.327Z,1755882040.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631785 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:40.515Z,1755882040.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747603
2025-08-22T17:00:40.725Z,1755882040.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:40.728Z,1755882040.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 51.745461 m,
      bearing: 47.440087 deg,
      approach rate: -0.524006 m/s,
      LOS rate: -0.034295 deg/s,
      cmd heading: 36.198633 deg,
      new cmd heading: 36.171092 deg.

2025-08-22T17:00:40.729Z,1755882040.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631305 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:40.769Z,1755882040.769 [DAT](INFO): DAT read: Rx Time:17:00:41.4171

2025-08-22T17:00:40.769Z,1755882040.769 [DAT](INFO): Rx dataTimestamp_ set to:1755882040.769004
2025-08-22T17:00:40.770Z,1755882040.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003386
2025-08-22T17:00:41.019Z,1755882041.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251631
2025-08-22T17:00:41.089Z,1755882041.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:41.098Z,1755882041.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.25 m.
2025-08-22T17:00:41.100Z,1755882041.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.252316 m,
      nav range: 51.559666 m,
      bearing: 47.427802 deg,
      approach rate: -0.501414 m/s,
      LOS rate: -0.033272 deg/s,
      cmd heading: 36.171094 deg,
      new cmd heading: 36.146437 deg.

2025-08-22T17:00:41.102Z,1755882041.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630874 target range: 54.252316 and range: 54.60 m.
2025-08-22T17:00:41.275Z,1755882041.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507518
2025-08-22T17:00:41.554Z,1755882041.554 [DAT](INFO): DAT read: 17:00:41.4171 LVL= 32656, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.01,-2.112, 2.179,-2.365,-2.486, PHS= 0.476,-1.574, 0.077, RAW= 139.4,  10.9, CAL= 138.9,  11.8, ROT=  11.1, -11.8

2025-08-22T17:00:41.559Z,1755882041.559 [DAT](INFO): got valid direction response:
 17:00:41.4171 LVL= 32656, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.01,-2.112, 2.179,-2.365,-2.486, PHS= 0.476,-1.574, 0.077, RAW= 139.4,  10.9, CAL= 138.9,  11.8, ROT=  11.1, -11.8

2025-08-22T17:00:41.560Z,1755882041.560 [DAT](INFO): DAT read: Bearing 207.4,   9.6 (Local)

2025-08-22T17:00:41.560Z,1755882041.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.4,   9.6 (Local)

2025-08-22T17:00:41.566Z,1755882041.566 [DAT](INFO): DAT read: Range 11 to 50 : 52.6 m  (Round-trip  70.2 ms) speed  0.5 m/s

2025-08-22T17:00:41.567Z,1755882041.567 [DAT](INFO): DAT read: user:380>

2025-08-22T17:00:41.567Z,1755882041.567 [DAT](INFO): DAT read: Tx time:17:00:42.5428

2025-08-22T17:00:41.568Z,1755882041.568 [DAT](INFO): Ping request sent.
2025-08-22T17:00:41.568Z,1755882041.568 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:41.568Z,1755882041.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:41.569Z,1755882041.569 [DAT](INFO): direction in FSK: [0.960555,0.188453,0.204496]
2025-08-22T17:00:41.569Z,1755882041.569 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:41.574Z,1755882041.574 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:41.577Z,1755882041.577 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:41.577Z,1755882041.577 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:41.588Z,1755882041.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.599998 m,
      deltaT: 3.782170 s,
      deltaX: -2.000000 m,
      approachRate: -0.528797 m/s,
      rangeRepo size: 4

2025-08-22T17:00:41.615Z,1755882041.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.264561 m,
      bearing: 47.539248 deg,
      lat: 36.779446 deg,
      lon: -121.859619 deg,
      deltaT: 3.782170 s,
      deltaX: -1.987755 m,
      approachRate: -0.525559 m/s,
      posRepo size: 4

2025-08-22T17:00:41.615Z,1755882041.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:41.630Z,1755882041.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 51.423019 m,
      bearing: 47.545768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033272 deg/s,
      cmd heading: 36.146437 deg,
      new cmd heading: 36.113702 deg.

2025-08-22T17:00:41.631Z,1755882041.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630303 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:41.994Z,1755882041.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:41.996Z,1755882041.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 51.198116 m,
      bearing: 47.536292 deg,
      approach rate: -0.553350 m/s,
      LOS rate: -0.023418 deg/s,
      cmd heading: 36.113703 deg,
      new cmd heading: 36.094667 deg.

2025-08-22T17:00:41.999Z,1755882041.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629971 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:42.415Z,1755882042.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:42.422Z,1755882042.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 50.987617 m,
      bearing: 47.529172 deg,
      approach rate: -0.499450 m/s,
      LOS rate: -0.016963 deg/s,
      cmd heading: 36.094667 deg,
      new cmd heading: 36.080369 deg.

2025-08-22T17:00:42.423Z,1755882042.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629721 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:42.797Z,1755882042.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:42.799Z,1755882042.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 50.781025 m,
      bearing: 47.522137 deg,
      approach rate: -0.541537 m/s,
      LOS rate: -0.018514 deg/s,
      cmd heading: 36.080368 deg,
      new cmd heading: 36.066242 deg.

2025-08-22T17:00:42.800Z,1755882042.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629475 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:43.213Z,1755882043.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:43.215Z,1755882043.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:43.218Z,1755882043.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 50.563744 m,
      bearing: 47.514677 deg,
      approach rate: -0.519057 m/s,
      LOS rate: -0.017898 deg/s,
      cmd heading: 36.066244 deg,
      new cmd heading: 36.051259 deg.

2025-08-22T17:00:43.219Z,1755882043.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629213 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:43.292Z,1755882043.292 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:43.293Z,1755882043.293 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:43.294Z,1755882043.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:43.543Z,1755882043.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974743
2025-08-22T17:00:43.618Z,1755882043.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:43.621Z,1755882043.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 50.357182 m,
      bearing: 47.507627 deg,
      approach rate: -0.512492 m/s,
      LOS rate: -0.017563 deg/s,
      cmd heading: 36.051258 deg,
      new cmd heading: 36.037100 deg.

2025-08-22T17:00:43.622Z,1755882043.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628966 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:43.795Z,1755882043.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226820
2025-08-22T17:00:44.006Z,1755882044.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:44.009Z,1755882044.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 50.158054 m,
      bearing: 47.500876 deg,
      approach rate: -0.512826 m/s,
      LOS rate: -0.017456 deg/s,
      cmd heading: 36.037099 deg,
      new cmd heading: 36.023543 deg.

2025-08-22T17:00:44.010Z,1755882044.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628729 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:44.047Z,1755882044.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479025
2025-08-22T17:00:44.300Z,1755882044.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731529
2025-08-22T17:00:44.430Z,1755882044.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:44.432Z,1755882044.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 49.937572 m,
      bearing: 47.498776 deg,
      approach rate: -0.521383 m/s,
      LOS rate: -0.004988 deg/s,
      cmd heading: 36.023541 deg,
      new cmd heading: 36.019322 deg.

2025-08-22T17:00:44.433Z,1755882044.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628656 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:44.551Z,1755882044.551 [DAT](INFO): DAT read: Rx Time:17:00:45.0147

2025-08-22T17:00:44.552Z,1755882044.552 [DAT](INFO): Rx dataTimestamp_ set to:1755882044.551501
2025-08-22T17:00:44.553Z,1755882044.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984928
2025-08-22T17:00:44.803Z,1755882044.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234958
2025-08-22T17:00:44.809Z,1755882044.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.26 m.
2025-08-22T17:00:44.812Z,1755882044.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.264561 m,
      nav range: 49.740459 m,
      bearing: 47.496739 deg,
      approach rate: -0.519230 m/s,
      LOS rate: -0.005385 deg/s,
      cmd heading: 36.019324 deg,
      new cmd heading: 36.015235 deg.

2025-08-22T17:00:44.813Z,1755882044.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628584 target range: 52.264561 and range: 52.60 m.
2025-08-22T17:00:45.060Z,1755882045.060 [DAT](INFO): DAT read: 17:00:45.0147 LVL= 25504, 32753, 29538, 32755, AGC= 66, IDX= 418,-0.14,-1.578, 2.764,-1.844,-1.984, PHS= 0.508,-1.490, 0.096, RAW= 138.7,   9.7, CAL= 138.3,  10.7, ROT=  11.7, -10.7

2025-08-22T17:00:45.061Z,1755882045.061 [DAT](INFO): got valid direction response:
 17:00:45.0147 LVL= 25504, 32753, 29538, 32755, AGC= 66, IDX= 418,-0.14,-1.578, 2.764,-1.844,-1.984, PHS= 0.508,-1.490, 0.096, RAW= 138.7,   9.7, CAL= 138.3,  10.7, ROT=  11.7, -10.7

2025-08-22T17:00:45.062Z,1755882045.062 [DAT](INFO): DAT read: Bearing 206.2,   9.9 (Local)

2025-08-22T17:00:45.063Z,1755882045.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2,   9.9 (Local)

2025-08-22T17:00:45.064Z,1755882045.064 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m  (Round-trip  67.7 ms) speed  0.4 m/s

2025-08-22T17:00:45.065Z,1755882045.065 [DAT](INFO): DAT read: user:381>

2025-08-22T17:00:45.065Z,1755882045.065 [DAT](INFO): DAT read: Tx time:17:00:46.1428

2025-08-22T17:00:45.066Z,1755882045.066 [DAT](INFO): Ping request sent.
2025-08-22T17:00:45.066Z,1755882045.066 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:45.066Z,1755882045.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:45.067Z,1755882045.067 [DAT](INFO): direction in FSK: [0.962197,0.199261,0.185667]
2025-08-22T17:00:45.067Z,1755882045.067 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:45.068Z,1755882045.068 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:45.072Z,1755882045.072 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:45.072Z,1755882045.072 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:45.255Z,1755882045.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.529830 s,
      deltaX: -1.899998 m,
      approachRate: -0.538269 m/s,
      rangeRepo size: 4

2025-08-22T17:00:45.257Z,1755882045.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.376915 m,
      bearing: 48.142380 deg,
      lat: 36.779444 deg,
      lon: -121.859617 deg,
      deltaT: 3.529830 s,
      deltaX: -1.887646 m,
      approachRate: -0.534770 m/s,
      posRepo size: 4

2025-08-22T17:00:45.262Z,1755882045.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:45.271Z,1755882045.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 49.482735 m,
      bearing: 47.857954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005385 deg/s,
      cmd heading: 36.015236 deg,
      new cmd heading: 36.010489 deg.

2025-08-22T17:00:45.272Z,1755882045.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628502 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:45.681Z,1755882045.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:45.683Z,1755882045.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:45.686Z,1755882045.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 49.252254 m,
      bearing: 47.854519 deg,
      approach rate: -0.531488 m/s,
      LOS rate: -0.007957 deg/s,
      cmd heading: 36.010489 deg,
      new cmd heading: 36.003588 deg.

2025-08-22T17:00:45.687Z,1755882045.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628381 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:45.810Z,1755882045.810 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:45.810Z,1755882045.810 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:45.811Z,1755882045.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:46.053Z,1755882046.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:46.059Z,1755882046.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 49.061321 m,
      bearing: 47.851343 deg,
      approach rate: -0.517169 m/s,
      LOS rate: -0.008637 deg/s,
      cmd heading: 36.003587 deg,
      new cmd heading: 35.997209 deg.

2025-08-22T17:00:46.060Z,1755882046.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628270 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:46.065Z,1755882046.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998560
2025-08-22T17:00:46.318Z,1755882046.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251093
2025-08-22T17:00:46.476Z,1755882046.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:46.479Z,1755882046.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 48.841076 m,
      bearing: 47.841799 deg,
      approach rate: -0.520627 m/s,
      LOS rate: -0.022663 deg/s,
      cmd heading: 35.997211 deg,
      new cmd heading: 35.978036 deg.

2025-08-22T17:00:46.480Z,1755882046.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627935 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:46.567Z,1755882046.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501516
2025-08-22T17:00:46.819Z,1755882046.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752766
2025-08-22T17:00:46.860Z,1755882046.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:46.865Z,1755882046.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 48.645050 m,
      bearing: 47.832731 deg,
      approach rate: -0.509583 m/s,
      LOS rate: -0.023667 deg/s,
      cmd heading: 35.978035 deg,
      new cmd heading: 35.959827 deg.

2025-08-22T17:00:46.871Z,1755882046.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627617 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:47.073Z,1755882047.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007467
2025-08-22T17:00:47.246Z,1755882047.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:47.249Z,1755882047.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 48.434208 m,
      bearing: 47.822191 deg,
      approach rate: -0.546274 m/s,
      LOS rate: -0.027426 deg/s,
      cmd heading: 35.959826 deg,
      new cmd heading: 35.938655 deg.

2025-08-22T17:00:47.250Z,1755882047.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627248 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:47.323Z,1755882047.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257451
2025-08-22T17:00:47.575Z,1755882047.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508684
2025-08-22T17:00:47.711Z,1755882047.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:47.713Z,1755882047.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:47.716Z,1755882047.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 48.197636 m,
      bearing: 47.804971 deg,
      approach rate: -0.506699 m/s,
      LOS rate: -0.037065 deg/s,
      cmd heading: 35.938656 deg,
      new cmd heading: 35.904045 deg.

2025-08-22T17:00:47.725Z,1755882047.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626644 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:47.827Z,1755882047.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760898
2025-08-22T17:00:48.062Z,1755882048.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:48.068Z,1755882048.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 48.005898 m,
      bearing: 47.789398 deg,
      approach rate: -0.550011 m/s,
      LOS rate: -0.044849 deg/s,
      cmd heading: 35.904044 deg,
      new cmd heading: 35.872774 deg.

2025-08-22T17:00:48.071Z,1755882048.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626098 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:48.079Z,1755882048.079 [DAT](INFO): DAT read: Rx Time:17:00:48.6123

2025-08-22T17:00:48.079Z,1755882048.079 [DAT](INFO): Rx dataTimestamp_ set to:1755882048.078830
2025-08-22T17:00:48.080Z,1755882048.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013795
2025-08-22T17:00:48.332Z,1755882048.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265818
2025-08-22T17:00:48.552Z,1755882048.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:00:48.559Z,1755882048.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.376915 m,
      nav range: 47.762463 m,
      bearing: 47.766117 deg,
      approach rate: -0.496400 m/s,
      LOS rate: -0.047715 deg/s,
      cmd heading: 35.872775 deg,
      new cmd heading: 35.825976 deg.

2025-08-22T17:00:48.560Z,1755882048.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625281 target range: 50.376915 and range: 50.70 m.
2025-08-22T17:00:48.588Z,1755882048.588 [DAT](INFO): DAT read: 17:00:48.6123 LVL= 24032, 32753, 27698, 32755, AGC= 65, IDX= 409, 0.15,-2.602, 1.708,-2.898,-3.048, PHS= 0.548,-1.482, 0.107, RAW= 138.1,   9.0, CAL= 137.7,   9.9, ROT=  12.3,  -9.9

2025-08-22T17:00:48.589Z,1755882048.589 [DAT](INFO): got valid direction response:
 17:00:48.6123 LVL= 24032, 32753, 27698, 32755, AGC= 65, IDX= 409, 0.15,-2.602, 1.708,-2.898,-3.048, PHS= 0.548,-1.482, 0.107, RAW= 138.1,   9.0, CAL= 137.7,   9.9, ROT=  12.3,  -9.9

2025-08-22T17:00:48.590Z,1755882048.590 [DAT](INFO): DAT read: Bearing 206.4,  10.6 (Local)

2025-08-22T17:00:48.591Z,1755882048.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.4,  10.6 (Local)

2025-08-22T17:00:48.592Z,1755882048.592 [DAT](INFO): DAT read: Range 11 to 50 : 48.9 m  (Round-trip  65.3 ms) speed  0.4 m/s

2025-08-22T17:00:48.593Z,1755882048.593 [DAT](INFO): DAT read: user:382>

2025-08-22T17:00:48.593Z,1755882048.593 [DAT](INFO): DAT read: Tx time:17:00:49.7428

2025-08-22T17:00:48.594Z,1755882048.594 [DAT](INFO): Ping request sent.
2025-08-22T17:00:48.594Z,1755882048.594 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:48.594Z,1755882048.594 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:48.595Z,1755882048.595 [DAT](INFO): direction in FSK: [0.962497,0.209858,0.171929]
2025-08-22T17:00:48.595Z,1755882048.595 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:48.595Z,1755882048.595 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:48.599Z,1755882048.599 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:48.599Z,1755882048.599 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:48.935Z,1755882048.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.900002 m,
      deltaT: 3.528005 s,
      deltaX: -1.799999 m,
      approachRate: -0.510203 m/s,
      rangeRepo size: 4

2025-08-22T17:00:48.942Z,1755882048.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.588467 m,
      bearing: 50.061004 deg,
      lat: 36.779444 deg,
      lon: -121.859613 deg,
      deltaT: 3.528005 s,
      deltaX: -1.788448 m,
      approachRate: -0.506929 m/s,
      posRepo size: 4

2025-08-22T17:00:48.942Z,1755882048.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:48.945Z,1755882048.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 47.840649 m,
      bearing: 48.042326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047715 deg/s,
      cmd heading: 35.825975 deg,
      new cmd heading: 35.789459 deg.

2025-08-22T17:00:48.951Z,1755882048.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624644 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:49.314Z,1755882049.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:49.316Z,1755882049.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 47.638943 m,
      bearing: 48.022025 deg,
      approach rate: -0.532738 m/s,
      LOS rate: -0.053845 deg/s,
      cmd heading: 35.789457 deg,
      new cmd heading: 35.748684 deg.

2025-08-22T17:00:49.317Z,1755882049.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623932 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:49.747Z,1755882049.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:49.749Z,1755882049.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:49.756Z,1755882049.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 47.423462 m,
      bearing: 47.998419 deg,
      approach rate: -0.495063 m/s,
      LOS rate: -0.054482 deg/s,
      cmd heading: 35.748684 deg,
      new cmd heading: 35.701257 deg.

2025-08-22T17:00:49.757Z,1755882049.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623104 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:49.843Z,1755882049.843 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:49.844Z,1755882049.844 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:49.844Z,1755882049.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:50.094Z,1755882050.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500573
2025-08-22T17:00:50.127Z,1755882050.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:50.134Z,1755882050.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 47.220509 m,
      bearing: 47.975816 deg,
      approach rate: -0.536760 m/s,
      LOS rate: -0.060036 deg/s,
      cmd heading: 35.701255 deg,
      new cmd heading: 35.655855 deg.

2025-08-22T17:00:50.136Z,1755882050.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622312 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:50.342Z,1755882050.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:00:50.347Z,1755882050.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753010
2025-08-22T17:00:50.564Z,1755882050.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:50.571Z,1755882050.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 47.002934 m,
      bearing: 47.951511 deg,
      approach rate: -0.497316 m/s,
      LOS rate: -0.055811 deg/s,
      cmd heading: 35.655855 deg,
      new cmd heading: 35.607021 deg.

2025-08-22T17:00:50.572Z,1755882050.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621460 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:50.599Z,1755882050.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005311
2025-08-22T17:00:50.850Z,1755882050.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256623
2025-08-22T17:00:50.940Z,1755882050.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:50.943Z,1755882050.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 46.796585 m,
      bearing: 47.928220 deg,
      approach rate: -0.549508 m/s,
      LOS rate: -0.062298 deg/s,
      cmd heading: 35.607019 deg,
      new cmd heading: 35.560232 deg.

2025-08-22T17:00:50.944Z,1755882050.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620643 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:51.103Z,1755882051.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508658
2025-08-22T17:00:51.332Z,1755882051.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:51.335Z,1755882051.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 46.592167 m,
      bearing: 47.905022 deg,
      approach rate: -0.521539 m/s,
      LOS rate: -0.059447 deg/s,
      cmd heading: 35.560232 deg,
      new cmd heading: 35.513632 deg.

2025-08-22T17:00:51.336Z,1755882051.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619830 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:51.346Z,1755882051.346 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:00:51.356Z,1755882051.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762455
2025-08-22T17:00:51.607Z,1755882051.607 [DAT](INFO): DAT read: Rx Time:17:00:52.2096

2025-08-22T17:00:51.608Z,1755882051.608 [DAT](INFO): Rx dataTimestamp_ set to:1755882051.607406
2025-08-22T17:00:51.608Z,1755882051.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014416
2025-08-22T17:00:51.765Z,1755882051.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:51.767Z,1755882051.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.59 m.
2025-08-22T17:00:51.770Z,1755882051.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.588467 m,
      nav range: 46.368515 m,
      bearing: 47.881288 deg,
      approach rate: -0.514057 m/s,
      LOS rate: -0.054814 deg/s,
      cmd heading: 35.513633 deg,
      new cmd heading: 35.465937 deg.

2025-08-22T17:00:51.771Z,1755882051.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618997 target range: 48.588467 and range: 48.90 m.
2025-08-22T17:00:51.858Z,1755882051.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264577
2025-08-22T17:00:52.118Z,1755882052.118 [DAT](INFO): DAT read: 17:00:52.2096 LVL= 27376, 32753, 29554, 32755, AGC= 66, IDX= 415,-0.36, 2.399, 0.426, 2.083, 1.944, PHS= 0.557,-1.473, 0.095, RAW= 137.5,   8.9, CAL= 137.2,   9.9, ROT=  12.8,  -9.9

2025-08-22T17:00:52.119Z,1755882052.119 [DAT](INFO): got valid direction response:
 17:00:52.2096 LVL= 27376, 32753, 29554, 32755, AGC= 66, IDX= 415,-0.36, 2.399, 0.426, 2.083, 1.944, PHS= 0.557,-1.473, 0.095, RAW= 137.5,   8.9, CAL= 137.2,   9.9, ROT=  12.8,  -9.9

2025-08-22T17:00:52.120Z,1755882052.120 [DAT](INFO): DAT read: Bearing 207.1,  11.5 (Local)

2025-08-22T17:00:52.120Z,1755882052.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.1,  11.5 (Local)

2025-08-22T17:00:52.122Z,1755882052.122 [DAT](INFO): DAT read: Range 11 to 50 : 46.9 m  (Round-trip  62.6 ms) speed  0.4 m/s

2025-08-22T17:00:52.122Z,1755882052.122 [DAT](INFO): DAT read: user:383>

2025-08-22T17:00:52.123Z,1755882052.123 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:52.125Z,1755882052.125 [DAT](INFO): direction in FSK: [0.960629,0.218249,0.171929]
2025-08-22T17:00:52.126Z,1755882052.126 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:52.142Z,1755882052.142 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:52.142Z,1755882052.142 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:52.143Z,1755882052.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:52.244Z,1755882052.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.900002 m,
      deltaT: 3.529276 s,
      deltaX: -2.000000 m,
      approachRate: -0.566688 m/s,
      rangeRepo size: 4

2025-08-22T17:00:52.275Z,1755882052.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.600880 m,
      bearing: 50.890569 deg,
      lat: 36.779444 deg,
      lon: -121.859613 deg,
      deltaT: 3.529276 s,
      deltaX: -1.987587 m,
      approachRate: -0.563171 m/s,
      posRepo size: 4

2025-08-22T17:00:52.275Z,1755882052.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:52.282Z,1755882052.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 46.130043 m,
      bearing: 47.855727 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054814 deg/s,
      cmd heading: 35.465938 deg,
      new cmd heading: 35.413679 deg.

2025-08-22T17:00:52.283Z,1755882052.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618085 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:52.363Z,1755882052.363 [DAT](INFO): DAT read: Tx time:17:00:53.3428

2025-08-22T17:00:52.363Z,1755882052.363 [DAT](INFO): Ping request sent.
2025-08-22T17:00:52.363Z,1755882052.363 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:52.363Z,1755882052.363 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:52.364Z,1755882052.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-22T17:00:52.603Z,1755882052.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:52.610Z,1755882052.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 45.939056 m,
      bearing: 47.836108 deg,
      approach rate: -0.530651 m/s,
      LOS rate: -0.054738 deg/s,
      cmd heading: 35.413680 deg,
      new cmd heading: 35.374279 deg.

2025-08-22T17:00:52.611Z,1755882052.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617398 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:52.615Z,1755882052.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251402
2025-08-22T17:00:52.867Z,1755882052.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503350
2025-08-22T17:00:52.956Z,1755882052.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:52.959Z,1755882052.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 45.755764 m,
      bearing: 47.817471 deg,
      approach rate: -0.519837 m/s,
      LOS rate: -0.053068 deg/s,
      cmd heading: 35.374281 deg,
      new cmd heading: 35.336858 deg.

2025-08-22T17:00:52.960Z,1755882052.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616745 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:53.118Z,1755882053.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755248
2025-08-22T17:00:53.371Z,1755882053.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007394
2025-08-22T17:00:53.379Z,1755882053.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:53.382Z,1755882053.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 45.539368 m,
      bearing: 47.795275 deg,
      approach rate: -0.511160 m/s,
      LOS rate: -0.052681 deg/s,
      cmd heading: 35.336858 deg,
      new cmd heading: 35.292253 deg.

2025-08-22T17:00:53.383Z,1755882053.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615966 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:53.624Z,1755882053.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260733
2025-08-22T17:00:53.816Z,1755882053.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:53.822Z,1755882053.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:53.824Z,1755882053.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 45.321766 m,
      bearing: 47.772846 deg,
      approach rate: -0.496373 m/s,
      LOS rate: -0.051408 deg/s,
      cmd heading: 35.292253 deg,
      new cmd heading: 35.247181 deg.

2025-08-22T17:00:53.826Z,1755882053.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615179 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:53.875Z,1755882053.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512066
2025-08-22T17:00:54.128Z,1755882054.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764666
2025-08-22T17:00:54.198Z,1755882054.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:54.200Z,1755882054.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 45.117271 m,
      bearing: 47.752341 deg,
      approach rate: -0.538655 m/s,
      LOS rate: -0.054256 deg/s,
      cmd heading: 35.247181 deg,
      new cmd heading: 35.205986 deg.

2025-08-22T17:00:54.201Z,1755882054.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614460 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:54.380Z,1755882054.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016464
2025-08-22T17:00:54.615Z,1755882054.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:54.618Z,1755882054.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 44.901089 m,
      bearing: 47.729685 deg,
      approach rate: -0.517253 m/s,
      LOS rate: -0.054471 deg/s,
      cmd heading: 35.205985 deg,
      new cmd heading: 35.160453 deg.

2025-08-22T17:00:54.621Z,1755882054.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613666 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:54.632Z,1755882054.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268423
2025-08-22T17:00:54.883Z,1755882054.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519314
2025-08-22T17:00:54.977Z,1755882054.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:54.980Z,1755882054.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 44.713959 m,
      bearing: 47.710148 deg,
      approach rate: -0.517208 m/s,
      LOS rate: -0.054224 deg/s,
      cmd heading: 35.160455 deg,
      new cmd heading: 35.121218 deg.

2025-08-22T17:00:54.981Z,1755882054.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612981 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:55.135Z,1755882055.135 [DAT](INFO): DAT read: Rx Time:17:00:55.8073

2025-08-22T17:00:55.136Z,1755882055.136 [DAT](INFO): Rx dataTimestamp_ set to:1755882055.135314
2025-08-22T17:00:55.137Z,1755882055.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773753
2025-08-22T17:00:55.379Z,1755882055.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:55.382Z,1755882055.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 44.506187 m,
      bearing: 47.688124 deg,
      approach rate: -0.516484 m/s,
      LOS rate: -0.055002 deg/s,
      cmd heading: 35.121219 deg,
      new cmd heading: 35.076966 deg.

2025-08-22T17:00:55.383Z,1755882055.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612209 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:55.387Z,1755882055.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023391
2025-08-22T17:00:55.640Z,1755882055.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276756
2025-08-22T17:00:55.807Z,1755882055.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.60 m.
2025-08-22T17:00:55.809Z,1755882055.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.600880 m,
      nav range: 44.288845 m,
      bearing: 47.663795 deg,
      approach rate: -0.508797 m/s,
      LOS rate: -0.057234 deg/s,
      cmd heading: 35.076966 deg,
      new cmd heading: 35.028068 deg.

2025-08-22T17:00:55.810Z,1755882055.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611355 target range: 46.600880 and range: 46.90 m.
2025-08-22T17:00:55.897Z,1755882055.897 [DAT](INFO): DAT read: 17:00:55.8073 LVL= 24416, 32753, 27090, 32755, AGC= 64, IDX= 422, 0.18, 1.948,-0.036, 1.631, 1.469, PHS= 0.581,-1.460, 0.118, RAW= 137.5,   8.3, CAL= 137.2,   9.2, ROT=  12.8,  -9.2

2025-08-22T17:00:55.898Z,1755882055.898 [DAT](INFO): got valid direction response:
 17:00:55.8073 LVL= 24416, 32753, 27090, 32755, AGC= 64, IDX= 422, 0.18, 1.948,-0.036, 1.631, 1.469, PHS= 0.581,-1.460, 0.118, RAW= 137.5,   8.3, CAL= 137.2,   9.2, ROT=  12.8,  -9.2

2025-08-22T17:00:55.899Z,1755882055.899 [DAT](INFO): DAT read: Bearing 206.4,  11.1 (Local)

2025-08-22T17:00:55.900Z,1755882055.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.4,  11.1 (Local)

2025-08-22T17:00:55.901Z,1755882055.901 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m  (Round-trip  60.3 ms) speed  0.4 m/s

2025-08-22T17:00:55.902Z,1755882055.902 [DAT](INFO): DAT read: user:384>

2025-08-22T17:00:55.903Z,1755882055.903 [DAT](INFO): DAT read: Tx time:17:00:56.9428

2025-08-22T17:00:55.903Z,1755882055.903 [DAT](INFO): Ping request sent.
2025-08-22T17:00:55.903Z,1755882055.903 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:55.903Z,1755882055.903 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:55.904Z,1755882055.904 [DAT](INFO): direction in FSK: [0.962605,0.218699,0.159881]
2025-08-22T17:00:55.904Z,1755882055.904 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:55.905Z,1755882055.905 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:55.908Z,1755882055.908 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:55.908Z,1755882055.908 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:56.206Z,1755882056.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.200001 m,
      deltaT: 3.779435 s,
      deltaX: -1.700001 m,
      approachRate: -0.449803 m/s,
      rangeRepo size: 4

2025-08-22T17:00:56.208Z,1755882056.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.911636 m,
      bearing: 50.605160 deg,
      lat: 36.779434 deg,
      lon: -121.859599 deg,
      deltaT: 3.779435 s,
      deltaX: -1.689243 m,
      approachRate: -0.446957 m/s,
      posRepo size: 4

2025-08-22T17:00:56.209Z,1755882056.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:56.212Z,1755882056.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 44.307896 m,
      bearing: 49.832775 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057234 deg/s,
      cmd heading: 35.028068 deg,
      new cmd heading: 34.982440 deg.

2025-08-22T17:00:56.213Z,1755882056.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610559 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:56.635Z,1755882056.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:56.638Z,1755882056.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:56.647Z,1755882056.647 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:00:56.648Z,1755882056.648 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:00:56.648Z,1755882056.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:00:56.663Z,1755882056.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 44.086342 m,
      bearing: 49.822737 deg,
      approach rate: -0.511418 m/s,
      LOS rate: -0.023287 deg/s,
      cmd heading: 34.982439 deg,
      new cmd heading: 34.962263 deg.

2025-08-22T17:00:56.664Z,1755882056.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610207 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:56.899Z,1755882056.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995549
2025-08-22T17:00:57.004Z,1755882057.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:57.007Z,1755882057.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 43.894863 m,
      bearing: 49.813991 deg,
      approach rate: -0.525651 m/s,
      LOS rate: -0.024114 deg/s,
      cmd heading: 34.962263 deg,
      new cmd heading: 34.944695 deg.

2025-08-22T17:00:57.008Z,1755882057.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609900 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:57.151Z,1755882057.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247738
2025-08-22T17:00:57.403Z,1755882057.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499595
2025-08-22T17:00:57.404Z,1755882057.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:57.407Z,1755882057.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 43.687653 m,
      bearing: 49.804529 deg,
      approach rate: -0.516082 m/s,
      LOS rate: -0.023679 deg/s,
      cmd heading: 34.944696 deg,
      new cmd heading: 34.925681 deg.

2025-08-22T17:00:57.408Z,1755882057.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609568 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:57.655Z,1755882057.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751460
2025-08-22T17:00:57.823Z,1755882057.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:57.826Z,1755882057.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 43.467518 m,
      bearing: 49.788097 deg,
      approach rate: -0.525484 m/s,
      LOS rate: -0.039425 deg/s,
      cmd heading: 34.925681 deg,
      new cmd heading: 34.892649 deg.

2025-08-22T17:00:57.827Z,1755882057.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608992 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:57.911Z,1755882057.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008086
2025-08-22T17:00:58.163Z,1755882058.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260219
2025-08-22T17:00:58.218Z,1755882058.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:58.221Z,1755882058.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 43.260765 m,
      bearing: 49.772717 deg,
      approach rate: -0.524103 m/s,
      LOS rate: -0.039172 deg/s,
      cmd heading: 34.892650 deg,
      new cmd heading: 34.861744 deg.

2025-08-22T17:00:58.222Z,1755882058.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608452 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:58.415Z,1755882058.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511756
2025-08-22T17:00:58.658Z,1755882058.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:00:58.660Z,1755882058.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:58.663Z,1755882058.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 43.036304 m,
      bearing: 49.757942 deg,
      approach rate: -0.507049 m/s,
      LOS rate: -0.033550 deg/s,
      cmd heading: 34.861743 deg,
      new cmd heading: 34.832039 deg.

2025-08-22T17:00:58.664Z,1755882058.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607934 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:58.675Z,1755882058.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771470
2025-08-22T17:00:58.928Z,1755882058.928 [DAT](INFO): DAT read: Rx Time:17:00:59.4048

2025-08-22T17:00:58.928Z,1755882058.928 [DAT](INFO): Rx dataTimestamp_ set to:1755882058.927720
2025-08-22T17:00:58.929Z,1755882058.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025491
2025-08-22T17:00:59.028Z,1755882059.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:59.043Z,1755882059.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 42.849403 m,
      bearing: 49.745768 deg,
      approach rate: -0.508565 m/s,
      LOS rate: -0.033271 deg/s,
      cmd heading: 34.832039 deg,
      new cmd heading: 34.807584 deg.

2025-08-22T17:00:59.044Z,1755882059.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607507 target range: 44.911636 and range: 45.20 m.
2025-08-22T17:00:59.179Z,1755882059.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276040
2025-08-22T17:00:59.436Z,1755882059.436 [DAT](INFO): DAT read: 17:00:59.4048 LVL= 26192, 32753, 28706, 32755, AGC= 65, IDX= 413,-0.17, 2.361, 0.357, 2.025, 1.900, PHS= 0.562,-1.499, 0.081, RAW= 137.1,   9.2, CAL= 136.8,  10.2, ROT=  13.2, -10.2

2025-08-22T17:00:59.437Z,1755882059.437 [DAT](INFO): got valid direction response:
 17:00:59.4048 LVL= 26192, 32753, 28706, 32755, AGC= 65, IDX= 413,-0.17, 2.361, 0.357, 2.025, 1.900, PHS= 0.562,-1.499, 0.081, RAW= 137.1,   9.2, CAL= 136.8,  10.2, ROT=  13.2, -10.2

2025-08-22T17:00:59.438Z,1755882059.438 [DAT](INFO): DAT read: Bearing 207.1,  11.8 (Local)

2025-08-22T17:00:59.439Z,1755882059.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.1,  11.8 (Local)

2025-08-22T17:00:59.440Z,1755882059.440 [DAT](INFO): DAT read: Range 11 to 50 : 43.4 m  (Round-trip  57.9 ms) speed  0.4 m/s

2025-08-22T17:00:59.441Z,1755882059.441 [DAT](INFO): DAT read: user:385>

2025-08-22T17:00:59.441Z,1755882059.441 [DAT](INFO): DAT read: Tx time:17:01:00.4928

2025-08-22T17:00:59.442Z,1755882059.442 [DAT](INFO): Ping request sent.
2025-08-22T17:00:59.442Z,1755882059.442 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:00:59.442Z,1755882059.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:00:59.443Z,1755882059.443 [DAT](INFO): direction in FSK: [0.958192,0.224742,0.177085]
2025-08-22T17:00:59.443Z,1755882059.443 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:59.444Z,1755882059.444 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:59.447Z,1755882059.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.400002 m,
      deltaT: 3.539313 s,
      deltaX: -1.799999 m,
      approachRate: -0.508573 m/s,
      rangeRepo size: 4

2025-08-22T17:00:59.448Z,1755882059.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:59.451Z,1755882059.451 [DAT](INFO): publishing transmit ping time
2025-08-22T17:00:59.451Z,1755882059.451 [DAT](INFO): publishing direction and range info
2025-08-22T17:00:59.459Z,1755882059.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 42.651337 m,
      bearing: 49.732872 deg,
      approach rate: -0.473018 m/s,
      LOS rate: -0.030941 deg/s,
      cmd heading: 34.807583 deg,
      new cmd heading: 34.781671 deg.

2025-08-22T17:00:59.460Z,1755882059.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607055 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:00:59.860Z,1755882059.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:00:59.863Z,1755882059.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 42.423359 m,
      bearing: 49.717633 deg,
      approach rate: -0.551306 m/s,
      LOS rate: -0.037049 deg/s,
      cmd heading: 34.781673 deg,
      new cmd heading: 34.751032 deg.

2025-08-22T17:00:59.864Z,1755882059.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606520 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:00.239Z,1755882060.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:00.242Z,1755882060.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 42.224449 m,
      bearing: 49.704407 deg,
      approach rate: -0.525251 m/s,
      LOS rate: -0.035089 deg/s,
      cmd heading: 34.751033 deg,
      new cmd heading: 34.724456 deg.

2025-08-22T17:01:00.243Z,1755882060.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606056 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:00.699Z,1755882060.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:00.701Z,1755882060.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:00.704Z,1755882060.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 41.987671 m,
      bearing: 49.690435 deg,
      approach rate: -0.512371 m/s,
      LOS rate: -0.030406 deg/s,
      cmd heading: 34.724456 deg,
      new cmd heading: 34.696353 deg.

2025-08-22T17:01:00.705Z,1755882060.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605566 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:00.942Z,1755882060.942 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:01:00.942Z,1755882060.942 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:01:00.943Z,1755882060.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:01:01.051Z,1755882061.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:01.074Z,1755882061.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 41.808186 m,
      bearing: 49.680225 deg,
      approach rate: -0.513060 m/s,
      LOS rate: -0.029309 deg/s,
      cmd heading: 34.696354 deg,
      new cmd heading: 34.675847 deg.

2025-08-22T17:01:01.075Z,1755882061.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605208 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:01.195Z,1755882061.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753046
2025-08-22T17:01:01.447Z,1755882061.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004713
2025-08-22T17:01:01.448Z,1755882061.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:01.451Z,1755882061.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 41.605328 m,
      bearing: 49.668828 deg,
      approach rate: -0.510729 m/s,
      LOS rate: -0.028836 deg/s,
      cmd heading: 34.675846 deg,
      new cmd heading: 34.652939 deg.

2025-08-22T17:01:01.452Z,1755882061.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604808 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:01.699Z,1755882061.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256636
2025-08-22T17:01:01.845Z,1755882061.845 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720482149,35.0, +10.2,   .9,  0
2025-08-22T17:01:01.888Z,1755882061.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:01.891Z,1755882061.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 41.379303 m,
      bearing: 49.656275 deg,
      approach rate: -0.514065 m/s,
      LOS rate: -0.028705 deg/s,
      cmd heading: 34.652941 deg,
      new cmd heading: 34.627699 deg.

2025-08-22T17:01:01.892Z,1755882061.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604367 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:01.952Z,1755882061.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509702
2025-08-22T17:01:02.202Z,1755882062.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760531
2025-08-22T17:01:02.261Z,1755882062.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:02.264Z,1755882062.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 41.187962 m,
      bearing: 49.646059 deg,
      approach rate: -0.512530 m/s,
      LOS rate: -0.027492 deg/s,
      cmd heading: 34.627700 deg,
      new cmd heading: 34.607173 deg.

2025-08-22T17:01:02.265Z,1755882062.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604009 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:02.455Z,1755882062.455 [DAT](INFO): DAT read: Rx Time:17:01:02.9524

2025-08-22T17:01:02.455Z,1755882062.455 [DAT](INFO): Rx dataTimestamp_ set to:1755882062.455040
2025-08-22T17:01:02.456Z,1755882062.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013991
2025-08-22T17:01:02.695Z,1755882062.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.91 m.
2025-08-22T17:01:02.698Z,1755882062.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.911636 m,
      nav range: 40.964153 m,
      bearing: 49.638834 deg,
      approach rate: -0.516132 m/s,
      LOS rate: -0.016754 deg/s,
      cmd heading: 34.607172 deg,
      new cmd heading: 34.592642 deg.

2025-08-22T17:01:02.699Z,1755882062.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603755 target range: 44.911636 and range: 43.40 m.
2025-08-22T17:01:02.707Z,1755882062.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264818
2025-08-22T17:01:02.964Z,1755882062.964 [DAT](INFO): DAT read: 17:01:02.9524 LVL= 24816, 32753, 27490, 32755, AGC= 65, IDX= 421,-0.04,-0.844,-2.849,-1.192,-1.315, PHS= 0.573,-1.489, 0.079, RAW= 136.7,   9.0, CAL= 136.4,  10.0, ROT=  13.6, -10.0

2025-08-22T17:01:02.965Z,1755882062.965 [DAT](INFO): got valid direction response:
 17:01:02.9524 LVL= 24816, 32753, 27490, 32755, AGC= 65, IDX= 421,-0.04,-0.844,-2.849,-1.192,-1.315, PHS= 0.573,-1.489, 0.079, RAW= 136.7,   9.0, CAL= 136.4,  10.0, ROT=  13.6, -10.0

2025-08-22T17:01:02.966Z,1755882062.966 [DAT](INFO): DAT read: Bearing 206.6,  11.8 (Local)

2025-08-22T17:01:02.966Z,1755882062.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.6,  11.8 (Local)

2025-08-22T17:01:02.968Z,1755882062.968 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m  (Round-trip  55.5 ms) speed  0.4 m/s

2025-08-22T17:01:02.969Z,1755882062.969 [DAT](INFO): DAT read: user:386>

2025-08-22T17:01:02.969Z,1755882062.969 [DAT](INFO): DAT read: Tx time:17:01:04.0427

2025-08-22T17:01:02.970Z,1755882062.970 [DAT](INFO): Ping request sent.
2025-08-22T17:01:02.970Z,1755882062.970 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:02.970Z,1755882062.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:01:02.971Z,1755882062.971 [DAT](INFO): direction in FSK: [0.957195,0.231570,0.173648]
2025-08-22T17:01:02.971Z,1755882062.971 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:02.971Z,1755882062.971 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:03.003Z,1755882063.003 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:03.003Z,1755882063.003 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:03.139Z,1755882063.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.599998 m,
      deltaT: 3.527897 s,
      deltaX: -1.800003 m,
      approachRate: -0.510220 m/s,
      rangeRepo size: 4

2025-08-22T17:01:03.141Z,1755882063.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.334644 m,
      bearing: 50.588429 deg,
      lat: 36.779430 deg,
      lon: -121.859593 deg,
      deltaT: 7.067210 s,
      deltaX: -3.576992 m,
      approachRate: -0.506139 m/s,
      posRepo size: 4

2025-08-22T17:01:03.146Z,1755882063.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:03.149Z,1755882063.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 40.891521 m,
      bearing: 50.586152 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016754 deg/s,
      cmd heading: 34.592641 deg,
      new cmd heading: 34.577931 deg.

2025-08-22T17:01:03.157Z,1755882063.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603499 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:03.488Z,1755882063.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:03.490Z,1755882063.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:03.493Z,1755882063.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 40.690250 m,
      bearing: 50.585055 deg,
      approach rate: -0.565149 m/s,
      LOS rate: -0.003095 deg/s,
      cmd heading: 34.577932 deg,
      new cmd heading: 34.575727 deg.

2025-08-22T17:01:03.494Z,1755882063.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603460 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:03.714Z,1755882063.714 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:01:03.714Z,1755882063.714 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:01:03.715Z,1755882063.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:01:03.934Z,1755882063.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:03.936Z,1755882063.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 40.470139 m,
      bearing: 50.587390 deg,
      approach rate: -0.519157 m/s,
      LOS rate: 0.005538 deg/s,
      cmd heading: 34.575726 deg,
      new cmd heading: 34.580421 deg.

2025-08-22T17:01:03.942Z,1755882063.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603542 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:03.967Z,1755882063.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996897
2025-08-22T17:01:04.219Z,1755882064.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248805
2025-08-22T17:01:04.301Z,1755882064.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:04.304Z,1755882064.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 40.269039 m,
      bearing: 50.590114 deg,
      approach rate: -0.518918 m/s,
      LOS rate: 0.007064 deg/s,
      cmd heading: 34.580421 deg,
      new cmd heading: 34.585896 deg.

2025-08-22T17:01:04.305Z,1755882064.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603638 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:04.471Z,1755882064.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500877
2025-08-22T17:01:04.723Z,1755882064.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752875
2025-08-22T17:01:04.728Z,1755882064.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:04.731Z,1755882064.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 40.061584 m,
      bearing: 50.587136 deg,
      approach rate: -0.485496 m/s,
      LOS rate: -0.007005 deg/s,
      cmd heading: 34.585896 deg,
      new cmd heading: 34.579909 deg.

2025-08-22T17:01:04.732Z,1755882064.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603533 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:04.975Z,1755882064.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004853
2025-08-22T17:01:05.155Z,1755882065.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:05.161Z,1755882065.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 39.855122 m,
      bearing: 50.584044 deg,
      approach rate: -0.483886 m/s,
      LOS rate: -0.007285 deg/s,
      cmd heading: 34.579909 deg,
      new cmd heading: 34.573692 deg.

2025-08-22T17:01:05.163Z,1755882065.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603425 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:05.227Z,1755882065.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257032
2025-08-22T17:01:05.478Z,1755882065.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508708
2025-08-22T17:01:05.724Z,1755882065.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:05.731Z,1755882065.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760932
2025-08-22T17:01:05.731Z,1755882065.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:05.738Z,1755882065.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 39.565674 m,
      bearing: 50.583424 deg,
      approach rate: -0.507384 m/s,
      LOS rate: -0.001095 deg/s,
      cmd heading: 34.573694 deg,
      new cmd heading: 34.572444 deg.

2025-08-22T17:01:05.739Z,1755882065.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603403 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:05.982Z,1755882065.982 [DAT](INFO): DAT read: Rx Time:17:01:06.5000

2025-08-22T17:01:05.983Z,1755882065.983 [DAT](INFO): Rx dataTimestamp_ set to:1755882065.982661
2025-08-22T17:01:05.983Z,1755882065.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013776
2025-08-22T17:01:06.211Z,1755882066.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m.
2025-08-22T17:01:06.214Z,1755882066.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.334644 m,
      nav range: 39.313126 m,
      bearing: 50.582539 deg,
      approach rate: -0.520708 m/s,
      LOS rate: -0.001836 deg/s,
      cmd heading: 34.572444 deg,
      new cmd heading: 34.570662 deg.

2025-08-22T17:01:06.215Z,1755882066.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603372 target range: 41.334644 and range: 41.60 m.
2025-08-22T17:01:06.248Z,1755882066.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277728
2025-08-22T17:01:06.504Z,1755882066.504 [DAT](INFO): DAT read: 17:01:06.5000 LVL= 26608, 32753, 27090, 32755, AGC= 64, IDX= 412,-0.26, 2.225, 0.235, 1.873, 1.761, PHS= 0.566,-1.481, 0.068, RAW= 136.5,   9.2, CAL= 136.2,  10.2, ROT=  13.8, -10.2

2025-08-22T17:01:06.505Z,1755882066.505 [DAT](INFO): got valid direction response:
 17:01:06.5000 LVL= 26608, 32753, 27090, 32755, AGC= 64, IDX= 412,-0.26, 2.225, 0.235, 1.873, 1.761, PHS= 0.566,-1.481, 0.068, RAW= 136.5,   9.2, CAL= 136.2,  10.2, ROT=  13.8, -10.2

2025-08-22T17:01:06.511Z,1755882066.511 [DAT](INFO): DAT read: Bearing 206.5,  12.2 (Local)

2025-08-22T17:01:06.511Z,1755882066.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5,  12.2 (Local)

2025-08-22T17:01:06.513Z,1755882066.513 [DAT](INFO): DAT read: Range 11 to 50 : 39.8 m  (Round-trip  53.1 ms) speed  0.4 m/s

2025-08-22T17:01:06.528Z,1755882066.528 [DAT](INFO): DAT read: user:387>

2025-08-22T17:01:06.529Z,1755882066.529 [DAT](INFO): DAT read: Tx time:17:01:07.5927

2025-08-22T17:01:06.529Z,1755882066.529 [DAT](INFO): Ping request sent.
2025-08-22T17:01:06.529Z,1755882066.529 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:06.530Z,1755882066.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:01:06.531Z,1755882066.531 [DAT](INFO): direction in FSK: [0.955786,0.234764,0.177085]
2025-08-22T17:01:06.531Z,1755882066.531 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:06.531Z,1755882066.531 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:06.570Z,1755882066.570 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:06.570Z,1755882066.570 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:06.724Z,1755882066.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.799999 m,
      deltaT: 3.540058 s,
      deltaX: -1.799999 m,
      approachRate: -0.508466 m/s,
      rangeRepo size: 4

2025-08-22T17:01:06.734Z,1755882066.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.546017 m,
      bearing: 50.571527 deg,
      lat: 36.779430 deg,
      lon: -121.859593 deg,
      deltaT: 3.540058 s,
      deltaX: -1.788628 m,
      approachRate: -0.505254 m/s,
      posRepo size: 4

2025-08-22T17:01:06.735Z,1755882066.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:06.737Z,1755882066.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 39.098186 m,
      bearing: 50.583942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001836 deg/s,
      cmd heading: 34.570661 deg,
      new cmd heading: 34.568780 deg.

2025-08-22T17:01:06.742Z,1755882066.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603339 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:07.112Z,1755882067.112 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T17:01:07.112Z,1755882067.112 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:01:07.113Z,1755882067.113 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T17:01:07.115Z,1755882067.115 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.799999 m (mode  2.000000 count ).
2025-08-22T17:01:07.116Z,1755882067.116 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T17:01:07.116Z,1755882067.116 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T17:01:07.120Z,1755882067.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:07.140Z,1755882067.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 38.851212 m,
      bearing: 50.577067 deg,
      approach rate: -0.622349 m/s,
      LOS rate: -0.017436 deg/s,
      cmd heading: 34.568779 deg,
      new cmd heading: 34.554940 deg.

2025-08-22T17:01:07.141Z,1755882067.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603097 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:07.483Z,1755882067.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T17:01:07.483Z,1755882067.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T17:01:07.486Z,1755882067.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:07.488Z,1755882067.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 38.656994 m,
      bearing: 50.571271 deg,
      approach rate: -0.531019 m/s,
      LOS rate: -0.015927 deg/s,
      cmd heading: 34.554941 deg,
      new cmd heading: 34.543291 deg.

2025-08-22T17:01:07.490Z,1755882067.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602894 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:07.916Z,1755882067.916 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T17:01:07.916Z,1755882067.916 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T17:01:07.916Z,1755882067.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:07.919Z,1755882067.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:07.922Z,1755882067.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 38.446800 m,
      bearing: 50.559697 deg,
      approach rate: -0.485389 m/s,
      LOS rate: -0.026872 deg/s,
      cmd heading: 34.543292 deg,
      new cmd heading: 34.520019 deg.

2025-08-22T17:01:07.923Z,1755882067.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602488 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:08.012Z,1755882068.012 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:01:08.012Z,1755882068.012 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:01:08.013Z,1755882068.013 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T17:01:08.263Z,1755882068.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733363
2025-08-22T17:01:08.306Z,1755882068.306 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T17:01:08.307Z,1755882068.307 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:01:08.307Z,1755882068.307 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T17:01:08.307Z,1755882068.307 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:01:08.309Z,1755882068.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:08.319Z,1755882068.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 38.264442 m,
      bearing: 50.549454 deg,
      approach rate: -0.466983 m/s,
      LOS rate: -0.026357 deg/s,
      cmd heading: 34.520019 deg,
      new cmd heading: 34.499433 deg.

2025-08-22T17:01:08.320Z,1755882068.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602129 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:08.515Z,1755882068.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985953
2025-08-22T17:01:08.767Z,1755882068.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237479
2025-08-22T17:01:08.791Z,1755882068.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:08.798Z,1755882068.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 38.017078 m,
      bearing: 50.536830 deg,
      approach rate: -0.513519 m/s,
      LOS rate: -0.026377 deg/s,
      cmd heading: 34.499432 deg,
      new cmd heading: 34.474020 deg.

2025-08-22T17:01:08.799Z,1755882068.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601685 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:09.018Z,1755882069.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489259
2025-08-22T17:01:09.164Z,1755882069.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:09.189Z,1755882069.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 37.826824 m,
      bearing: 50.527151 deg,
      approach rate: -0.509843 m/s,
      LOS rate: -0.026067 deg/s,
      cmd heading: 34.474021 deg,
      new cmd heading: 34.454566 deg.

2025-08-22T17:01:09.194Z,1755882069.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601346 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:09.272Z,1755882069.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742377
2025-08-22T17:01:09.523Z,1755882069.523 [DAT](INFO): DAT read: Rx Time:17:01:10.0476

2025-08-22T17:01:09.523Z,1755882069.523 [DAT](INFO): Rx dataTimestamp_ set to:1755882069.522730
2025-08-22T17:01:09.524Z,1755882069.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994371
2025-08-22T17:01:09.579Z,1755882069.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:09.582Z,1755882069.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 37.615173 m,
      bearing: 50.516789 deg,
      approach rate: -0.509998 m/s,
      LOS rate: -0.025110 deg/s,
      cmd heading: 34.454565 deg,
      new cmd heading: 34.433724 deg.

2025-08-22T17:01:09.583Z,1755882069.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600982 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:09.775Z,1755882069.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245343
2025-08-22T17:01:10.007Z,1755882070.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:10.009Z,1755882070.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.55 m.
2025-08-22T17:01:10.013Z,1755882070.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.546017 m,
      nav range: 37.397415 m,
      bearing: 50.508526 deg,
      approach rate: -0.506140 m/s,
      LOS rate: -0.019316 deg/s,
      cmd heading: 34.433723 deg,
      new cmd heading: 34.417101 deg.

2025-08-22T17:01:10.015Z,1755882070.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600692 target range: 39.546017 and range: 39.80 m.
2025-08-22T17:01:10.032Z,1755882070.032 [DAT](INFO): DAT read: 17:01:10.0476 LVL= 26032, 32753, 28866, 32755, AGC= 62, IDX= 420,-0.35,-0.724,-2.679,-1.057,-1.177, PHS= 0.555,-1.457, 0.076, RAW= 136.8,   9.1, CAL= 136.5,  10.1, ROT=  13.5, -10.1

2025-08-22T17:01:10.033Z,1755882070.033 [DAT](INFO): got valid direction response:
 17:01:10.0476 LVL= 26032, 32753, 28866, 32755, AGC= 62, IDX= 420,-0.35,-0.724,-2.679,-1.057,-1.177, PHS= 0.555,-1.457, 0.076, RAW= 136.8,   9.1, CAL= 136.5,  10.1, ROT=  13.5, -10.1

2025-08-22T17:01:10.034Z,1755882070.034 [DAT](INFO): DAT read: Bearing 206.3,  12.4 (Local)

2025-08-22T17:01:10.035Z,1755882070.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,  12.4 (Local)

2025-08-22T17:01:10.036Z,1755882070.036 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m  (Round-trip  50.7 ms) speed  0.4 m/s

2025-08-22T17:01:10.037Z,1755882070.037 [DAT](INFO): DAT read: user:388>

2025-08-22T17:01:10.037Z,1755882070.037 [DAT](INFO): DAT read: Tx time:17:01:11.1427

2025-08-22T17:01:10.038Z,1755882070.038 [DAT](INFO): Ping request sent.
2025-08-22T17:01:10.038Z,1755882070.038 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:10.038Z,1755882070.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:01:10.039Z,1755882070.039 [DAT](INFO): direction in FSK: [0.957301,0.229828,0.175367]
2025-08-22T17:01:10.039Z,1755882070.039 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:10.039Z,1755882070.039 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:10.043Z,1755882070.043 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:10.043Z,1755882070.043 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:10.046Z,1755882070.046 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008698
2025-08-22T17:01:10.280Z,1755882070.280 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.242108
2025-08-22T17:01:10.389Z,1755882070.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.000000 m,
      deltaT: 3.527963 s,
      deltaX: -1.799999 m,
      approachRate: -0.510209 m/s,
      rangeRepo size: 4

2025-08-22T17:01:10.391Z,1755882070.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.757328 m,
      bearing: 50.077191 deg,
      lat: 36.779430 deg,
      lon: -121.859593 deg,
      deltaT: 3.527963 s,
      deltaX: -1.788689 m,
      approachRate: -0.507003 m/s,
      posRepo size: 4

2025-08-22T17:01:10.392Z,1755882070.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:10.395Z,1755882070.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 37.208477 m,
      bearing: 50.499253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019316 deg/s,
      cmd heading: 34.417101 deg,
      new cmd heading: 34.402448 deg.

2025-08-22T17:01:10.396Z,1755882070.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600436 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:10.531Z,1755882070.531 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492817
2025-08-22T17:01:10.783Z,1755882070.783 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744843
2025-08-22T17:01:10.828Z,1755882070.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:10.848Z,1755882070.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 36.989597 m,
      bearing: 50.500750 deg,
      approach rate: -0.497462 m/s,
      LOS rate: 0.003420 deg/s,
      cmd heading: 34.402447 deg,
      new cmd heading: 34.405457 deg.

2025-08-22T17:01:10.849Z,1755882070.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600488 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:11.035Z,1755882071.035 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996790
2025-08-22T17:01:11.215Z,1755882071.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:11.217Z,1755882071.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 36.779999 m,
      bearing: 50.502747 deg,
      approach rate: -0.542792 m/s,
      LOS rate: 0.005203 deg/s,
      cmd heading: 34.405456 deg,
      new cmd heading: 34.409474 deg.

2025-08-22T17:01:11.218Z,1755882071.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600559 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:11.291Z,1755882071.291 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.252266
2025-08-22T17:01:11.538Z,1755882071.538 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500709
2025-08-22T17:01:11.622Z,1755882071.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:11.625Z,1755882071.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 36.572681 m,
      bearing: 50.505185 deg,
      approach rate: -0.508646 m/s,
      LOS rate: 0.006015 deg/s,
      cmd heading: 34.409475 deg,
      new cmd heading: 34.414379 deg.

2025-08-22T17:01:11.626Z,1755882071.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600644 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:11.791Z,1755882071.791 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.752916
2025-08-22T17:01:12.017Z,1755882072.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:12.019Z,1755882072.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:12.022Z,1755882072.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 36.360577 m,
      bearing: 50.505004 deg,
      approach rate: -0.533995 m/s,
      LOS rate: -0.000460 deg/s,
      cmd heading: 34.414379 deg,
      new cmd heading: 34.414014 deg.

2025-08-22T17:01:12.023Z,1755882072.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600638 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:12.043Z,1755882072.043 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004874
2025-08-22T17:01:12.295Z,1755882072.295 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.257121
2025-08-22T17:01:12.395Z,1755882072.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:12.398Z,1755882072.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 36.162121 m,
      bearing: 50.505010 deg,
      approach rate: -0.527878 m/s,
      LOS rate: 0.000016 deg/s,
      cmd heading: 34.414014 deg,
      new cmd heading: 34.414026 deg.

2025-08-22T17:01:12.399Z,1755882072.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600638 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:12.547Z,1755882072.547 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.508814
2025-08-22T17:01:12.799Z,1755882072.799 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.761438
2025-08-22T17:01:12.845Z,1755882072.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:12.848Z,1755882072.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 35.928406 m,
      bearing: 50.504784 deg,
      approach rate: -0.520044 m/s,
      LOS rate: -0.000506 deg/s,
      cmd heading: 34.414028 deg,
      new cmd heading: 34.413573 deg.

2025-08-22T17:01:12.849Z,1755882072.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600630 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:13.051Z,1755882073.051 [DAT](INFO): DAT read: Rx Time:17:01:13.5952

2025-08-22T17:01:13.051Z,1755882073.051 [DAT](INFO): Rx dataTimestamp_ set to:1755882073.050965
2025-08-22T17:01:13.052Z,1755882073.052 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.014066
2025-08-22T17:01:13.241Z,1755882073.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:01:13.243Z,1755882073.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.757328 m,
      nav range: 35.722492 m,
      bearing: 50.504624 deg,
      approach rate: -0.520308 m/s,
      LOS rate: -0.000406 deg/s,
      cmd heading: 34.413573 deg,
      new cmd heading: 34.413252 deg.

2025-08-22T17:01:13.244Z,1755882073.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600625 target range: 37.757328 and range: 38.00 m.
2025-08-22T17:01:13.303Z,1755882073.303 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.264905
2025-08-22T17:01:13.560Z,1755882073.560 [DAT](INFO): DAT read: 17:01:13.5952 LVL= 25120, 32753, 26258, 32755, AGC= 63, IDX= 412,-0.13, 2.452, 0.481, 2.113, 1.994, PHS= 0.560,-1.468, 0.075, RAW= 136.8,   9.1, CAL= 136.4,  10.1, ROT=  13.6, -10.1

2025-08-22T17:01:13.561Z,1755882073.561 [DAT](INFO): got valid direction response:
 17:01:13.5952 LVL= 25120, 32753, 26258, 32755, AGC= 63, IDX= 412,-0.13, 2.452, 0.481, 2.113, 1.994, PHS= 0.560,-1.468, 0.075, RAW= 136.8,   9.1, CAL= 136.4,  10.1, ROT=  13.6, -10.1

2025-08-22T17:01:13.567Z,1755882073.567 [DAT](INFO): DAT read: Bearing 206.0,  12.8 (Local)

2025-08-22T17:01:13.568Z,1755882073.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.0,  12.8 (Local)

2025-08-22T17:01:13.569Z,1755882073.569 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.4 ms) speed  0.4 m/s

2025-08-22T17:01:13.576Z,1755882073.576 [DAT](INFO): DAT read: user:389>

2025-08-22T17:01:13.577Z,1755882073.577 [DAT](INFO): DAT read: Tx time:17:01:14.6926

2025-08-22T17:01:13.577Z,1755882073.577 [DAT](INFO): Ping request sent.
2025-08-22T17:01:13.577Z,1755882073.577 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:13.577Z,1755882073.577 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:01:13.578Z,1755882073.578 [DAT](INFO): direction in FSK: [0.956899,0.231498,0.175367]
2025-08-22T17:01:13.579Z,1755882073.579 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:13.579Z,1755882073.579 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:13.603Z,1755882073.603 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:13.604Z,1755882073.604 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:13.617Z,1755882073.617 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.040180
2025-08-22T17:01:13.771Z,1755882073.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.527977 s,
      deltaX: -1.700001 m,
      approachRate: -0.481863 m/s,
      rangeRepo size: 4

2025-08-22T17:01:13.787Z,1755882073.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.068317 m,
      bearing: 49.789608 deg,
      lat: 36.779430 deg,
      lon: -121.859593 deg,
      deltaT: 3.527977 s,
      deltaX: -1.689011 m,
      approachRate: -0.478748 m/s,
      posRepo size: 4

2025-08-22T17:01:13.787Z,1755882073.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:13.794Z,1755882073.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 35.483700 m,
      bearing: 50.490894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000406 deg/s,
      cmd heading: 34.413252 deg,
      new cmd heading: 34.412828 deg.

2025-08-22T17:01:13.795Z,1755882073.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600617 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:13.807Z,1755882073.807 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.229704
2025-08-22T17:01:14.059Z,1755882074.059 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.482136
2025-08-22T17:01:14.164Z,1755882074.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:14.168Z,1755882074.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:14.172Z,1755882074.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 35.240833 m,
      bearing: 50.485352 deg,
      approach rate: -0.600886 m/s,
      LOS rate: -0.013806 deg/s,
      cmd heading: 34.412829 deg,
      new cmd heading: 34.401669 deg.

2025-08-22T17:01:14.190Z,1755882074.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600422 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:14.311Z,1755882074.311 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.733794
2025-08-22T17:01:14.525Z,1755882074.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:14.528Z,1755882074.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 35.058067 m,
      bearing: 50.481292 deg,
      approach rate: -0.511578 m/s,
      LOS rate: -0.011424 deg/s,
      cmd heading: 34.401668 deg,
      new cmd heading: 34.393506 deg.

2025-08-22T17:01:14.529Z,1755882074.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600280 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:14.563Z,1755882074.563 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.985931
2025-08-22T17:01:14.816Z,1755882074.816 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239298
2025-08-22T17:01:14.961Z,1755882074.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:14.963Z,1755882074.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 34.836597 m,
      bearing: 50.481162 deg,
      approach rate: -0.508386 m/s,
      LOS rate: -0.000300 deg/s,
      cmd heading: 34.393506 deg,
      new cmd heading: 34.393245 deg.

2025-08-22T17:01:14.964Z,1755882074.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600275 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:15.067Z,1755882075.067 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.490261
2025-08-22T17:01:15.318Z,1755882075.318 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.741520
2025-08-22T17:01:15.331Z,1755882075.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:15.335Z,1755882075.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 34.647472 m,
      bearing: 50.481239 deg,
      approach rate: -0.509844 m/s,
      LOS rate: 0.000209 deg/s,
      cmd heading: 34.393247 deg,
      new cmd heading: 34.393402 deg.

2025-08-22T17:01:15.336Z,1755882075.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600278 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:15.571Z,1755882075.571 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.993569
2025-08-22T17:01:15.753Z,1755882075.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:15.777Z,1755882075.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 34.442471 m,
      bearing: 50.481542 deg,
      approach rate: -0.505732 m/s,
      LOS rate: 0.000752 deg/s,
      cmd heading: 34.393400 deg,
      new cmd heading: 34.394010 deg.

2025-08-22T17:01:15.785Z,1755882075.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600289 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:15.823Z,1755882075.823 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.245674
2025-08-22T17:01:16.075Z,1755882076.075 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.498062
2025-08-22T17:01:16.197Z,1755882076.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:16.199Z,1755882076.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:16.202Z,1755882076.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 34.205082 m,
      bearing: 50.481487 deg,
      approach rate: -0.513536 m/s,
      LOS rate: -0.000120 deg/s,
      cmd heading: 34.394012 deg,
      new cmd heading: 34.393901 deg.

2025-08-22T17:01:16.203Z,1755882076.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600287 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:16.327Z,1755882076.327 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.750060
2025-08-22T17:01:16.580Z,1755882076.580 [DAT](INFO): DAT read: Rx Time:17:01:17.1426

2025-08-22T17:01:16.581Z,1755882076.581 [DAT](INFO): Rx dataTimestamp_ set to:1755882076.580255
2025-08-22T17:01:16.582Z,1755882076.582 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.005231
2025-08-22T17:01:16.596Z,1755882076.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:16.604Z,1755882076.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 34.010292 m,
      bearing: 50.482281 deg,
      approach rate: -0.492040 m/s,
      LOS rate: 0.002018 deg/s,
      cmd heading: 34.393899 deg,
      new cmd heading: 34.395497 deg.

2025-08-22T17:01:16.610Z,1755882076.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600315 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:16.835Z,1755882076.835 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.257665
2025-08-22T17:01:17.056Z,1755882077.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m.
2025-08-22T17:01:17.063Z,1755882077.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.068317 m,
      nav range: 33.804832 m,
      bearing: 50.481379 deg,
      approach rate: -0.446119 m/s,
      LOS rate: -0.001971 deg/s,
      cmd heading: 34.395497 deg,
      new cmd heading: 34.393681 deg.

2025-08-22T17:01:17.063Z,1755882077.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600283 target range: 36.068317 and range: 36.30 m.
2025-08-22T17:01:17.094Z,1755882077.094 [DAT](INFO): DAT read: 17:01:17.1426 LVL= 24112, 31041, 29234, 32755, AGC= 61, IDX= 418, 0.26, 0.638,-1.318, 0.330, 0.183, PHS= 0.557,-1.456, 0.102, RAW= 137.6,   8.8, CAL= 137.3,   9.7, ROT=  12.7,  -9.7

2025-08-22T17:01:17.095Z,1755882077.095 [DAT](INFO): got valid direction response:
 17:01:17.1426 LVL= 24112, 31041, 29234, 32755, AGC= 61, IDX= 418, 0.26, 0.638,-1.318, 0.330, 0.183, PHS= 0.557,-1.456, 0.102, RAW= 137.6,   8.8, CAL= 137.3,   9.7, ROT=  12.7,  -9.7

2025-08-22T17:01:17.097Z,1755882077.097 [DAT](INFO): DAT read: Bearing 205.2,  12.2 (Local)

2025-08-22T17:01:17.098Z,1755882077.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.2,  12.2 (Local)

2025-08-22T17:01:17.101Z,1755882077.101 [DAT](INFO): DAT read: Range 11 to 50 : 34.3 m  (Round-trip  45.8 ms) speed  0.4 m/s

2025-08-22T17:01:17.103Z,1755882077.103 [DAT](INFO): DAT read: user:390>

2025-08-22T17:01:17.105Z,1755882077.105 [DAT](INFO): DAT read: Tx time:17:01:18.2426

2025-08-22T17:01:17.105Z,1755882077.105 [DAT](INFO): Ping request sent.
2025-08-22T17:01:17.105Z,1755882077.105 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:17.106Z,1755882077.106 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T17:01:17.108Z,1755882077.108 [DAT](INFO): direction in FSK: [0.961588,0.216703,0.168489]
2025-08-22T17:01:17.108Z,1755882077.108 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:17.108Z,1755882077.108 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:17.112Z,1755882077.112 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:17.112Z,1755882077.112 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:17.128Z,1755882077.128 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.022822
2025-08-22T17:01:17.335Z,1755882077.335 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.230117
2025-08-22T17:01:17.455Z,1755882077.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.299999 m,
      deltaT: 3.529657 s,
      deltaX: -2.000000 m,
      approachRate: -0.566627 m/s,
      rangeRepo size: 4

2025-08-22T17:01:17.456Z,1755882077.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.081081 m,
      bearing: 48.587669 deg,
      lat: 36.779432 deg,
      lon: -121.859594 deg,
      deltaT: 3.529657 s,
      deltaX: -1.987236 m,
      approachRate: -0.563011 m/s,
      posRepo size: 4

2025-08-22T17:01:17.457Z,1755882077.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:17.476Z,1755882077.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 33.660480 m,
      bearing: 50.027593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001971 deg/s,
      cmd heading: 34.393681 deg,
      new cmd heading: 34.392111 deg.

2025-08-22T17:01:17.477Z,1755882077.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600256 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:17.587Z,1755882077.587 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.482369
2025-08-22T17:01:17.842Z,1755882077.842 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.735940
2025-08-22T17:01:17.900Z,1755882077.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:17.903Z,1755882077.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 33.430065 m,
      bearing: 50.021796 deg,
      approach rate: -0.515859 m/s,
      LOS rate: -0.013068 deg/s,
      cmd heading: 34.392110 deg,
      new cmd heading: 34.380435 deg.

2025-08-22T17:01:17.904Z,1755882077.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600052 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:18.091Z,1755882078.091 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.985410
2025-08-22T17:01:18.276Z,1755882078.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:18.278Z,1755882078.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:18.281Z,1755882078.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 33.237255 m,
      bearing: 50.016883 deg,
      approach rate: -0.510136 m/s,
      LOS rate: -0.013073 deg/s,
      cmd heading: 34.380437 deg,
      new cmd heading: 34.370554 deg.

2025-08-22T17:01:18.282Z,1755882078.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599879 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:18.343Z,1755882078.343 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.237604
2025-08-22T17:01:18.596Z,1755882078.596 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.490530
2025-08-22T17:01:18.659Z,1755882078.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:18.663Z,1755882078.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 33.042320 m,
      bearing: 50.012204 deg,
      approach rate: -0.511531 m/s,
      LOS rate: -0.012352 deg/s,
      cmd heading: 34.370554 deg,
      new cmd heading: 34.361140 deg.

2025-08-22T17:01:18.664Z,1755882078.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599715 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:18.849Z,1755882078.849 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.743310
2025-08-22T17:01:19.107Z,1755882079.107 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.001767
2025-08-22T17:01:19.115Z,1755882079.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:19.122Z,1755882079.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 32.821590 m,
      bearing: 50.008176 deg,
      approach rate: -0.484585 m/s,
      LOS rate: -0.008901 deg/s,
      cmd heading: 34.361138 deg,
      new cmd heading: 34.353029 deg.

2025-08-22T17:01:19.123Z,1755882079.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599573 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:19.359Z,1755882079.359 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.253446
2025-08-22T17:01:19.468Z,1755882079.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:19.487Z,1755882079.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 32.630615 m,
      bearing: 50.004874 deg,
      approach rate: -0.541270 m/s,
      LOS rate: -0.009415 deg/s,
      cmd heading: 34.353031 deg,
      new cmd heading: 34.346387 deg.

2025-08-22T17:01:19.490Z,1755882079.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599458 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:19.610Z,1755882079.610 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.505392
2025-08-22T17:01:19.865Z,1755882079.865 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.759488
2025-08-22T17:01:19.939Z,1755882079.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:19.942Z,1755882079.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 32.390808 m,
      bearing: 50.008877 deg,
      approach rate: -0.508853 m/s,
      LOS rate: 0.008557 deg/s,
      cmd heading: 34.346388 deg,
      new cmd heading: 34.354454 deg.

2025-08-22T17:01:19.943Z,1755882079.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599598 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:20.115Z,1755882080.115 [DAT](INFO): DAT read: Rx Time:17:01:20.6903

2025-08-22T17:01:20.115Z,1755882080.115 [DAT](INFO): Rx dataTimestamp_ set to:1755882080.114749
2025-08-22T17:01:20.116Z,1755882080.116 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.010492
2025-08-22T17:01:20.303Z,1755882080.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:20.305Z,1755882080.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.08 m.
2025-08-22T17:01:20.307Z,1755882080.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.081081 m,
      nav range: 32.204762 m,
      bearing: 50.012024 deg,
      approach rate: -0.508811 m/s,
      LOS rate: 0.008656 deg/s,
      cmd heading: 34.354455 deg,
      new cmd heading: 34.360785 deg.

2025-08-22T17:01:20.308Z,1755882080.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599709 target range: 34.081081 and range: 34.30 m.
2025-08-22T17:01:20.367Z,1755882080.367 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.261679
2025-08-22T17:01:20.624Z,1755882080.624 [DAT](INFO): DAT read: 17:01:20.6903 LVL= 25696, 30705, 29330, 32755, AGC= 62, IDX= 410, 0.43,-2.366, 1.923,-2.679,-2.829, PHS= 0.565,-1.485, 0.106, RAW= 137.7,   8.8, CAL= 137.4,   9.8, ROT=  12.6,  -9.8

2025-08-22T17:01:20.625Z,1755882080.625 [DAT](INFO): got valid direction response:
 17:01:20.6903 LVL= 25696, 30705, 29330, 32755, AGC= 62, IDX= 410, 0.43,-2.366, 1.923,-2.679,-2.829, PHS= 0.565,-1.485, 0.106, RAW= 137.7,   8.8, CAL= 137.4,   9.8, ROT=  12.6,  -9.8

2025-08-22T17:01:20.626Z,1755882080.626 [DAT](INFO): DAT read: Bearing 204.7,  12.5 (Local)

2025-08-22T17:01:20.626Z,1755882080.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.7,  12.5 (Local)

2025-08-22T17:01:20.628Z,1755882080.628 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m  (Round-trip  43.5 ms) speed  0.4 m/s

2025-08-22T17:01:20.629Z,1755882080.629 [DAT](INFO): DAT read: user:391>

2025-08-22T17:01:20.629Z,1755882080.629 [DAT](INFO): DAT read: Tx time:17:01:21.7926

2025-08-22T17:01:20.630Z,1755882080.630 [DAT](INFO): Ping request sent.
2025-08-22T17:01:20.630Z,1755882080.630 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:20.630Z,1755882080.630 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T17:01:20.631Z,1755882080.631 [DAT](INFO): direction in FSK: [0.961676,0.214960,0.170209]
2025-08-22T17:01:20.631Z,1755882080.631 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:20.631Z,1755882080.631 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:20.635Z,1755882080.635 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:20.635Z,1755882080.635 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:20.638Z,1755882080.638 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008524
2025-08-22T17:01:20.752Z,1755882080.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 3.534346 s,
      deltaX: -1.700001 m,
      approachRate: -0.480994 m/s,
      rangeRepo size: 4

2025-08-22T17:01:20.765Z,1755882080.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.391983 m,
      bearing: 48.147505 deg,
      lat: 36.779434 deg,
      lon: -121.859595 deg,
      deltaT: 3.534346 s,
      deltaX: -1.689098 m,
      approachRate: -0.477910 m/s,
      posRepo size: 4

2025-08-22T17:01:20.778Z,1755882080.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:20.780Z,1755882080.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 32.012062 m,
      bearing: 49.712856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008656 deg/s,
      cmd heading: 34.360786 deg,
      new cmd heading: 34.368518 deg.

2025-08-22T17:01:20.786Z,1755882080.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599844 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:20.876Z,1755882080.876 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.243421
2025-08-22T17:01:21.123Z,1755882081.123 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492857
2025-08-22T17:01:21.133Z,1755882081.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:21.136Z,1755882081.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 31.810444 m,
      bearing: 49.709723 deg,
      approach rate: -0.527943 m/s,
      LOS rate: -0.008257 deg/s,
      cmd heading: 34.368518 deg,
      new cmd heading: 34.362212 deg.

2025-08-22T17:01:21.137Z,1755882081.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599734 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:21.374Z,1755882081.374 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744758
2025-08-22T17:01:21.466Z,1755882081.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:01:21.509Z,1755882081.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:21.512Z,1755882081.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 31.629747 m,
      bearing: 49.707121 deg,
      approach rate: -0.480633 m/s,
      LOS rate: -0.006960 deg/s,
      cmd heading: 34.362210 deg,
      new cmd heading: 34.356977 deg.

2025-08-22T17:01:21.513Z,1755882081.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599642 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:21.627Z,1755882081.627 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.997048
2025-08-22T17:01:21.882Z,1755882081.882 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.251067
2025-08-22T17:01:21.962Z,1755882081.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:21.965Z,1755882081.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 31.394314 m,
      bearing: 49.704271 deg,
      approach rate: -0.519601 m/s,
      LOS rate: -0.006338 deg/s,
      cmd heading: 34.356979 deg,
      new cmd heading: 34.351235 deg.

2025-08-22T17:01:21.966Z,1755882081.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599542 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:22.130Z,1755882082.130 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.500737
2025-08-22T17:01:22.299Z,1755882082.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:22.302Z,1755882082.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 31.224735 m,
      bearing: 49.702517 deg,
      approach rate: -0.503003 m/s,
      LOS rate: -0.005232 deg/s,
      cmd heading: 34.351234 deg,
      new cmd heading: 34.347707 deg.

2025-08-22T17:01:22.303Z,1755882082.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599481 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:22.383Z,1755882082.383 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.753133
2025-08-22T17:01:22.470Z,1755882082.470 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:01:22.634Z,1755882082.634 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004743
2025-08-22T17:01:22.712Z,1755882082.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:22.714Z,1755882082.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:22.716Z,1755882082.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 31.016678 m,
      bearing: 49.700338 deg,
      approach rate: -0.502160 m/s,
      LOS rate: -0.005293 deg/s,
      cmd heading: 34.347707 deg,
      new cmd heading: 34.343320 deg.

2025-08-22T17:01:22.718Z,1755882082.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599404 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:22.889Z,1755882082.889 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.258959
2025-08-22T17:01:23.139Z,1755882083.139 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508895
2025-08-22T17:01:23.161Z,1755882083.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:23.167Z,1755882083.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 30.785034 m,
      bearing: 49.708695 deg,
      approach rate: -0.518300 m/s,
      LOS rate: 0.018839 deg/s,
      cmd heading: 34.343322 deg,
      new cmd heading: 34.360161 deg.

2025-08-22T17:01:23.168Z,1755882083.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599698 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:23.391Z,1755882083.391 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.761546
2025-08-22T17:01:23.525Z,1755882083.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:23.534Z,1755882083.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 30.601471 m,
      bearing: 49.716263 deg,
      approach rate: -0.503950 m/s,
      LOS rate: 0.020901 deg/s,
      cmd heading: 34.360161 deg,
      new cmd heading: 34.375388 deg.

2025-08-22T17:01:23.535Z,1755882083.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599964 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:23.643Z,1755882083.643 [DAT](INFO): DAT read: Rx Time:17:01:24.2380

2025-08-22T17:01:23.643Z,1755882083.643 [DAT](INFO): Rx dataTimestamp_ set to:1755882083.642800
2025-08-22T17:01:23.644Z,1755882083.644 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013913
2025-08-22T17:01:23.898Z,1755882083.898 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.267388
2025-08-22T17:01:24.006Z,1755882084.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-22T17:01:24.008Z,1755882084.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391983 m,
      nav range: 30.360226 m,
      bearing: 49.715046 deg,
      approach rate: -0.506194 m/s,
      LOS rate: -0.002573 deg/s,
      cmd heading: 34.375389 deg,
      new cmd heading: 34.372937 deg.

2025-08-22T17:01:24.013Z,1755882084.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599921 target range: 32.391983 and range: 32.60 m.
2025-08-22T17:01:24.158Z,1755882084.158 [DAT](INFO): DAT read: 17:01:24.2380 LVL= 24112, 31825, 29298, 32755, AGC= 60, IDX= 419,-0.11,-1.355, 2.996,-1.680,-1.779, PHS= 0.526,-1.463, 0.056, RAW= 136.9,   9.8, CAL= 136.5,  10.8, ROT=  13.5, -10.8

2025-08-22T17:01:24.160Z,1755882084.160 [DAT](INFO): got valid direction response:
 17:01:24.2380 LVL= 24112, 31825, 29298, 32755, AGC= 60, IDX= 419,-0.11,-1.355, 2.996,-1.680,-1.779, PHS= 0.526,-1.463, 0.056, RAW= 136.9,   9.8, CAL= 136.5,  10.8, ROT=  13.5, -10.8

2025-08-22T17:01:24.161Z,1755882084.161 [DAT](INFO): DAT read: Bearing 205.5,  13.3 (Local)

2025-08-22T17:01:24.162Z,1755882084.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,  13.3 (Local)

2025-08-22T17:01:24.164Z,1755882084.164 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m  (Round-trip  41.3 ms) speed  0.4 m/s

2025-08-22T17:01:24.165Z,1755882084.165 [DAT](INFO): DAT read: user:392>

2025-08-22T17:01:24.166Z,1755882084.166 [DAT](INFO): DAT read: Tx time:17:01:25.3426

2025-08-22T17:01:24.166Z,1755882084.166 [DAT](INFO): Ping request sent.
2025-08-22T17:01:24.166Z,1755882084.166 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:24.167Z,1755882084.167 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:01:24.168Z,1755882084.168 [DAT](INFO): direction in FSK: [0.955147,0.229310,0.187381]
2025-08-22T17:01:24.169Z,1755882084.169 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:24.169Z,1755882084.169 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:24.208Z,1755882084.208 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:24.209Z,1755882084.209 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:24.233Z,1755882084.233 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.065987
2025-08-22T17:01:24.399Z,1755882084.399 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.232168
2025-08-22T17:01:24.411Z,1755882084.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 3.529958 s,
      deltaX: -1.699999 m,
      approachRate: -0.481592 m/s,
      rangeRepo size: 4

2025-08-22T17:01:24.413Z,1755882084.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.702732 m,
      bearing: 48.680899 deg,
      lat: 36.779438 deg,
      lon: -121.859599 deg,
      deltaT: 3.529958 s,
      deltaX: -1.689251 m,
      approachRate: -0.478547 m/s,
      posRepo size: 4

2025-08-22T17:01:24.418Z,1755882084.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:24.420Z,1755882084.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 30.170683 m,
      bearing: 48.680790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002573 deg/s,
      cmd heading: 34.372937 deg,
      new cmd heading: 34.370860 deg.

2025-08-22T17:01:24.421Z,1755882084.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599885 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:24.651Z,1755882084.651 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.484028
2025-08-22T17:01:24.730Z,1755882084.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:24.732Z,1755882084.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:24.735Z,1755882084.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 29.995754 m,
      bearing: 48.674088 deg,
      approach rate: -0.535517 m/s,
      LOS rate: -0.020636 deg/s,
      cmd heading: 34.370861 deg,
      new cmd heading: 34.357379 deg.

2025-08-22T17:01:24.736Z,1755882084.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599649 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:24.907Z,1755882084.907 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.739719
2025-08-22T17:01:25.155Z,1755882085.155 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.988734
2025-08-22T17:01:25.206Z,1755882085.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:25.208Z,1755882085.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 29.766928 m,
      bearing: 48.669775 deg,
      approach rate: -0.487163 m/s,
      LOS rate: -0.009252 deg/s,
      cmd heading: 34.357378 deg,
      new cmd heading: 34.348687 deg.

2025-08-22T17:01:25.217Z,1755882085.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599498 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:25.406Z,1755882085.406 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.239960
2025-08-22T17:01:25.540Z,1755882085.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:25.543Z,1755882085.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 29.578625 m,
      bearing: 48.666151 deg,
      approach rate: -0.555623 m/s,
      LOS rate: -0.010763 deg/s,
      cmd heading: 34.348687 deg,
      new cmd heading: 34.341391 deg.

2025-08-22T17:01:25.544Z,1755882085.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599370 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:25.658Z,1755882085.658 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.491930
2025-08-22T17:01:25.914Z,1755882085.914 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.746484
2025-08-22T17:01:26.023Z,1755882086.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:26.025Z,1755882086.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 29.327372 m,
      bearing: 48.655661 deg,
      approach rate: -0.521059 m/s,
      LOS rate: -0.021941 deg/s,
      cmd heading: 34.341392 deg,
      new cmd heading: 34.320233 deg.

2025-08-22T17:01:26.046Z,1755882086.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599001 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:26.163Z,1755882086.163 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.996704
2025-08-22T17:01:26.410Z,1755882086.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:26.413Z,1755882086.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 29.125734 m,
      bearing: 48.647233 deg,
      approach rate: -0.520333 m/s,
      LOS rate: -0.021898 deg/s,
      cmd heading: 34.320232 deg,
      new cmd heading: 34.303260 deg.

2025-08-22T17:01:26.415Z,1755882086.415 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.248089
2025-08-22T17:01:26.415Z,1755882086.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598705 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:26.667Z,1755882086.667 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.500529
2025-08-22T17:01:26.816Z,1755882086.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:26.818Z,1755882086.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:26.821Z,1755882086.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 28.913290 m,
      bearing: 48.638148 deg,
      approach rate: -0.520474 m/s,
      LOS rate: -0.022423 deg/s,
      cmd heading: 34.303259 deg,
      new cmd heading: 34.284954 deg.

2025-08-22T17:01:26.822Z,1755882086.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598385 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:26.919Z,1755882086.919 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.752578
2025-08-22T17:01:27.171Z,1755882087.171 [DAT](INFO): DAT read: Rx Time:17:01:27.7856

2025-08-22T17:01:27.172Z,1755882087.172 [DAT](INFO): Rx dataTimestamp_ set to:1755882087.171419
2025-08-22T17:01:27.173Z,1755882087.173 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.006085
2025-08-22T17:01:27.257Z,1755882087.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:27.260Z,1755882087.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 28.697491 m,
      bearing: 48.630370 deg,
      approach rate: -0.491766 m/s,
      LOS rate: -0.017857 deg/s,
      cmd heading: 34.284954 deg,
      new cmd heading: 34.269282 deg.

2025-08-22T17:01:27.261Z,1755882087.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598112 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:27.426Z,1755882087.426 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.259023
2025-08-22T17:01:27.646Z,1755882087.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m.
2025-08-22T17:01:27.663Z,1755882087.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.702732 m,
      nav range: 28.507910 m,
      bearing: 48.623549 deg,
      approach rate: -0.495835 m/s,
      LOS rate: -0.017958 deg/s,
      cmd heading: 34.269282 deg,
      new cmd heading: 34.255550 deg.

2025-08-22T17:01:27.671Z,1755882087.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597872 target range: 30.702732 and range: 30.90 m.
2025-08-22T17:01:27.696Z,1755882087.696 [DAT](INFO): DAT read: 17:01:27.7856 LVL= 23840, 28209, 28722, 32755, AGC= 59, IDX= 410, 0.35,-1.294, 3.056,-1.587,-1.734, PHS= 0.542,-1.449, 0.103, RAW= 137.9,   8.9, CAL= 137.6,   9.9, ROT=  12.4,  -9.9

2025-08-22T17:01:27.697Z,1755882087.697 [DAT](INFO): got valid direction response:
 17:01:27.7856 LVL= 23840, 28209, 28722, 32755, AGC= 59, IDX= 410, 0.35,-1.294, 3.056,-1.587,-1.734, PHS= 0.542,-1.449, 0.103, RAW= 137.9,   8.9, CAL= 137.6,   9.9, ROT=  12.4,  -9.9

2025-08-22T17:01:27.702Z,1755882087.702 [DAT](INFO): DAT read: Bearing 204.4,  12.6 (Local)

2025-08-22T17:01:27.702Z,1755882087.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,  12.6 (Local)

2025-08-22T17:01:27.714Z,1755882087.714 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m  (Round-trip  38.8 ms) speed  0.4 m/s

2025-08-22T17:01:27.715Z,1755882087.715 [DAT](INFO): DAT read: user:393>

2025-08-22T17:01:27.716Z,1755882087.716 [DAT](INFO): DAT read: Tx time:17:01:28.8926

2025-08-22T17:01:27.716Z,1755882087.716 [DAT](INFO): Ping request sent.
2025-08-22T17:01:27.716Z,1755882087.716 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:27.716Z,1755882087.716 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T17:01:27.726Z,1755882087.726 [DAT](INFO): direction in FSK: [0.962129,0.211538,0.171929]
2025-08-22T17:01:27.726Z,1755882087.726 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:27.726Z,1755882087.726 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:27.758Z,1755882087.758 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:27.758Z,1755882087.758 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:27.772Z,1755882087.772 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.055527
2025-08-22T17:01:27.927Z,1755882087.927 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.211277
2025-08-22T17:01:28.100Z,1755882088.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 3.528011 s,
      deltaX: -1.799999 m,
      approachRate: -0.510202 m/s,
      rangeRepo size: 4

2025-08-22T17:01:28.114Z,1755882088.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.914152 m,
      bearing: 47.552113 deg,
      lat: 36.779438 deg,
      lon: -121.859600 deg,
      deltaT: 3.528011 s,
      deltaX: -1.788580 m,
      approachRate: -0.506966 m/s,
      posRepo size: 4

2025-08-22T17:01:28.114Z,1755882088.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:28.117Z,1755882088.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 28.240849 m,
      bearing: 48.354813 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017958 deg/s,
      cmd heading: 34.255550 deg,
      new cmd heading: 34.239024 deg.

2025-08-22T17:01:28.122Z,1755882088.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597584 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:28.179Z,1755882088.179 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.463293
2025-08-22T17:01:28.431Z,1755882088.431 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.714617
2025-08-22T17:01:28.438Z,1755882088.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:28.440Z,1755882088.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 28.051867 m,
      bearing: 48.354743 deg,
      approach rate: -0.559375 m/s,
      LOS rate: -0.000208 deg/s,
      cmd heading: 34.239025 deg,
      new cmd heading: 34.238884 deg.

2025-08-22T17:01:28.441Z,1755882088.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597581 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:28.683Z,1755882088.683 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.966469
2025-08-22T17:01:28.856Z,1755882088.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:28.858Z,1755882088.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:28.861Z,1755882088.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 27.847252 m,
      bearing: 48.354976 deg,
      approach rate: -0.486880 m/s,
      LOS rate: 0.000559 deg/s,
      cmd heading: 34.238885 deg,
      new cmd heading: 34.239354 deg.

2025-08-22T17:01:28.874Z,1755882088.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597589 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:28.935Z,1755882088.935 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.219127
2025-08-22T17:01:29.187Z,1755882089.187 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.471239
2025-08-22T17:01:29.284Z,1755882089.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:29.291Z,1755882089.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 27.636438 m,
      bearing: 48.354321 deg,
      approach rate: -0.494862 m/s,
      LOS rate: -0.001548 deg/s,
      cmd heading: 34.239356 deg,
      new cmd heading: 34.238037 deg.

2025-08-22T17:01:29.292Z,1755882089.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597566 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:29.439Z,1755882089.439 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.722538
2025-08-22T17:01:29.666Z,1755882089.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:29.668Z,1755882089.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 27.432749 m,
      bearing: 48.353679 deg,
      approach rate: -0.533488 m/s,
      LOS rate: -0.001694 deg/s,
      cmd heading: 34.238038 deg,
      new cmd heading: 34.236744 deg.

2025-08-22T17:01:29.669Z,1755882089.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597544 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:29.691Z,1755882089.691 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.974796
2025-08-22T17:01:29.944Z,1755882089.944 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.227290
2025-08-22T17:01:30.112Z,1755882090.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:30.119Z,1755882090.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 27.215462 m,
      bearing: 48.363184 deg,
      approach rate: -0.486909 m/s,
      LOS rate: 0.021468 deg/s,
      cmd heading: 34.236743 deg,
      new cmd heading: 34.255904 deg.

2025-08-22T17:01:30.120Z,1755882090.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597878 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:30.196Z,1755882090.196 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.479521
2025-08-22T17:01:30.447Z,1755882090.447 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.730567
2025-08-22T17:01:30.463Z,1755882090.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:30.466Z,1755882090.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 27.028585 m,
      bearing: 48.371510 deg,
      approach rate: -0.531274 m/s,
      LOS rate: 0.023836 deg/s,
      cmd heading: 34.255902 deg,
      new cmd heading: 34.272670 deg.

2025-08-22T17:01:30.467Z,1755882090.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598171 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:30.702Z,1755882090.702 [DAT](INFO): DAT read: Rx Time:17:01:31.3333

2025-08-22T17:01:30.703Z,1755882090.703 [DAT](INFO): Rx dataTimestamp_ set to:1755882090.702587
2025-08-22T17:01:30.704Z,1755882090.704 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.987714
2025-08-22T17:01:30.869Z,1755882090.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:30.871Z,1755882090.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:30.874Z,1755882090.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 26.822487 m,
      bearing: 48.380991 deg,
      approach rate: -0.505927 m/s,
      LOS rate: 0.023452 deg/s,
      cmd heading: 34.272670 deg,
      new cmd heading: 34.291778 deg.

2025-08-22T17:01:30.875Z,1755882090.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598504 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:30.951Z,1755882090.951 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.234738
2025-08-22T17:01:31.206Z,1755882091.206 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.489239
2025-08-22T17:01:31.321Z,1755882091.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m.
2025-08-22T17:01:31.328Z,1755882091.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.914152 m,
      nav range: 26.608685 m,
      bearing: 48.379536 deg,
      approach rate: -0.475172 m/s,
      LOS rate: -0.003260 deg/s,
      cmd heading: 34.291778 deg,
      new cmd heading: 34.288844 deg.

2025-08-22T17:01:31.329Z,1755882091.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598453 target range: 28.914152 and range: 29.10 m.
2025-08-22T17:01:31.463Z,1755882091.463 [DAT](INFO): DAT read: 17:01:31.3333 LVL= 21904, 31985, 24370, 32755, AGC= 57, IDX= 418,-0.22,-1.645, 2.740,-1.920,-2.072, PHS= 0.529,-1.427, 0.108, RAW= 138.2,   8.9, CAL= 137.9,   9.9, ROT=  12.1,  -9.9

2025-08-22T17:01:31.464Z,1755882091.464 [DAT](INFO): got valid direction response:
 17:01:31.3333 LVL= 21904, 31985, 24370, 32755, AGC= 57, IDX= 418,-0.22,-1.645, 2.740,-1.920,-2.072, PHS= 0.529,-1.427, 0.108, RAW= 138.2,   8.9, CAL= 137.9,   9.9, ROT=  12.1,  -9.9

2025-08-22T17:01:31.466Z,1755882091.466 [DAT](INFO): DAT read: Bearing 204.1,  12.6 (Local)

2025-08-22T17:01:31.466Z,1755882091.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,  12.6 (Local)

2025-08-22T17:01:31.468Z,1755882091.468 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m  (Round-trip  36.5 ms) speed  0.4 m/s

2025-08-22T17:01:31.468Z,1755882091.468 [DAT](INFO): DAT read: user:394>

2025-08-22T17:01:31.469Z,1755882091.469 [DAT](INFO): DAT read: Tx time:17:01:32.4426

2025-08-22T17:01:31.470Z,1755882091.470 [DAT](INFO): Ping request sent.
2025-08-22T17:01:31.470Z,1755882091.470 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:31.470Z,1755882091.470 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T17:01:31.471Z,1755882091.471 [DAT](INFO): direction in FSK: [0.963223,0.206497,0.171929]
2025-08-22T17:01:31.471Z,1755882091.471 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:31.471Z,1755882091.471 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:31.475Z,1755882091.475 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:31.475Z,1755882091.475 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:31.478Z,1755882091.478 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008539
2025-08-22T17:01:31.708Z,1755882091.708 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.237878
2025-08-22T17:01:31.715Z,1755882091.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 3.778517 s,
      deltaX: -1.800001 m,
      approachRate: -0.476378 m/s,
      rangeRepo size: 4

2025-08-22T17:01:31.717Z,1755882091.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.125889 m,
      bearing: 47.114049 deg,
      lat: 36.779439 deg,
      lon: -121.859601 deg,
      deltaT: 3.778517 s,
      deltaX: -1.788263 m,
      approachRate: -0.473271 m/s,
      posRepo size: 4

2025-08-22T17:01:31.722Z,1755882091.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:31.725Z,1755882091.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 26.423662 m,
      bearing: 48.058650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003260 deg/s,
      cmd heading: 34.288844 deg,
      new cmd heading: 34.286278 deg.

2025-08-22T17:01:31.730Z,1755882091.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598408 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:31.959Z,1755882091.959 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.489434
2025-08-22T17:01:32.132Z,1755882092.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:32.135Z,1755882092.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 26.207378 m,
      bearing: 48.056156 deg,
      approach rate: -0.518038 m/s,
      LOS rate: -0.006021 deg/s,
      cmd heading: 34.286279 deg,
      new cmd heading: 34.281251 deg.

2025-08-22T17:01:32.136Z,1755882092.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598321 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:32.211Z,1755882092.211 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.741069
2025-08-22T17:01:32.463Z,1755882092.463 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.992887
2025-08-22T17:01:32.517Z,1755882092.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:32.520Z,1755882092.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 26.026924 m,
      bearing: 48.054080 deg,
      approach rate: -0.468482 m/s,
      LOS rate: -0.005427 deg/s,
      cmd heading: 34.281252 deg,
      new cmd heading: 34.277071 deg.

2025-08-22T17:01:32.521Z,1755882092.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598248 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:32.715Z,1755882092.715 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.245078
2025-08-22T17:01:32.900Z,1755882092.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:32.903Z,1755882092.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:32.906Z,1755882092.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 25.827003 m,
      bearing: 48.052094 deg,
      approach rate: -0.518394 m/s,
      LOS rate: -0.005189 deg/s,
      cmd heading: 34.277072 deg,
      new cmd heading: 34.273070 deg.

2025-08-22T17:01:32.907Z,1755882092.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598178 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:32.968Z,1755882092.968 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.497882
2025-08-22T17:01:33.218Z,1755882093.218 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.748822
2025-08-22T17:01:33.323Z,1755882093.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:33.326Z,1755882093.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 25.621717 m,
      bearing: 48.040421 deg,
      approach rate: -0.488084 m/s,
      LOS rate: -0.027977 deg/s,
      cmd heading: 34.273070 deg,
      new cmd heading: 34.249535 deg.

2025-08-22T17:01:33.327Z,1755882093.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597767 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:33.471Z,1755882093.471 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.000950
2025-08-22T17:01:33.718Z,1755882093.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:33.720Z,1755882093.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 25.431757 m,
      bearing: 48.029570 deg,
      approach rate: -0.481994 m/s,
      LOS rate: -0.027737 deg/s,
      cmd heading: 34.249536 deg,
      new cmd heading: 34.227673 deg.

2025-08-22T17:01:33.723Z,1755882093.723 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.253024
2025-08-22T17:01:33.723Z,1755882093.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597386 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:33.975Z,1755882093.975 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.504900
2025-08-22T17:01:34.156Z,1755882094.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:34.160Z,1755882094.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 25.218927 m,
      bearing: 48.013832 deg,
      approach rate: -0.485725 m/s,
      LOS rate: -0.036221 deg/s,
      cmd heading: 34.227673 deg,
      new cmd heading: 34.195931 deg.

2025-08-22T17:01:34.162Z,1755882094.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596832 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:34.227Z,1755882094.227 [DAT](INFO): DAT read: Rx Time:17:01:34.8808

2025-08-22T17:01:34.228Z,1755882094.228 [DAT](INFO): Rx dataTimestamp_ set to:1755882094.227850
2025-08-22T17:01:34.229Z,1755882094.229 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.759174
2025-08-22T17:01:34.479Z,1755882094.479 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.008999
2025-08-22T17:01:34.534Z,1755882094.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:34.537Z,1755882094.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 25.045179 m,
      bearing: 48.002001 deg,
      approach rate: -0.458684 m/s,
      LOS rate: -0.031450 deg/s,
      cmd heading: 34.195929 deg,
      new cmd heading: 34.172103 deg.

2025-08-22T17:01:34.544Z,1755882094.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596416 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:34.734Z,1755882094.734 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.263663
2025-08-22T17:01:34.925Z,1755882094.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:34.927Z,1755882094.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:01:34.930Z,1755882094.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.125889 m,
      nav range: 24.846453 m,
      bearing: 47.989283 deg,
      approach rate: -0.506071 m/s,
      LOS rate: -0.032646 deg/s,
      cmd heading: 34.172102 deg,
      new cmd heading: 34.146463 deg.

2025-08-22T17:01:34.931Z,1755882094.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595968 target range: 27.125889 and range: 27.30 m.
2025-08-22T17:01:34.997Z,1755882094.997 [DAT](INFO): DAT read: 17:01:34.8808 LVL= 22656, 32753, 20690, 32755, AGC= 57, IDX= 410, 0.25,-2.859, 1.492,-3.120, 2.997, PHS= 0.528,-1.461, 0.122, RAW= 138.8,   8.9, CAL= 138.5,   9.9, ROT=  11.5,  -9.9

2025-08-22T17:01:34.999Z,1755882094.999 [DAT](INFO): got valid direction response:
 17:01:34.8808 LVL= 22656, 32753, 20690, 32755, AGC= 57, IDX= 410, 0.25,-2.859, 1.492,-3.120, 2.997, PHS= 0.528,-1.461, 0.122, RAW= 138.8,   8.9, CAL= 138.5,   9.9, ROT=  11.5,  -9.9

2025-08-22T17:01:35.001Z,1755882095.001 [DAT](INFO): DAT read: Bearing 203.6,  11.9 (Local)

2025-08-22T17:01:35.002Z,1755882095.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.6,  11.9 (Local)

2025-08-22T17:01:35.003Z,1755882095.003 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m  (Round-trip  34.1 ms) speed  0.4 m/s

2025-08-22T17:01:35.004Z,1755882095.004 [DAT](INFO): DAT read: user:395>

2025-08-22T17:01:35.006Z,1755882095.006 [DAT](INFO): DAT read: Tx time:17:01:35.9941

2025-08-22T17:01:35.006Z,1755882095.006 [DAT](INFO): Ping request sent.
2025-08-22T17:01:35.006Z,1755882095.006 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:35.007Z,1755882095.007 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T17:01:35.008Z,1755882095.008 [DAT](INFO): direction in FSK: [0.965333,0.196399,0.171929]
2025-08-22T17:01:35.009Z,1755882095.009 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:35.009Z,1755882095.009 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:35.031Z,1755882095.031 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:35.031Z,1755882095.031 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:35.109Z,1755882095.109 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.101925
2025-08-22T17:01:35.235Z,1755882095.235 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.228186
2025-08-22T17:01:35.398Z,1755882095.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 3.528178 s,
      deltaX: -1.799999 m,
      approachRate: -0.510178 m/s,
      rangeRepo size: 4

2025-08-22T17:01:35.400Z,1755882095.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.337337 m,
      bearing: 46.134053 deg,
      lat: 36.779442 deg,
      lon: -121.859602 deg,
      deltaT: 3.528178 s,
      deltaX: -1.788551 m,
      approachRate: -0.506933 m/s,
      posRepo size: 4

2025-08-22T17:01:35.401Z,1755882095.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:35.408Z,1755882095.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 24.794210 m,
      bearing: 47.296553 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032646 deg/s,
      cmd heading: 34.146462 deg,
      new cmd heading: 34.116039 deg.

2025-08-22T17:01:35.409Z,1755882095.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595437 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:35.487Z,1755882095.487 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.480204
2025-08-22T17:01:35.738Z,1755882095.738 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.731811
2025-08-22T17:01:35.764Z,1755882095.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:35.767Z,1755882095.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 24.598379 m,
      bearing: 47.291865 deg,
      approach rate: -0.527826 m/s,
      LOS rate: -0.012736 deg/s,
      cmd heading: 34.116040 deg,
      new cmd heading: 34.106589 deg.

2025-08-22T17:01:35.768Z,1755882095.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595272 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:35.991Z,1755882095.991 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.984020
2025-08-22T17:01:36.191Z,1755882096.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:36.198Z,1755882096.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 24.397493 m,
      bearing: 47.294250 deg,
      approach rate: -0.470279 m/s,
      LOS rate: 0.005630 deg/s,
      cmd heading: 34.106591 deg,
      new cmd heading: 34.111400 deg.

2025-08-22T17:01:36.199Z,1755882096.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595356 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:36.243Z,1755882096.243 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.236778
2025-08-22T17:01:36.495Z,1755882096.495 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.488077
2025-08-22T17:01:36.600Z,1755882096.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:36.607Z,1755882096.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 24.210024 m,
      bearing: 47.297068 deg,
      approach rate: -0.458843 m/s,
      LOS rate: 0.006949 deg/s,
      cmd heading: 34.111399 deg,
      new cmd heading: 34.117077 deg.

2025-08-22T17:01:36.608Z,1755882096.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595455 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:36.748Z,1755882096.748 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.741047
2025-08-22T17:01:36.953Z,1755882096.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:36.955Z,1755882096.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:36.958Z,1755882096.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 24.005989 m,
      bearing: 47.300101 deg,
      approach rate: -0.574613 m/s,
      LOS rate: 0.008614 deg/s,
      cmd heading: 34.117078 deg,
      new cmd heading: 34.123195 deg.

2025-08-22T17:01:36.959Z,1755882096.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595562 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:36.000Z,1755882097.000 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.993182
2025-08-22T17:01:37.251Z,1755882097.251 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.243976
2025-08-22T17:01:37.370Z,1755882097.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:37.373Z,1755882097.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 23.799145 m,
      bearing: 47.301105 deg,
      approach rate: -0.498216 m/s,
      LOS rate: 0.002439 deg/s,
      cmd heading: 34.123195 deg,
      new cmd heading: 34.125220 deg.

2025-08-22T17:01:37.374Z,1755882097.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595597 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:37.503Z,1755882097.503 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.496013
2025-08-22T17:01:37.755Z,1755882097.755 [DAT](INFO): DAT read: Rx Time:17:01:38.4300

2025-08-22T17:01:37.755Z,1755882097.755 [DAT](INFO): Rx dataTimestamp_ set to:1755882097.754801
2025-08-22T17:01:37.756Z,1755882097.756 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.749112
2025-08-22T17:01:37.760Z,1755882097.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:37.763Z,1755882097.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 23.606409 m,
      bearing: 47.301990 deg,
      approach rate: -0.494709 m/s,
      LOS rate: 0.002293 deg/s,
      cmd heading: 34.125220 deg,
      new cmd heading: 34.127006 deg.

2025-08-22T17:01:37.764Z,1755882097.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595629 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:38.007Z,1755882098.007 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.999999
2025-08-22T17:01:38.213Z,1755882098.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m.
2025-08-22T17:01:38.216Z,1755882098.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.337337 m,
      nav range: 23.381226 m,
      bearing: 47.317579 deg,
      approach rate: -0.497029 m/s,
      LOS rate: 0.034739 deg/s,
      cmd heading: 34.127006 deg,
      new cmd heading: 34.158484 deg.

2025-08-22T17:01:38.217Z,1755882098.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596178 target range: 25.337337 and range: 25.50 m.
2025-08-22T17:01:38.259Z,1755882098.259 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.252123
2025-08-22T17:01:38.520Z,1755882098.520 [DAT](INFO): DAT read: 17:01:38.4300 LVL= 22560, 31601, 22658, 32755, AGC= 56, IDX= 418, 0.11, 1.513,-0.380, 1.278, 1.124, PHS= 0.492,-1.458, 0.111, RAW= 139.4,   9.6, CAL= 138.9,  10.5, ROT=  11.1, -10.5

2025-08-22T17:01:38.525Z,1755882098.525 [DAT](INFO): got valid direction response:
 17:01:38.4300 LVL= 22560, 31601, 22658, 32755, AGC= 56, IDX= 418, 0.11, 1.513,-0.380, 1.278, 1.124, PHS= 0.492,-1.458, 0.111, RAW= 139.4,   9.6, CAL= 138.9,  10.5, ROT=  11.1, -10.5

2025-08-22T17:01:38.529Z,1755882098.529 [DAT](INFO): DAT read: Bearing 203.7,  11.1 (Local)

2025-08-22T17:01:38.530Z,1755882098.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,  11.1 (Local)

2025-08-22T17:01:38.531Z,1755882098.531 [DAT](INFO): DAT read: Range 11 to 50 : 23.8 m  (Round-trip  31.8 ms) speed  0.4 m/s

2025-08-22T17:01:38.532Z,1755882098.532 [DAT](INFO): DAT read: user:396>

2025-08-22T17:01:38.533Z,1755882098.533 [DAT](INFO): DAT read: Tx time:17:01:39.5441

2025-08-22T17:01:38.533Z,1755882098.533 [DAT](INFO): Ping request sent.
2025-08-22T17:01:38.533Z,1755882098.533 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:38.533Z,1755882098.533 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T17:01:38.538Z,1755882098.538 [DAT](INFO): direction in FSK: [0.964861,0.189298,0.182236]
2025-08-22T17:01:38.539Z,1755882098.539 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:38.539Z,1755882098.539 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:38.548Z,1755882098.548 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:38.549Z,1755882098.549 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:38.601Z,1755882098.601 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.067660
2025-08-22T17:01:38.666Z,1755882098.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.799999 m,
      deltaT: 3.527316 s,
      deltaX: -1.700001 m,
      approachRate: -0.481953 m/s,
      rangeRepo size: 4

2025-08-22T17:01:38.669Z,1755882098.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.648291 m,
      bearing: 45.484796 deg,
      lat: 36.779444 deg,
      lon: -121.859602 deg,
      deltaT: 3.527316 s,
      deltaX: -1.689047 m,
      approachRate: -0.478848 m/s,
      posRepo size: 4

2025-08-22T17:01:38.669Z,1755882098.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:38.676Z,1755882098.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 23.277014 m,
      bearing: 46.990827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034739 deg/s,
      cmd heading: 34.158483 deg,
      new cmd heading: 34.189622 deg.

2025-08-22T17:01:38.677Z,1755882098.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596721 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:38.763Z,1755882098.763 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.229924
2025-08-22T17:01:39.015Z,1755882099.015 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.481816
2025-08-22T17:01:39.063Z,1755882099.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:39.067Z,1755882099.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:39.079Z,1755882099.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 23.073668 m,
      bearing: 47.000837 deg,
      approach rate: -0.500211 m/s,
      LOS rate: 0.024840 deg/s,
      cmd heading: 34.189622 deg,
      new cmd heading: 34.209818 deg.

2025-08-22T17:01:39.080Z,1755882099.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597074 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:39.267Z,1755882099.267 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.733735
2025-08-22T17:01:39.519Z,1755882099.519 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.985910
2025-08-22T17:01:39.653Z,1755882099.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:39.656Z,1755882099.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 22.785980 m,
      bearing: 47.006974 deg,
      approach rate: -0.504909 m/s,
      LOS rate: 0.010908 deg/s,
      cmd heading: 34.209819 deg,
      new cmd heading: 34.222249 deg.

2025-08-22T17:01:39.657Z,1755882099.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597291 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:39.771Z,1755882099.771 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.237623
2025-08-22T17:01:40.023Z,1755882100.023 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.489663
2025-08-22T17:01:40.036Z,1755882100.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:40.058Z,1755882100.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 22.590145 m,
      bearing: 47.010490 deg,
      approach rate: -0.492222 m/s,
      LOS rate: 0.008914 deg/s,
      cmd heading: 34.222250 deg,
      new cmd heading: 34.229343 deg.

2025-08-22T17:01:40.060Z,1755882100.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597415 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:40.275Z,1755882100.275 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.741567
2025-08-22T17:01:40.457Z,1755882100.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:40.460Z,1755882100.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 22.376534 m,
      bearing: 47.014996 deg,
      approach rate: -0.506118 m/s,
      LOS rate: 0.010778 deg/s,
      cmd heading: 34.229343 deg,
      new cmd heading: 34.238441 deg.

2025-08-22T17:01:40.461Z,1755882100.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597574 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:40.528Z,1755882100.528 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.994638
2025-08-22T17:01:40.779Z,1755882100.779 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.245578
2025-08-22T17:01:40.850Z,1755882100.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:40.853Z,1755882100.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 22.188601 m,
      bearing: 47.016931 deg,
      approach rate: -0.478755 m/s,
      LOS rate: 0.004970 deg/s,
      cmd heading: 34.238441 deg,
      new cmd heading: 34.242343 deg.

2025-08-22T17:01:40.854Z,1755882100.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597642 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:41.011Z,1755882101.011 [CTD_Seabird](ERROR): Failed to parse device response: 65.83,10.2384,3.761.06
2025-08-22T17:01:41.032Z,1755882101.032 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.498848
2025-08-22T17:01:41.267Z,1755882101.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:41.269Z,1755882101.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:41.272Z,1755882101.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 21.965485 m,
      bearing: 47.016277 deg,
      approach rate: -0.532473 m/s,
      LOS rate: -0.001578 deg/s,
      cmd heading: 34.242344 deg,
      new cmd heading: 34.241022 deg.

2025-08-22T17:01:41.273Z,1755882101.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597619 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:41.286Z,1755882101.286 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.752267
2025-08-22T17:01:41.536Z,1755882101.536 [DAT](INFO): DAT read: Rx Time:17:01:41.9777

2025-08-22T17:01:41.537Z,1755882101.537 [DAT](INFO): Rx dataTimestamp_ set to:1755882101.536556
2025-08-22T17:01:41.538Z,1755882101.538 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.005272
2025-08-22T17:01:41.651Z,1755882101.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.65 m.
2025-08-22T17:01:41.653Z,1755882101.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.648291 m,
      nav range: 21.769821 m,
      bearing: 47.014621 deg,
      approach rate: -0.512280 m/s,
      LOS rate: -0.004373 deg/s,
      cmd heading: 34.241022 deg,
      new cmd heading: 34.237682 deg.

2025-08-22T17:01:41.655Z,1755882101.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597560 target range: 23.648291 and range: 23.80 m.
2025-08-22T17:01:41.787Z,1755882101.787 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.253567
2025-08-22T17:01:42.052Z,1755882102.052 [DAT](INFO): DAT read: 17:01:41.9777 LVL= 23104, 29201, 23138, 32755, AGC= 55, IDX= 411,-0.39,-3.109, 1.359, 3.080, 2.877, PHS= 0.399,-1.472, 0.159, RAW= 143.2,  10.4, CAL= 142.8,  11.3, ROT=   7.2, -11.3

2025-08-22T17:01:42.066Z,1755882102.066 [DAT](INFO): got valid direction response:
 17:01:41.9777 LVL= 23104, 29201, 23138, 32755, AGC= 55, IDX= 411,-0.39,-3.109, 1.359, 3.080, 2.877, PHS= 0.399,-1.472, 0.159, RAW= 143.2,  10.4, CAL= 142.8,  11.3, ROT=   7.2, -11.3

2025-08-22T17:01:42.067Z,1755882102.067 [DAT](INFO): DAT read: Bearing 205.2,   7.8 (Local)

2025-08-22T17:01:42.067Z,1755882102.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.2,   7.8 (Local)

2025-08-22T17:01:42.068Z,1755882102.068 [DAT](INFO): DAT read: Range 11 to 50 : 22.0 m  (Round-trip  29.4 ms) speed  0.4 m/s

2025-08-22T17:01:42.069Z,1755882102.069 [DAT](INFO): DAT read: user:397>

2025-08-22T17:01:42.094Z,1755882102.094 [DAT](INFO): DAT read: Tx time:17:01:43.0925

2025-08-22T17:01:42.094Z,1755882102.094 [DAT](INFO): Ping request sent.
2025-08-22T17:01:42.094Z,1755882102.094 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:42.095Z,1755882102.095 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:01:42.096Z,1755882102.096 [DAT](INFO): direction in FSK: [0.972882,0.122904,0.195946]
2025-08-22T17:01:42.096Z,1755882102.096 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:42.096Z,1755882102.096 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:42.115Z,1755882102.115 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:42.116Z,1755882102.116 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:42.140Z,1755882102.140 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.044847
2025-08-22T17:01:42.221Z,1755882102.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.000000 m,
      deltaT: 3.528738 s,
      deltaX: -1.799999 m,
      approachRate: -0.510097 m/s,
      rangeRepo size: 4

2025-08-22T17:01:42.231Z,1755882102.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.859797 m,
      bearing: 42.124042 deg,
      lat: 36.779447 deg,
      lon: -121.859605 deg,
      deltaT: 3.528738 s,
      deltaX: -1.788494 m,
      approachRate: -0.506837 m/s,
      posRepo size: 4

2025-08-22T17:01:42.232Z,1755882102.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:42.239Z,1755882102.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 21.559332 m,
      bearing: 46.035844 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004373 deg/s,
      cmd heading: 34.237682 deg,
      new cmd heading: 34.232699 deg.

2025-08-22T17:01:42.240Z,1755882102.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597473 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:42.291Z,1755882102.291 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.197047
2025-08-22T17:01:42.543Z,1755882102.543 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.448902
2025-08-22T17:01:42.615Z,1755882102.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:42.618Z,1755882102.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 21.313953 m,
      bearing: 46.006224 deg,
      approach rate: -0.621438 m/s,
      LOS rate: -0.075878 deg/s,
      cmd heading: 34.232700 deg,
      new cmd heading: 34.172778 deg.

2025-08-22T17:01:42.619Z,1755882102.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596428 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:42.795Z,1755882102.795 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.700211
2025-08-22T17:01:42.983Z,1755882102.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:42.986Z,1755882102.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 21.122843 m,
      bearing: 45.982360 deg,
      approach rate: -0.519534 m/s,
      LOS rate: -0.065461 deg/s,
      cmd heading: 34.172779 deg,
      new cmd heading: 34.124619 deg.

2025-08-22T17:01:42.987Z,1755882102.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595587 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:43.048Z,1755882103.048 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.953394
2025-08-22T17:01:43.299Z,1755882103.299 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.204175
2025-08-22T17:01:43.408Z,1755882103.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:43.410Z,1755882103.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:43.413Z,1755882103.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 20.903650 m,
      bearing: 45.959524 deg,
      approach rate: -0.513903 m/s,
      LOS rate: -0.054101 deg/s,
      cmd heading: 34.124619 deg,
      new cmd heading: 34.078468 deg.

2025-08-22T17:01:43.414Z,1755882103.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594781 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:43.552Z,1755882103.552 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.457159
2025-08-22T17:01:43.786Z,1755882103.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:43.789Z,1755882103.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 20.709583 m,
      bearing: 45.938885 deg,
      approach rate: -0.515209 m/s,
      LOS rate: -0.055308 deg/s,
      cmd heading: 34.078467 deg,
      new cmd heading: 34.036801 deg.

2025-08-22T17:01:43.790Z,1755882103.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594054 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:43.803Z,1755882103.803 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.708238
2025-08-22T17:01:44.055Z,1755882104.055 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.960863
2025-08-22T17:01:44.254Z,1755882104.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:44.257Z,1755882104.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 20.473351 m,
      bearing: 45.913396 deg,
      approach rate: -0.504881 m/s,
      LOS rate: -0.055103 deg/s,
      cmd heading: 34.036800 deg,
      new cmd heading: 33.985235 deg.

2025-08-22T17:01:44.258Z,1755882104.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593154 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:44.308Z,1755882104.308 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.213511
2025-08-22T17:01:44.558Z,1755882104.558 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.464121
2025-08-22T17:01:44.636Z,1755882104.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:44.643Z,1755882104.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 20.278288 m,
      bearing: 45.888888 deg,
      approach rate: -0.510437 m/s,
      LOS rate: -0.064751 deg/s,
      cmd heading: 33.985235 deg,
      new cmd heading: 33.935746 deg.

2025-08-22T17:01:44.644Z,1755882104.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592291 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:44.811Z,1755882104.811 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.716407
2025-08-22T17:01:45.002Z,1755882105.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:45.005Z,1755882105.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 20.088116 m,
      bearing: 45.864966 deg,
      approach rate: -0.520498 m/s,
      LOS rate: -0.066094 deg/s,
      cmd heading: 33.935747 deg,
      new cmd heading: 33.887450 deg.

2025-08-22T17:01:45.006Z,1755882105.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591448 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:45.063Z,1755882105.063 [DAT](INFO): DAT read: Rx Time:17:01:45.5239

2025-08-22T17:01:45.064Z,1755882105.064 [DAT](INFO): Rx dataTimestamp_ set to:1755882105.063605
2025-08-22T17:01:45.064Z,1755882105.064 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.970093
2025-08-22T17:01:45.315Z,1755882105.315 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.220167
2025-08-22T17:01:45.491Z,1755882105.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:45.498Z,1755882105.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.86 m.
2025-08-22T17:01:45.500Z,1755882105.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.859797 m,
      nav range: 19.859543 m,
      bearing: 45.834248 deg,
      approach rate: -0.464830 m/s,
      LOS rate: -0.063186 deg/s,
      cmd heading: 33.887451 deg,
      new cmd heading: 33.825309 deg.

2025-08-22T17:01:45.506Z,1755882105.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590363 target range: 21.859797 and range: 22.00 m.
2025-08-22T17:01:45.573Z,1755882105.573 [DAT](INFO): DAT read: 17:01:45.5239 LVL= 25824, 30833, 24978, 32755, AGC= 55, IDX= 419, 0.05, 1.068,-0.673, 1.157, 0.807, PHS= 0.363,-1.435, 0.306, RAW= 148.4,   8.7, CAL= 148.0,   9.4, ROT=   2.0,  -9.4

2025-08-22T17:01:45.575Z,1755882105.575 [DAT](INFO): got valid direction response:
 17:01:45.5239 LVL= 25824, 30833, 24978, 32755, AGC= 55, IDX= 419, 0.05, 1.068,-0.673, 1.157, 0.807, PHS= 0.363,-1.435, 0.306, RAW= 148.4,   8.7, CAL= 148.0,   9.4, ROT=   2.0,  -9.4

2025-08-22T17:01:45.576Z,1755882105.576 [DAT](INFO): DAT read: Bearing 203.6,   3.5 (Local)

2025-08-22T17:01:45.576Z,1755882105.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.6,   3.5 (Local)

2025-08-22T17:01:45.579Z,1755882105.579 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m  (Round-trip  27.2 ms) speed  0.4 m/s

2025-08-22T17:01:45.580Z,1755882105.580 [DAT](INFO): DAT read: user:398>

2025-08-22T17:01:45.581Z,1755882105.581 [DAT](INFO): DAT read: Tx time:17:01:46.6425

2025-08-22T17:01:45.581Z,1755882105.581 [DAT](INFO): Ping request sent.
2025-08-22T17:01:45.581Z,1755882105.581 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:45.586Z,1755882105.586 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T17:01:45.587Z,1755882105.587 [DAT](INFO): direction in FSK: [0.985971,0.034431,0.163326]
2025-08-22T17:01:45.588Z,1755882105.588 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:45.588Z,1755882105.588 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:45.609Z,1755882105.609 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:45.609Z,1755882105.609 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:45.633Z,1755882105.633 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.052032
2025-08-22T17:01:45.819Z,1755882105.819 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.237693
2025-08-22T17:01:45.832Z,1755882105.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 3.527433 s,
      deltaX: -1.600000 m,
      approachRate: -0.453588 m/s,
      rangeRepo size: 4

2025-08-22T17:01:45.838Z,1755882105.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.269833 m,
      bearing: 37.303386 deg,
      lat: 36.779448 deg,
      lon: -121.859607 deg,
      deltaT: 3.527433 s,
      deltaX: -1.589964 m,
      approachRate: -0.450742 m/s,
      posRepo size: 4

2025-08-22T17:01:45.839Z,1755882105.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:45.846Z,1755882105.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 19.638523 m,
      bearing: 45.097072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063186 deg/s,
      cmd heading: 33.825310 deg,
      new cmd heading: 33.782645 deg.

2025-08-22T17:01:45.847Z,1755882105.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589618 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:46.070Z,1755882106.070 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.489382
2025-08-22T17:01:46.323Z,1755882106.323 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.741568
2025-08-22T17:01:46.349Z,1755882106.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:46.352Z,1755882106.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 19.373783 m,
      bearing: 45.043818 deg,
      approach rate: -0.511331 m/s,
      LOS rate: -0.104261 deg/s,
      cmd heading: 33.782645 deg,
      new cmd heading: 33.674683 deg.

2025-08-22T17:01:46.353Z,1755882106.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587734 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:46.576Z,1755882106.576 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.994593
2025-08-22T17:01:46.706Z,1755882106.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:46.709Z,1755882106.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 19.203842 m,
      bearing: 45.009460 deg,
      approach rate: -0.475644 m/s,
      LOS rate: -0.097016 deg/s,
      cmd heading: 33.674684 deg,
      new cmd heading: 33.605358 deg.

2025-08-22T17:01:46.714Z,1755882106.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586524 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:46.826Z,1755882106.826 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.245459
2025-08-22T17:01:47.078Z,1755882107.078 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.497469
2025-08-22T17:01:47.115Z,1755882107.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:47.118Z,1755882107.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 18.996601 m,
      bearing: 44.967268 deg,
      approach rate: -0.507084 m/s,
      LOS rate: -0.104361 deg/s,
      cmd heading: 33.605357 deg,
      new cmd heading: 33.520054 deg.

2025-08-22T17:01:47.119Z,1755882107.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585035 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:47.331Z,1755882107.331 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.749611
2025-08-22T17:01:47.540Z,1755882107.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:47.543Z,1755882107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:47.549Z,1755882107.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 18.790758 m,
      bearing: 44.940738 deg,
      approach rate: -0.480966 m/s,
      LOS rate: -0.062670 deg/s,
      cmd heading: 33.520055 deg,
      new cmd heading: 33.466412 deg.

2025-08-22T17:01:47.558Z,1755882107.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584099 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:47.583Z,1755882107.583 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.001648
2025-08-22T17:01:47.835Z,1755882107.835 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.253806
2025-08-22T17:01:47.876Z,1755882107.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:47.879Z,1755882107.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 18.624004 m,
      bearing: 44.919081 deg,
      approach rate: -0.500028 m/s,
      LOS rate: -0.065521 deg/s,
      cmd heading: 33.466411 deg,
      new cmd heading: 33.422710 deg.

2025-08-22T17:01:47.880Z,1755882107.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583336 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:48.086Z,1755882108.086 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.505489
2025-08-22T17:01:48.339Z,1755882108.339 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.757620
2025-08-22T17:01:48.339Z,1755882108.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:48.343Z,1755882108.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 18.396990 m,
      bearing: 44.893195 deg,
      approach rate: -0.491894 m/s,
      LOS rate: -0.056782 deg/s,
      cmd heading: 33.422711 deg,
      new cmd heading: 33.370300 deg.

2025-08-22T17:01:48.344Z,1755882108.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582422 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:48.591Z,1755882108.591 [DAT](INFO): DAT read: Rx Time:17:01:49.0715

2025-08-22T17:01:48.591Z,1755882108.591 [DAT](INFO): Rx dataTimestamp_ set to:1755882108.590768
2025-08-22T17:01:48.592Z,1755882108.592 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.010613
2025-08-22T17:01:48.683Z,1755882108.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T17:01:48.686Z,1755882108.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.269833 m,
      nav range: 18.226967 m,
      bearing: 44.873636 deg,
      approach rate: -0.492007 m/s,
      LOS rate: -0.057127 deg/s,
      cmd heading: 33.370300 deg,
      new cmd heading: 33.330817 deg.

2025-08-22T17:01:48.687Z,1755882108.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581733 target range: 20.269833 and range: 20.40 m.
2025-08-22T17:01:48.843Z,1755882108.843 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.261541
2025-08-22T17:01:49.100Z,1755882109.100 [DAT](INFO): DAT read: 17:01:49.0715 LVL= 21872, 30065, 19362, 28515, AGC= 52, IDX= 411,-0.23,-1.219,-2.920,-0.970,-1.396, PHS= 0.279,-1.478, 0.383, RAW= 152.8,   9.1, CAL= 152.5,   9.7, ROT= 357.5,  -9.7

2025-08-22T17:01:49.101Z,1755882109.101 [DAT](INFO): got valid direction response:
 17:01:49.0715 LVL= 21872, 30065, 19362, 28515, AGC= 52, IDX= 411,-0.23,-1.219,-2.920,-0.970,-1.396, PHS= 0.279,-1.478, 0.383, RAW= 152.8,   9.1, CAL= 152.5,   9.7, ROT= 357.5,  -9.7

2025-08-22T17:01:49.102Z,1755882109.102 [DAT](INFO): DAT read: Bearing 203.3,  -0.6 (Local)

2025-08-22T17:01:49.103Z,1755882109.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.3,  -0.6 (Local)

2025-08-22T17:01:49.104Z,1755882109.104 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m  (Round-trip  24.9 ms) speed  0.4 m/s

2025-08-22T17:01:49.105Z,1755882109.105 [DAT](INFO): DAT read: user:399>

2025-08-22T17:01:49.105Z,1755882109.105 [DAT](INFO): DAT read: Tx time:17:01:50.1925

2025-08-22T17:01:49.106Z,1755882109.106 [DAT](INFO): Ping request sent.
2025-08-22T17:01:49.106Z,1755882109.106 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:49.106Z,1755882109.106 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T17:01:49.107Z,1755882109.107 [DAT](INFO): direction in FSK: [0.984765,-0.042996,0.168489]
2025-08-22T17:01:49.107Z,1755882109.107 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:49.108Z,1755882109.108 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:49.123Z,1755882109.123 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:49.123Z,1755882109.123 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:49.129Z,1755882109.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 3.527961 s,
      deltaX: -1.799999 m,
      approachRate: -0.510210 m/s,
      rangeRepo size: 4

2025-08-22T17:01:49.131Z,1755882109.131 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.024669
2025-08-22T17:01:49.133Z,1755882109.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.481363 m,
      bearing: 32.426654 deg,
      lat: 36.779455 deg,
      lon: -121.859618 deg,
      deltaT: 3.527961 s,
      deltaX: -1.788469 m,
      approachRate: -0.506941 m/s,
      posRepo size: 4

2025-08-22T17:01:49.138Z,1755882109.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:49.140Z,1755882109.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 17.957809 m,
      bearing: 40.958805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057127 deg/s,
      cmd heading: 33.330818 deg,
      new cmd heading: 33.279964 deg.

2025-08-22T17:01:49.150Z,1755882109.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580845 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:49.351Z,1755882109.351 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.244319
2025-08-22T17:01:49.599Z,1755882109.599 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.492651
2025-08-22T17:01:49.606Z,1755882109.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:49.608Z,1755882109.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 17.718584 m,
      bearing: 40.871147 deg,
      approach rate: -0.505907 m/s,
      LOS rate: -0.187881 deg/s,
      cmd heading: 33.279964 deg,
      new cmd heading: 33.102279 deg.

2025-08-22T17:01:49.609Z,1755882109.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577744 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:49.851Z,1755882109.851 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.744973
2025-08-22T17:01:49.943Z,1755882109.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:49.945Z,1755882109.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:49.948Z,1755882109.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 17.535336 m,
      bearing: 40.802283 deg,
      approach rate: -0.533003 m/s,
      LOS rate: -0.202392 deg/s,
      cmd heading: 33.102280 deg,
      new cmd heading: 32.963113 deg.

2025-08-22T17:01:49.949Z,1755882109.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575315 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:50.102Z,1755882110.102 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996557
2025-08-22T17:01:50.355Z,1755882110.355 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.248693
2025-08-22T17:01:50.377Z,1755882110.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:50.381Z,1755882110.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 17.319780 m,
      bearing: 40.723815 deg,
      approach rate: -0.498939 m/s,
      LOS rate: -0.183888 deg/s,
      cmd heading: 32.963114 deg,
      new cmd heading: 32.804225 deg.

2025-08-22T17:01:50.398Z,1755882110.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572542 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:50.606Z,1755882110.606 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.500552
2025-08-22T17:01:50.761Z,1755882110.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:50.763Z,1755882110.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 17.128599 m,
      bearing: 40.652551 deg,
      approach rate: -0.498557 m/s,
      LOS rate: -0.187914 deg/s,
      cmd heading: 32.804224 deg,
      new cmd heading: 32.660106 deg.

2025-08-22T17:01:50.764Z,1755882110.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570026 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:50.859Z,1755882110.859 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.753118
2025-08-22T17:01:51.111Z,1755882111.111 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.004637
2025-08-22T17:01:51.194Z,1755882111.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:51.196Z,1755882111.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 16.924078 m,
      bearing: 40.574935 deg,
      approach rate: -0.472509 m/s,
      LOS rate: -0.181485 deg/s,
      cmd heading: 32.660107 deg,
      new cmd heading: 32.502999 deg.

2025-08-22T17:01:51.203Z,1755882111.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567284 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:51.362Z,1755882111.362 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.256538
2025-08-22T17:01:51.615Z,1755882111.615 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508692
2025-08-22T17:01:51.626Z,1755882111.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:51.628Z,1755882111.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 16.694220 m,
      bearing: 40.481652 deg,
      approach rate: -0.531912 m/s,
      LOS rate: -0.218836 deg/s,
      cmd heading: 32.502999 deg,
      new cmd heading: 32.313866 deg.

2025-08-22T17:01:51.630Z,1755882111.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563983 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:51.867Z,1755882111.867 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.760654
2025-08-22T17:01:51.967Z,1755882111.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:51.970Z,1755882111.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:51.972Z,1755882111.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 16.520576 m,
      bearing: 40.409313 deg,
      approach rate: -0.504928 m/s,
      LOS rate: -0.212564 deg/s,
      cmd heading: 32.313864 deg,
      new cmd heading: 32.167664 deg.

2025-08-22T17:01:51.974Z,1755882111.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561432 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:52.118Z,1755882112.118 [DAT](INFO): DAT read: Rx Time:17:01:52.6191

2025-08-22T17:01:52.119Z,1755882112.119 [DAT](INFO): Rx dataTimestamp_ set to:1755882112.118675
2025-08-22T17:01:52.119Z,1755882112.119 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.013613
2025-08-22T17:01:52.371Z,1755882112.371 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.264980
2025-08-22T17:01:52.417Z,1755882112.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m.
2025-08-22T17:01:52.420Z,1755882112.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.481363 m,
      nav range: 16.294861 m,
      bearing: 40.315819 deg,
      approach rate: -0.504363 m/s,
      LOS rate: -0.211805 deg/s,
      cmd heading: 32.167664 deg,
      new cmd heading: 31.978088 deg.

2025-08-22T17:01:52.421Z,1755882112.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558123 target range: 18.481363 and range: 18.60 m.
2025-08-22T17:01:52.610Z,1755882112.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:01:52.628Z,1755882112.628 [DAT](INFO): DAT read: 17:01:52.6191 LVL= 19856, 25505, 20210, 31075, AGC= 52, IDX= 419, 0.41,-2.453, 2.179,-2.041,-2.579, PHS= 0.228,-1.480, 0.494, RAW= 157.1,   8.2, CAL= 156.7,   8.6, ROT= 353.3,  -8.6

2025-08-22T17:01:52.629Z,1755882112.629 [DAT](INFO): got valid direction response:
 17:01:52.6191 LVL= 19856, 25505, 20210, 31075, AGC= 52, IDX= 419, 0.41,-2.453, 2.179,-2.041,-2.579, PHS= 0.228,-1.480, 0.494, RAW= 157.1,   8.2, CAL= 156.7,   8.6, ROT= 353.3,  -8.6

2025-08-22T17:01:52.630Z,1755882112.630 [DAT](INFO): DAT read: Bearing 202.2,  -4.5 (Local)

2025-08-22T17:01:52.630Z,1755882112.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.2,  -4.5 (Local)

2025-08-22T17:01:52.632Z,1755882112.632 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m  (Round-trip  22.5 ms) speed  0.4 m/s

2025-08-22T17:01:52.632Z,1755882112.632 [DAT](INFO): DAT read: user:400>

2025-08-22T17:01:52.633Z,1755882112.633 [DAT](INFO): DAT read: Tx time:17:01:53.7424

2025-08-22T17:01:52.633Z,1755882112.633 [DAT](INFO): Ping request sent.
2025-08-22T17:01:52.634Z,1755882112.634 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:52.634Z,1755882112.634 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T17:01:52.635Z,1755882112.635 [DAT](INFO): direction in FSK: [0.982004,-0.115359,0.149535]
2025-08-22T17:01:52.635Z,1755882112.635 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:52.635Z,1755882112.635 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:52.638Z,1755882112.638 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:52.639Z,1755882112.639 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:52.642Z,1755882112.642 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.008255
2025-08-22T17:01:52.816Z,1755882112.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 3.527913 s,
      deltaX: -1.800001 m,
      approachRate: -0.510217 m/s,
      rangeRepo size: 4

2025-08-22T17:01:52.823Z,1755882112.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692814 m,
      bearing: 28.147566 deg,
      lat: 36.779471 deg,
      lon: -121.859639 deg,
      deltaT: 3.527913 s,
      deltaX: -1.788549 m,
      approachRate: -0.506971 m/s,
      posRepo size: 4

2025-08-22T17:01:52.823Z,1755882112.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:52.831Z,1755882112.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 16.435528 m,
      bearing: 31.264694 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.211805 deg/s,
      cmd heading: 31.978089 deg,
      new cmd heading: 31.809214 deg.

2025-08-22T17:01:52.832Z,1755882112.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555176 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:52.875Z,1755882112.875 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240921
2025-08-22T17:01:53.127Z,1755882113.127 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.492972
2025-08-22T17:01:53.196Z,1755882113.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:53.199Z,1755882113.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 16.239092 m,
      bearing: 31.067695 deg,
      approach rate: -0.516983 m/s,
      LOS rate: -0.524737 deg/s,
      cmd heading: 31.809215 deg,
      new cmd heading: 31.410458 deg.

2025-08-22T17:01:53.200Z,1755882113.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548216 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:53.383Z,1755882113.383 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.749298
2025-08-22T17:01:53.602Z,1755882113.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:53.605Z,1755882113.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 16.036617 m,
      bearing: 30.862799 deg,
      approach rate: -0.498144 m/s,
      LOS rate: -0.510465 deg/s,
      cmd heading: 31.410459 deg,
      new cmd heading: 30.995501 deg.

2025-08-22T17:01:53.614Z,1755882113.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:01:53.622Z,1755882113.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540974 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:53.635Z,1755882113.635 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.000940
2025-08-22T17:01:53.887Z,1755882113.887 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.252945
2025-08-22T17:01:53.992Z,1755882113.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:53.994Z,1755882113.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:53.997Z,1755882113.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 15.842080 m,
      bearing: 30.661226 deg,
      approach rate: -0.496802 m/s,
      LOS rate: -0.521089 deg/s,
      cmd heading: 30.995501 deg,
      new cmd heading: 30.587413 deg.

2025-08-22T17:01:53.998Z,1755882113.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533851 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:54.140Z,1755882114.140 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.506303
2025-08-22T17:01:54.391Z,1755882114.391 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.756947
2025-08-22T17:01:54.447Z,1755882114.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:54.450Z,1755882114.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 15.619085 m,
      bearing: 30.416789 deg,
      approach rate: -0.491906 m/s,
      LOS rate: -0.546903 deg/s,
      cmd heading: 30.587414 deg,
      new cmd heading: 30.091574 deg.

2025-08-22T17:01:54.451Z,1755882114.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525197 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:54.646Z,1755882114.646 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.012373
2025-08-22T17:01:54.793Z,1755882114.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:54.796Z,1755882114.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 15.449370 m,
      bearing: 30.226667 deg,
      approach rate: -0.491190 m/s,
      LOS rate: -0.556295 deg/s,
      cmd heading: 30.091573 deg,
      new cmd heading: 29.707159 deg.

2025-08-22T17:01:54.796Z,1755882114.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518488 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:54.895Z,1755882114.895 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.261785
2025-08-22T17:01:55.147Z,1755882115.147 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.512879
2025-08-22T17:01:55.221Z,1755882115.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:55.224Z,1755882115.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 15.239470 m,
      bearing: 29.986343 deg,
      approach rate: -0.489952 m/s,
      LOS rate: -0.568690 deg/s,
      cmd heading: 29.707160 deg,
      new cmd heading: 29.219905 deg.

2025-08-22T17:01:55.225Z,1755882115.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509984 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:55.406Z,1755882115.406 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.770941
2025-08-22T17:01:55.638Z,1755882115.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:55.641Z,1755882115.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 15.036973 m,
      bearing: 29.743167 deg,
      approach rate: -0.485446 m/s,
      LOS rate: -0.590816 deg/s,
      cmd heading: 29.219904 deg,
      new cmd heading: 28.727017 deg.

2025-08-22T17:01:55.642Z,1755882115.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501381 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:55.654Z,1755882115.654 [DAT](INFO): DAT read: Rx Time:17:01:56.1669

2025-08-22T17:01:55.655Z,1755882115.655 [DAT](INFO): Rx dataTimestamp_ set to:1755882115.654659
2025-08-22T17:01:55.655Z,1755882115.655 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.021879
2025-08-22T17:01:55.906Z,1755882115.906 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.272850
2025-08-22T17:01:56.072Z,1755882116.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:56.079Z,1755882116.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:01:56.086Z,1755882116.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.692814 m,
      nav range: 14.846972 m,
      bearing: 29.512079 deg,
      approach rate: -0.431209 m/s,
      LOS rate: -0.531167 deg/s,
      cmd heading: 28.727017 deg,
      new cmd heading: 28.258937 deg.

2025-08-22T17:01:56.089Z,1755882116.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493211 target range: 16.692814 and range: 16.80 m.
2025-08-22T17:01:56.168Z,1755882116.168 [DAT](INFO): DAT read: 17:01:56.1669 LVL= 23280, 29425, 21298, 32755, AGC= 51, IDX= 413, 0.11, 2.631, 1.058,-3.097, 2.586, PHS= 0.147,-1.484, 0.556, RAW= 160.9,   8.4, CAL= 160.6,   8.7, ROT= 349.4,  -8.7

2025-08-22T17:01:56.170Z,1755882116.170 [DAT](INFO): got valid direction response:
 17:01:56.1669 LVL= 23280, 29425, 21298, 32755, AGC= 51, IDX= 413, 0.11, 2.631, 1.058,-3.097, 2.586, PHS= 0.147,-1.484, 0.556, RAW= 160.9,   8.4, CAL= 160.6,   8.7, ROT= 349.4,  -8.7

2025-08-22T17:01:56.171Z,1755882116.171 [DAT](INFO): DAT read: Bearing 202.1,  -8.0 (Local)

2025-08-22T17:01:56.172Z,1755882116.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.1,  -8.0 (Local)

2025-08-22T17:01:56.186Z,1755882116.186 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m  (Round-trip  20.4 ms) speed  0.4 m/s

2025-08-22T17:01:56.187Z,1755882116.187 [DAT](INFO): DAT read: user:401>

2025-08-22T17:01:56.188Z,1755882116.188 [DAT](INFO): DAT read: Tx time:17:01:57.2924

2025-08-22T17:01:56.189Z,1755882116.189 [DAT](INFO): Ping request sent.
2025-08-22T17:01:56.189Z,1755882116.189 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:56.189Z,1755882116.189 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T17:01:56.195Z,1755882116.195 [DAT](INFO): direction in FSK: [0.971626,-0.181835,0.151261]
2025-08-22T17:01:56.195Z,1755882116.195 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:56.196Z,1755882116.196 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:56.220Z,1755882116.220 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:56.220Z,1755882116.220 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:56.232Z,1755882116.232 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.043102
2025-08-22T17:01:56.414Z,1755882116.414 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.224197
2025-08-22T17:01:56.562Z,1755882116.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 3.536697 s,
      deltaX: -1.499999 m,
      approachRate: -0.424124 m/s,
      rangeRepo size: 4

2025-08-22T17:01:56.564Z,1755882116.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.202380 m,
      bearing: 23.623632 deg,
      lat: 36.779472 deg,
      lon: -121.859641 deg,
      deltaT: 3.536697 s,
      deltaX: -1.490434 m,
      approachRate: -0.421420 m/s,
      posRepo size: 4

2025-08-22T17:01:56.565Z,1755882116.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:56.572Z,1755882116.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 14.657506 m,
      bearing: 28.319562 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.531167 deg/s,
      cmd heading: 28.258936 deg,
      new cmd heading: 27.750749 deg.

2025-08-22T17:01:56.573Z,1755882116.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484342 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:56.663Z,1755882116.663 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.473927
2025-08-22T17:01:56.915Z,1755882116.915 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.725808
2025-08-22T17:01:57.069Z,1755882117.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:57.072Z,1755882117.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 14.394907 m,
      bearing: 27.990312 deg,
      approach rate: -0.512773 m/s,
      LOS rate: -0.654647 deg/s,
      cmd heading: 27.750750 deg,
      new cmd heading: 27.080270 deg.

2025-08-22T17:01:57.073Z,1755882117.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472640 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:57.168Z,1755882117.168 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.978898
2025-08-22T17:01:57.421Z,1755882117.421 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.232201
2025-08-22T17:01:57.508Z,1755882117.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:57.515Z,1755882117.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 14.177585 m,
      bearing: 27.696634 deg,
      approach rate: -0.494828 m/s,
      LOS rate: -0.678930 deg/s,
      cmd heading: 27.080269 deg,
      new cmd heading: 26.483935 deg.

2025-08-22T17:01:57.516Z,1755882117.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462232 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:57.671Z,1755882117.671 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.481789
2025-08-22T17:01:57.923Z,1755882117.923 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.734370
2025-08-22T17:01:57.980Z,1755882117.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:57.987Z,1755882117.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 13.939155 m,
      bearing: 27.367626 deg,
      approach rate: -0.505410 m/s,
      LOS rate: -0.709337 deg/s,
      cmd heading: 26.483936 deg,
      new cmd heading: 25.814698 deg.

2025-08-22T17:01:57.988Z,1755882117.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450551 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:58.175Z,1755882118.175 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.986337
2025-08-22T17:01:58.370Z,1755882118.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:01:58.372Z,1755882118.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:58.375Z,1755882118.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 13.742593 m,
      bearing: 27.090632 deg,
      approach rate: -0.501358 m/s,
      LOS rate: -0.716615 deg/s,
      cmd heading: 25.814698 deg,
      new cmd heading: 25.252805 deg.

2025-08-22T17:01:58.376Z,1755882118.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440745 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:58.431Z,1755882118.431 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.241895
2025-08-22T17:01:58.679Z,1755882118.679 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.490555
2025-08-22T17:01:58.792Z,1755882118.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:58.795Z,1755882118.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 13.540902 m,
      bearing: 26.806274 deg,
      approach rate: -0.480070 m/s,
      LOS rate: -0.686913 deg/s,
      cmd heading: 25.252806 deg,
      new cmd heading: 24.675642 deg.

2025-08-22T17:01:58.796Z,1755882118.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430671 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:58.931Z,1755882118.931 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.741841
2025-08-22T17:01:59.183Z,1755882119.183 [DAT](INFO): DAT read: Rx Time:17:01:59.7146

2025-08-22T17:01:59.184Z,1755882119.184 [DAT](INFO): Rx dataTimestamp_ set to:1755882119.183458
2025-08-22T17:01:59.185Z,1755882119.185 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.995912
2025-08-22T17:01:59.223Z,1755882119.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:59.226Z,1755882119.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 13.351929 m,
      bearing: 26.535474 deg,
      approach rate: -0.438353 m/s,
      LOS rate: -0.637051 deg/s,
      cmd heading: 24.675643 deg,
      new cmd heading: 24.126396 deg.

2025-08-22T17:01:59.227Z,1755882119.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421085 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:59.438Z,1755882119.438 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.248377
2025-08-22T17:01:59.676Z,1755882119.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-22T17:01:59.683Z,1755882119.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.202380 m,
      nav range: 13.117892 m,
      bearing: 26.197045 deg,
      approach rate: -0.517148 m/s,
      LOS rate: -0.761161 deg/s,
      cmd heading: 24.126395 deg,
      new cmd heading: 23.437498 deg.

2025-08-22T17:01:59.684Z,1755882119.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409062 target range: 15.202380 and range: 15.30 m.
2025-08-22T17:01:59.693Z,1755882119.693 [DAT](INFO): DAT read: 17:01:59.7146 LVL= 25632, 32753, 20306, 32755, AGC= 51, IDX= 421,-0.00,-0.784,-2.319,-0.144,-0.783, PHS= 0.100,-1.491, 0.595, RAW= 163.1,   8.5, CAL= 162.8,   8.8, ROT= 347.2,  -8.8

2025-08-22T17:01:59.695Z,1755882119.695 [DAT](INFO): got valid direction response:
 17:01:59.7146 LVL= 25632, 32753, 20306, 32755, AGC= 51, IDX= 421,-0.00,-0.784,-2.319,-0.144,-0.783, PHS= 0.100,-1.491, 0.595, RAW= 163.1,   8.5, CAL= 162.8,   8.8, ROT= 347.2,  -8.8

2025-08-22T17:01:59.696Z,1755882119.696 [DAT](INFO): DAT read: Bearing 200.1, -10.0 (Local)

2025-08-22T17:01:59.696Z,1755882119.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.1, -10.0 (Local)

2025-08-22T17:01:59.697Z,1755882119.697 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m  (Round-trip  18.0 ms) speed  0.4 m/s

2025-08-22T17:01:59.698Z,1755882119.698 [DAT](INFO): DAT read: user:402>

2025-08-22T17:01:59.699Z,1755882119.699 [DAT](INFO): DAT read: Tx time:17:02:00.8424

2025-08-22T17:01:59.699Z,1755882119.699 [DAT](INFO): Ping request sent.
2025-08-22T17:01:59.699Z,1755882119.699 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:01:59.699Z,1755882119.699 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T17:01:59.700Z,1755882119.700 [DAT](INFO): direction in FSK: [0.963670,-0.218940,0.152986]
2025-08-22T17:01:59.701Z,1755882119.701 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:59.701Z,1755882119.701 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:59.704Z,1755882119.704 [DAT](INFO): publishing transmit ping time
2025-08-22T17:01:59.704Z,1755882119.704 [DAT](INFO): publishing direction and range info
2025-08-22T17:01:59.716Z,1755882119.716 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.016823
2025-08-22T17:01:59.939Z,1755882119.939 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.239462
2025-08-22T17:02:00.016Z,1755882120.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 3.527429 s,
      deltaX: -1.800000 m,
      approachRate: -0.510287 m/s,
      rangeRepo size: 4

2025-08-22T17:02:00.024Z,1755882120.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.413886 m,
      bearing: 19.649752 deg,
      lat: 36.779475 deg,
      lon: -121.859647 deg,
      deltaT: 3.527429 s,
      deltaX: -1.788494 m,
      approachRate: -0.507025 m/s,
      posRepo size: 4

2025-08-22T17:02:00.029Z,1755882120.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:00.032Z,1755882120.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.965037 m,
      bearing: 23.015493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.761161 deg/s,
      cmd heading: 23.437499 deg,
      new cmd heading: 22.922555 deg.

2025-08-22T17:02:00.033Z,1755882120.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400074 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:00.191Z,1755882120.191 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491616
2025-08-22T17:02:00.392Z,1755882120.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:00.417Z,1755882120.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:00.439Z,1755882120.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.766214 m,
      bearing: 22.668244 deg,
      approach rate: -0.495807 m/s,
      LOS rate: -0.879419 deg/s,
      cmd heading: 22.922555 deg,
      new cmd heading: 22.217281 deg.

2025-08-22T17:02:00.446Z,1755882120.446 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.745869
2025-08-22T17:02:00.451Z,1755882120.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387765 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:00.695Z,1755882120.695 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.995761
2025-08-22T17:02:00.901Z,1755882120.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:00.904Z,1755882120.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.539182 m,
      bearing: 22.246159 deg,
      approach rate: -0.467275 m/s,
      LOS rate: -0.884451 deg/s,
      cmd heading: 22.217282 deg,
      new cmd heading: 21.357899 deg.

2025-08-22T17:02:00.905Z,1755882120.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372766 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:00.947Z,1755882120.947 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.247600
2025-08-22T17:02:01.199Z,1755882121.199 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.499444
2025-08-22T17:02:01.234Z,1755882121.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:01.237Z,1755882121.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.389901 m,
      bearing: 21.963686 deg,
      approach rate: -0.447995 m/s,
      LOS rate: -0.857919 deg/s,
      cmd heading: 21.357899 deg,
      new cmd heading: 20.786168 deg.

2025-08-22T17:02:01.238Z,1755882121.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362787 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:01.454Z,1755882121.454 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.753860
2025-08-22T17:02:01.686Z,1755882121.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:01.688Z,1755882121.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.186273 m,
      bearing: 21.574659 deg,
      approach rate: -0.451505 m/s,
      LOS rate: -0.876995 deg/s,
      cmd heading: 20.786168 deg,
      new cmd heading: 19.995168 deg.

2025-08-22T17:02:01.689Z,1755882121.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348982 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:01.703Z,1755882121.703 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003467
2025-08-22T17:02:01.955Z,1755882121.955 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.255772
2025-08-22T17:02:02.070Z,1755882122.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:02.072Z,1755882122.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 12.013108 m,
      bearing: 21.232555 deg,
      approach rate: -0.450668 m/s,
      LOS rate: -0.903170 deg/s,
      cmd heading: 19.995169 deg,
      new cmd heading: 19.301136 deg.

2025-08-22T17:02:02.074Z,1755882122.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336868 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:02.207Z,1755882122.207 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.507454
2025-08-22T17:02:02.457Z,1755882122.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:02.462Z,1755882122.462 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.761876
2025-08-22T17:02:02.471Z,1755882122.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:02.502Z,1755882122.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 11.843663 m,
      bearing: 20.900114 deg,
      approach rate: -0.424162 m/s,
      LOS rate: -0.844080 deg/s,
      cmd heading: 19.301136 deg,
      new cmd heading: 18.626778 deg.

2025-08-22T17:02:02.510Z,1755882122.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325099 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:02.710Z,1755882122.710 [DAT](INFO): DAT read: Rx Time:17:02:03.2624

2025-08-22T17:02:02.711Z,1755882122.711 [DAT](INFO): Rx dataTimestamp_ set to:1755882122.710677
2025-08-22T17:02:02.712Z,1755882122.712 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.012417
2025-08-22T17:02:02.866Z,1755882122.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m.
2025-08-22T17:02:02.868Z,1755882122.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.413886 m,
      nav range: 11.650689 m,
      bearing: 20.539261 deg,
      approach rate: -0.486925 m/s,
      LOS rate: -0.925602 deg/s,
      cmd heading: 18.626778 deg,
      new cmd heading: 17.893164 deg.

2025-08-22T17:02:02.869Z,1755882122.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312295 target range: 13.413886 and range: 13.50 m.
2025-08-22T17:02:02.963Z,1755882122.963 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.263635
2025-08-22T17:02:03.220Z,1755882123.220 [DAT](INFO): DAT read: 17:02:03.2624 LVL= 28080, 30641, 22738, 32755, AGC= 51, IDX= 414,-0.05, 1.565, 0.040, 2.218, 1.584, PHS= 0.083,-1.499, 0.591, RAW= 163.5,   8.8, CAL= 163.2,   9.2, ROT= 346.8,  -9.2

2025-08-22T17:02:03.221Z,1755882123.221 [DAT](INFO): got valid direction response:
 17:02:03.2624 LVL= 28080, 30641, 22738, 32755, AGC= 51, IDX= 414,-0.05, 1.565, 0.040, 2.218, 1.584, PHS= 0.083,-1.499, 0.591, RAW= 163.5,   8.8, CAL= 163.2,   9.2, ROT= 346.8,  -9.2

2025-08-22T17:02:03.222Z,1755882123.222 [DAT](INFO): DAT read: Bearing 197.5, -10.3 (Local)

2025-08-22T17:02:03.223Z,1755882123.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.5, -10.3 (Local)

2025-08-22T17:02:03.224Z,1755882123.224 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m  (Round-trip  15.8 ms) speed  0.4 m/s

2025-08-22T17:02:03.225Z,1755882123.225 [DAT](INFO): DAT read: user:403>

2025-08-22T17:02:03.230Z,1755882123.230 [DAT](INFO): DAT read: Tx time:17:02:04.3924

2025-08-22T17:02:03.230Z,1755882123.230 [DAT](INFO): Ping request sent.
2025-08-22T17:02:03.230Z,1755882123.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:03.231Z,1755882123.231 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T17:02:03.232Z,1755882123.232 [DAT](INFO): direction in FSK: [0.961055,-0.225414,0.159881]
2025-08-22T17:02:03.232Z,1755882123.232 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:03.232Z,1755882123.232 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:03.239Z,1755882123.239 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:03.239Z,1755882123.239 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:03.256Z,1755882123.256 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.025258
2025-08-22T17:02:03.332Z,1755882123.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.800000 m,
      deltaT: 3.527977 s,
      deltaX: -1.700000 m,
      approachRate: -0.481862 m/s,
      rangeRepo size: 4

2025-08-22T17:02:03.347Z,1755882123.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.724699 m,
      bearing: 16.485668 deg,
      lat: 36.779477 deg,
      lon: -121.859651 deg,
      deltaT: 3.527977 s,
      deltaX: -1.689187 m,
      approachRate: -0.478798 m/s,
      posRepo size: 4

2025-08-22T17:02:03.347Z,1755882123.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:03.354Z,1755882123.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 11.567837 m,
      bearing: 18.089343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.925602 deg/s,
      cmd heading: 17.893164 deg,
      new cmd heading: 17.029978 deg.

2025-08-22T17:02:03.355Z,1755882123.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297229 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:03.467Z,1755882123.467 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.236742
2025-08-22T17:02:03.705Z,1755882123.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:03.708Z,1755882123.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 11.382945 m,
      bearing: 17.698053 deg,
      approach rate: -0.495636 m/s,
      LOS rate: -1.065956 deg/s,
      cmd heading: 17.029979 deg,
      new cmd heading: 16.234743 deg.

2025-08-22T17:02:03.709Z,1755882123.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283350 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:03.718Z,1755882123.718 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.488128
2025-08-22T17:02:03.971Z,1755882123.971 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.740264
2025-08-22T17:02:04.084Z,1755882124.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:04.087Z,1755882124.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 11.211631 m,
      bearing: 17.331945 deg,
      approach rate: -0.451774 m/s,
      LOS rate: -0.980213 deg/s,
      cmd heading: 16.234743 deg,
      new cmd heading: 15.491386 deg.

2025-08-22T17:02:04.088Z,1755882124.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270376 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:04.223Z,1755882124.223 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.992266
2025-08-22T17:02:04.478Z,1755882124.478 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.246713
2025-08-22T17:02:04.564Z,1755882124.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:04.570Z,1755882124.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:04.573Z,1755882124.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.997662 m,
      bearing: 16.869119 deg,
      approach rate: -0.440097 m/s,
      LOS rate: -0.970462 deg/s,
      cmd heading: 15.491386 deg,
      new cmd heading: 14.547821 deg.

2025-08-22T17:02:04.594Z,1755882124.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253907 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:04.727Z,1755882124.727 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.496540
2025-08-22T17:02:04.979Z,1755882124.979 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.748405
2025-08-22T17:02:05.033Z,1755882125.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:05.036Z,1755882125.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.789524 m,
      bearing: 16.436227 deg,
      approach rate: -0.453364 m/s,
      LOS rate: -0.961104 deg/s,
      cmd heading: 14.547821 deg,
      new cmd heading: 13.665413 deg.

2025-08-22T17:02:05.037Z,1755882125.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238506 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:05.231Z,1755882125.231 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.000214
2025-08-22T17:02:05.386Z,1755882125.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:05.389Z,1755882125.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.619015 m,
      bearing: 16.078338 deg,
      approach rate: -0.477805 m/s,
      LOS rate: -1.018978 deg/s,
      cmd heading: 13.665413 deg,
      new cmd heading: 12.938187 deg.

2025-08-22T17:02:05.390Z,1755882125.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225814 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:05.486Z,1755882125.486 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.254482
2025-08-22T17:02:05.735Z,1755882125.735 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.504292
2025-08-22T17:02:05.820Z,1755882125.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:05.839Z,1755882125.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.424619 m,
      bearing: 15.684010 deg,
      approach rate: -0.447966 m/s,
      LOS rate: -0.925627 deg/s,
      cmd heading: 12.938187 deg,
      new cmd heading: 12.134882 deg.

2025-08-22T17:02:05.840Z,1755882125.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211794 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:05.988Z,1755882125.988 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.757739
2025-08-22T17:02:06.230Z,1755882126.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:06.232Z,1755882126.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.250901 m,
      bearing: 15.329248 deg,
      approach rate: -0.424086 m/s,
      LOS rate: -0.880729 deg/s,
      cmd heading: 12.134881 deg,
      new cmd heading: 11.413377 deg.

2025-08-22T17:02:06.234Z,1755882126.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199201 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:06.239Z,1755882126.239 [DAT](INFO): DAT read: Rx Time:17:02:06.8102

2025-08-22T17:02:06.239Z,1755882126.239 [DAT](INFO): Rx dataTimestamp_ set to:1755882126.238859
2025-08-22T17:02:06.240Z,1755882126.240 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.009412
2025-08-22T17:02:06.492Z,1755882126.492 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.261219
2025-08-22T17:02:06.652Z,1755882126.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:06.659Z,1755882126.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.72 m.
2025-08-22T17:02:06.695Z,1755882126.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.724699 m,
      nav range: 10.048414 m,
      bearing: 14.923352 deg,
      approach rate: -0.473848 m/s,
      LOS rate: -0.968986 deg/s,
      cmd heading: 11.413377 deg,
      new cmd heading: 10.585291 deg.

2025-08-22T17:02:06.704Z,1755882126.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184748 target range: 11.724699 and range: 11.80 m.
2025-08-22T17:02:06.750Z,1755882126.750 [DAT](INFO): DAT read: 17:02:06.8102 LVL= 21200, 28913, 20274, 32755, AGC= 49, IDX= 424, 0.37, 1.343,-0.214, 1.939, 1.321, PHS= 0.124,-1.490, 0.573, RAW= 162.0,   8.5, CAL= 161.6,   8.8, ROT= 348.4,  -8.8

2025-08-22T17:02:06.751Z,1755882126.751 [DAT](INFO): got valid direction response:
 17:02:06.8102 LVL= 21200, 28913, 20274, 32755, AGC= 49, IDX= 424, 0.37, 1.343,-0.214, 1.939, 1.321, PHS= 0.124,-1.490, 0.573, RAW= 162.0,   8.5, CAL= 161.6,   8.8, ROT= 348.4,  -8.8

2025-08-22T17:02:06.752Z,1755882126.752 [DAT](INFO): DAT read: Bearing 192.1,  -8.8 (Local)

2025-08-22T17:02:06.752Z,1755882126.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,  -8.8 (Local)

2025-08-22T17:02:06.753Z,1755882126.753 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m  (Round-trip  13.6 ms) speed  0.4 m/s

2025-08-22T17:02:06.754Z,1755882126.754 [DAT](INFO): DAT read: user:404>

2025-08-22T17:02:06.756Z,1755882126.756 [DAT](INFO): DAT read: Tx time:17:02:07.9424

2025-08-22T17:02:06.756Z,1755882126.756 [DAT](INFO): Ping request sent.
2025-08-22T17:02:06.756Z,1755882126.756 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:06.757Z,1755882126.757 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T17:02:06.766Z,1755882126.766 [DAT](INFO): direction in FSK: [0.968044,-0.198711,0.152986]
2025-08-22T17:02:06.767Z,1755882126.767 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:06.767Z,1755882126.767 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:06.780Z,1755882126.780 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:06.780Z,1755882126.780 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:06.794Z,1755882126.794 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.038086
2025-08-22T17:02:06.996Z,1755882126.996 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.239785
2025-08-22T17:02:07.082Z,1755882127.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 3.529251 s,
      deltaX: -1.600000 m,
      approachRate: -0.453354 m/s,
      rangeRepo size: 4

2025-08-22T17:02:07.084Z,1755882127.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.134933 m,
      bearing: 13.467514 deg,
      lat: 36.779478 deg,
      lon: -121.859653 deg,
      deltaT: 3.529251 s,
      deltaX: -1.589766 m,
      approachRate: -0.450454 m/s,
      posRepo size: 4

2025-08-22T17:02:07.084Z,1755882127.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:07.088Z,1755882127.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 9.918341 m,
      bearing: 13.467498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.968986 deg/s,
      cmd heading: 10.585291 deg,
      new cmd heading: 9.764094 deg.

2025-08-22T17:02:07.089Z,1755882127.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170416 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:07.247Z,1755882127.247 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.490364
2025-08-22T17:02:07.448Z,1755882127.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:07.467Z,1755882127.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 9.747458 m,
      bearing: 13.102527 deg,
      approach rate: -0.465867 m/s,
      LOS rate: -1.012430 deg/s,
      cmd heading: 9.764094 deg,
      new cmd heading: 9.021403 deg.

2025-08-22T17:02:07.468Z,1755882127.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157453 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:07.499Z,1755882127.499 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.743088
2025-08-22T17:02:07.751Z,1755882127.751 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.994370
2025-08-22T17:02:07.878Z,1755882127.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:07.881Z,1755882127.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 9.554162 m,
      bearing: 12.696984 deg,
      approach rate: -0.448692 m/s,
      LOS rate: -0.960413 deg/s,
      cmd heading: 9.021404 deg,
      new cmd heading: 8.193973 deg.

2025-08-22T17:02:07.882Z,1755882127.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143012 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:08.004Z,1755882128.004 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.247060
2025-08-22T17:02:08.255Z,1755882128.255 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.498357
2025-08-22T17:02:08.349Z,1755882128.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:08.351Z,1755882128.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 9.349335 m,
      bearing: 12.265277 deg,
      approach rate: -0.435312 m/s,
      LOS rate: -0.937583 deg/s,
      cmd heading: 8.193973 deg,
      new cmd heading: 7.311721 deg.

2025-08-22T17:02:08.352Z,1755882128.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127614 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:08.511Z,1755882128.511 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.754399
2025-08-22T17:02:08.759Z,1755882128.759 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.002387
2025-08-22T17:02:08.770Z,1755882128.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:08.772Z,1755882128.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:08.779Z,1755882128.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 9.166572 m,
      bearing: 11.884832 deg,
      approach rate: -0.431826 m/s,
      LOS rate: -0.916819 deg/s,
      cmd heading: 7.311721 deg,
      new cmd heading: 6.535712 deg.

2025-08-22T17:02:08.780Z,1755882128.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114070 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:09.012Z,1755882129.012 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.255356
2025-08-22T17:02:09.239Z,1755882129.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:09.242Z,1755882129.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 8.953632 m,
      bearing: 11.440935 deg,
      approach rate: -0.456248 m/s,
      LOS rate: -0.973712 deg/s,
      cmd heading: 6.535712 deg,
      new cmd heading: 5.626891 deg.

2025-08-22T17:02:09.243Z,1755882129.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098208 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:09.263Z,1755882129.263 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.506381
2025-08-22T17:02:09.515Z,1755882129.515 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.758902
2025-08-22T17:02:09.679Z,1755882129.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:09.685Z,1755882129.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 8.767885 m,
      bearing: 11.038861 deg,
      approach rate: -0.422381 m/s,
      LOS rate: -0.933661 deg/s,
      cmd heading: 5.626891 deg,
      new cmd heading: 4.805770 deg.

2025-08-22T17:02:09.686Z,1755882129.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083877 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:09.768Z,1755882129.768 [DAT](INFO): DAT read: Rx Time:17:02:10.3581

2025-08-22T17:02:09.768Z,1755882129.768 [DAT](INFO): Rx dataTimestamp_ set to:1755882129.767823
2025-08-22T17:02:09.769Z,1755882129.769 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.012809
2025-08-22T17:02:10.019Z,1755882130.019 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.262460
2025-08-22T17:02:10.058Z,1755882130.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m.
2025-08-22T17:02:10.061Z,1755882130.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.134933 m,
      nav range: 8.607254 m,
      bearing: 10.692318 deg,
      approach rate: -0.423604 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 4.805770 deg,
      new cmd heading: 4.099790 deg.

2025-08-22T17:02:10.062Z,1755882130.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071555 target range: 10.134933 and range: 10.20 m.
2025-08-22T17:02:10.279Z,1755882130.279 [DAT](INFO): DAT read: 17:02:10.3581 LVL= 22064, 30001, 20082, 28963, AGC= 49, IDX= 419,-0.09,-2.652, 1.989,-2.373,-2.725, PHS= 0.175,-1.524, 0.308, RAW= 153.7,  11.7, CAL= 153.8,  13.0, ROT= 356.2, -13.0

2025-08-22T17:02:10.280Z,1755882130.280 [DAT](INFO): got valid direction response:
 17:02:10.3581 LVL= 22064, 30001, 20082, 28963, AGC= 49, IDX= 419,-0.09,-2.652, 1.989,-2.373,-2.725, PHS= 0.175,-1.524, 0.308, RAW= 153.7,  11.7, CAL= 153.8,  13.0, ROT= 356.2, -13.0

2025-08-22T17:02:10.281Z,1755882130.281 [DAT](INFO): DAT read: Bearing 190.5,  -1.7 (Local)

2025-08-22T17:02:10.281Z,1755882130.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.5,  -1.7 (Local)

2025-08-22T17:02:10.283Z,1755882130.283 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m  (Round-trip  11.6 ms) speed  0.4 m/s

2025-08-22T17:02:10.284Z,1755882130.284 [DAT](INFO): DAT read: user:405>

2025-08-22T17:02:10.284Z,1755882130.284 [DAT](INFO): DAT read: Tx time:17:02:11.4423

2025-08-22T17:02:10.285Z,1755882130.285 [DAT](INFO): Ping request sent.
2025-08-22T17:02:10.285Z,1755882130.285 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:10.285Z,1755882130.285 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T17:02:10.286Z,1755882130.286 [DAT](INFO): direction in FSK: [0.972228,-0.064575,0.224951]
2025-08-22T17:02:10.286Z,1755882130.286 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:10.287Z,1755882130.287 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:10.290Z,1755882130.290 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:10.290Z,1755882130.290 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:10.294Z,1755882130.294 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.008503
2025-08-22T17:02:10.471Z,1755882130.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 3.527135 s,
      deltaX: -1.500000 m,
      approachRate: -0.425274 m/s,
      rangeRepo size: 4

2025-08-22T17:02:10.479Z,1755882130.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.644509 m,
      bearing: 15.271889 deg,
      lat: 36.779478 deg,
      lon: -121.859653 deg,
      deltaT: 3.527135 s,
      deltaX: -1.490424 m,
      approachRate: -0.422559 m/s,
      posRepo size: 4

2025-08-22T17:02:10.480Z,1755882130.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m.
2025-08-22T17:02:10.481Z,1755882130.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.70 m.
2025-08-22T17:02:10.486Z,1755882130.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T17:02:10.495Z,1755882130.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 8.437189 m,
      bearing: 10.327203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 4.099790 deg,
      new cmd heading: 3.331167 deg.

2025-08-22T17:02:10.497Z,1755882130.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058140 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:10.523Z,1755882130.523 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.237877
2025-08-22T17:02:10.775Z,1755882130.775 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.490655
2025-08-22T17:02:10.882Z,1755882130.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:10.884Z,1755882130.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:10.887Z,1755882130.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 8.256016 m,
      bearing: 9.940196 deg,
      approach rate: -0.438360 m/s,
      LOS rate: -0.956929 deg/s,
      cmd heading: 3.331167 deg,
      new cmd heading: 2.540223 deg.

2025-08-22T17:02:10.888Z,1755882130.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044335 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:11.027Z,1755882131.027 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.742439
2025-08-22T17:02:11.257Z,1755882131.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:11.260Z,1755882131.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 8.096128 m,
      bearing: 9.614335 deg,
      approach rate: -0.429255 m/s,
      LOS rate: -0.892125 deg/s,
      cmd heading: 2.540223 deg,
      new cmd heading: 1.875663 deg.

2025-08-22T17:02:11.261Z,1755882131.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032736 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:11.279Z,1755882131.279 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.993881
2025-08-22T17:02:11.531Z,1755882131.531 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.245813
2025-08-22T17:02:11.727Z,1755882131.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:11.730Z,1755882131.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.894710 m,
      bearing: 9.184208 deg,
      approach rate: -0.427919 m/s,
      LOS rate: -0.937119 deg/s,
      cmd heading: 1.875663 deg,
      new cmd heading: 0.993540 deg.

2025-08-22T17:02:11.731Z,1755882131.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017341 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:11.784Z,1755882131.784 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.499107
2025-08-22T17:02:12.035Z,1755882132.035 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.750100
2025-08-22T17:02:12.090Z,1755882132.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:12.093Z,1755882132.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.740164 m,
      bearing: 8.838295 deg,
      approach rate: -0.426938 m/s,
      LOS rate: -0.974675 deg/s,
      cmd heading: 0.993540 deg,
      new cmd heading: 0.287940 deg.

2025-08-22T17:02:12.094Z,1755882132.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005026 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:12.287Z,1755882132.287 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.002529
2025-08-22T17:02:12.493Z,1755882132.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:12.501Z,1755882132.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.577358 m,
      bearing: 8.506616 deg,
      approach rate: -0.404313 m/s,
      LOS rate: -0.841383 deg/s,
      cmd heading: 0.287940 deg,
      new cmd heading: 359.610366 deg.

2025-08-22T17:02:12.507Z,1755882132.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276385 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:12.539Z,1755882132.539 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.253928
2025-08-22T17:02:12.791Z,1755882132.791 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.505763
2025-08-22T17:02:12.904Z,1755882132.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:12.911Z,1755882132.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:12.913Z,1755882132.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.395287 m,
      bearing: 8.164628 deg,
      approach rate: -0.434967 m/s,
      LOS rate: -0.837119 deg/s,
      cmd heading: 359.610361 deg,
      new cmd heading: 358.909584 deg.

2025-08-22T17:02:12.918Z,1755882132.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264154 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:13.043Z,1755882133.043 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.757855
2025-08-22T17:02:13.286Z,1755882133.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:13.289Z,1755882133.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.234136 m,
      bearing: 7.864138 deg,
      approach rate: -0.429555 m/s,
      LOS rate: -0.818809 deg/s,
      cmd heading: 358.909584 deg,
      new cmd heading: 358.295244 deg.

2025-08-22T17:02:13.290Z,1755882133.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253432 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:13.295Z,1755882133.295 [DAT](INFO): DAT read: Rx Time:17:02:13.8561

2025-08-22T17:02:13.295Z,1755882133.295 [DAT](INFO): Rx dataTimestamp_ set to:1755882133.294825
2025-08-22T17:02:13.296Z,1755882133.296 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.010936
2025-08-22T17:02:13.546Z,1755882133.546 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.261726
2025-08-22T17:02:13.804Z,1755882133.804 [DAT](INFO): DAT read: 17:02:13.8561 LVL= 26048, 29601, 19666, 32755, AGC= 46, IDX= 415, 0.04,-2.697, 1.797,-2.729,-2.858, PHS= 0.264,-1.583, 0.085, RAW= 145.0,  13.9, CAL= 144.6,  15.2, ROT=   5.4, -15.2

2025-08-22T17:02:13.805Z,1755882133.805 [DAT](INFO): got valid direction response:
 17:02:13.8561 LVL= 26048, 29601, 19666, 32755, AGC= 46, IDX= 415, 0.04,-2.697, 1.797,-2.729,-2.858, PHS= 0.264,-1.583, 0.085, RAW= 145.0,  13.9, CAL= 144.6,  15.2, ROT=   5.4, -15.2

2025-08-22T17:02:13.806Z,1755882133.806 [DAT](INFO): DAT read: Bearing 187.0,   6.1 (Local)

2025-08-22T17:02:13.807Z,1755882133.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   6.1 (Local)

2025-08-22T17:02:13.808Z,1755882133.808 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m  (Round-trip  9.6 ms) speed  0.3 m/s

2025-08-22T17:02:13.809Z,1755882133.809 [DAT](INFO): DAT read: user:406>

2025-08-22T17:02:13.810Z,1755882133.810 [DAT](INFO): DAT read: Tx time:17:02:14.9423

2025-08-22T17:02:13.810Z,1755882133.810 [DAT](INFO): Ping request sent.
2025-08-22T17:02:13.810Z,1755882133.810 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:13.810Z,1755882133.810 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T17:02:13.811Z,1755882133.811 [DAT](INFO): direction in FSK: [0.960734,0.090816,0.262189]
2025-08-22T17:02:13.811Z,1755882133.811 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:13.812Z,1755882133.812 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:13.814Z,1755882133.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:13.816Z,1755882133.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 7.017836 m,
      bearing: 7.498554 deg,
      approach rate: -0.422568 m/s,
      LOS rate: -0.736219 deg/s,
      cmd heading: 358.295249 deg,
      new cmd heading: 357.541595 deg.

2025-08-22T17:02:13.819Z,1755882133.819 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:13.819Z,1755882133.819 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:13.822Z,1755882133.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240278 target range: 8.644509 and range: 8.70 m.
2025-08-22T17:02:13.827Z,1755882133.827 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.016788
2025-08-22T17:02:14.051Z,1755882134.051 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.241384
2025-08-22T17:02:14.167Z,1755882134.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 3.527634 s,
      deltaX: -1.500000 m,
      approachRate: -0.425214 m/s,
      rangeRepo size: 4

2025-08-22T17:02:14.171Z,1755882134.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.154073 m,
      bearing: 18.093246 deg,
      lat: 36.779477 deg,
      lon: -121.859653 deg,
      deltaT: 3.527634 s,
      deltaX: -1.490436 m,
      approachRate: -0.422503 m/s,
      posRepo size: 4

2025-08-22T17:02:14.172Z,1755882134.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.15 m. 8.64 m.
2025-08-22T17:02:14.177Z,1755882134.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.868695 m,
      bearing: 7.250726 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 357.541606 deg,
      new cmd heading: 356.855912 deg.

2025-08-22T17:02:14.199Z,1755882134.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228311 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:14.303Z,1755882134.303 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.492769
2025-08-22T17:02:14.547Z,1755882134.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:14.555Z,1755882134.555 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.745350
2025-08-22T17:02:14.556Z,1755882134.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.699665 m,
      bearing: 6.977236 deg,
      approach rate: -0.443475 m/s,
      LOS rate: -0.735644 deg/s,
      cmd heading: 356.855910 deg,
      new cmd heading: 356.295148 deg.

2025-08-22T17:02:14.574Z,1755882134.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218524 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:14.808Z,1755882134.808 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.997570
2025-08-22T17:02:14.000Z,1755882135.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:15.007Z,1755882135.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:15.013Z,1755882135.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.518145 m,
      bearing: 6.731024 deg,
      approach rate: -0.399059 m/s,
      LOS rate: -0.556350 deg/s,
      cmd heading: 356.295151 deg,
      new cmd heading: 355.789031 deg.

2025-08-22T17:02:15.014Z,1755882135.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209690 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:15.059Z,1755882135.059 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.248738
2025-08-22T17:02:15.311Z,1755882135.311 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.500628
2025-08-22T17:02:15.434Z,1755882135.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:15.436Z,1755882135.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.322029 m,
      bearing: 6.472498 deg,
      approach rate: -0.454336 m/s,
      LOS rate: -0.617496 deg/s,
      cmd heading: 355.789034 deg,
      new cmd heading: 355.255959 deg.

2025-08-22T17:02:15.438Z,1755882135.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200386 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:15.563Z,1755882135.563 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.752592
2025-08-22T17:02:15.815Z,1755882135.815 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.004667
2025-08-22T17:02:15.851Z,1755882135.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:15.858Z,1755882135.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.159472 m,
      bearing: 6.277630 deg,
      approach rate: -0.389703 m/s,
      LOS rate: -0.479492 deg/s,
      cmd heading: 355.255952 deg,
      new cmd heading: 354.855938 deg.

2025-08-22T17:02:15.858Z,1755882135.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193405 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:16.070Z,1755882136.070 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.260053
2025-08-22T17:02:16.244Z,1755882136.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:16.250Z,1755882136.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 6.002979 m,
      bearing: 6.098995 deg,
      approach rate: -0.398389 m/s,
      LOS rate: -0.466611 deg/s,
      cmd heading: 354.855949 deg,
      new cmd heading: 354.489371 deg.

2025-08-22T17:02:16.251Z,1755882136.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187006 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:16.320Z,1755882136.320 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.509611
2025-08-22T17:02:16.571Z,1755882136.571 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.760993
2025-08-22T17:02:16.593Z,1755882136.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:16.615Z,1755882136.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.855661 m,
      bearing: 5.940346 deg,
      approach rate: -0.421375 m/s,
      LOS rate: -0.465203 deg/s,
      cmd heading: 354.489359 deg,
      new cmd heading: 354.164081 deg.

2025-08-22T17:02:16.646Z,1755882136.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181329 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:16.823Z,1755882136.823 [DAT](INFO): DAT read: Rx Time:17:02:17.3542

2025-08-22T17:02:16.823Z,1755882136.823 [DAT](INFO): Rx dataTimestamp_ set to:1755882136.822743
2025-08-22T17:02:16.824Z,1755882136.824 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.013674
2025-08-22T17:02:17.044Z,1755882137.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:17.047Z,1755882137.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:17.050Z,1755882137.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.669459 m,
      bearing: 5.843952 deg,
      approach rate: -0.410433 m/s,
      LOS rate: -0.219453 deg/s,
      cmd heading: 354.164078 deg,
      new cmd heading: 353.964960 deg.

2025-08-22T17:02:17.051Z,1755882137.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177854 target range: 8.644509 and range: 7.20 m.
2025-08-22T17:02:17.075Z,1755882137.075 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.264735
2025-08-22T17:02:17.332Z,1755882137.332 [DAT](INFO): DAT read: 17:02:17.3542 LVL= 26576, 27633, 14354, 30627, AGC= 47, IDX= 428,-0.33, 1.152,-0.677, 0.767, 0.684, PHS= 0.570,-1.316, 0.039, RAW= 134.2,   8.4, CAL= 134.1,   9.5, ROT=  15.9,  -9.5

2025-08-22T17:02:17.333Z,1755882137.333 [DAT](INFO): got valid direction response:
 17:02:17.3542 LVL= 26576, 27633, 14354, 30627, AGC= 47, IDX= 428,-0.33, 1.152,-0.677, 0.767, 0.684, PHS= 0.570,-1.316, 0.039, RAW= 134.2,   8.4, CAL= 134.1,   9.5, ROT=  15.9,  -9.5

2025-08-22T17:02:17.334Z,1755882137.334 [DAT](INFO): DAT read: Bearing 175.0,  16.0 (Local)

2025-08-22T17:02:17.335Z,1755882137.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.0,  16.0 (Local)

2025-08-22T17:02:17.336Z,1755882137.336 [DAT](INFO): DAT read: Range 11 to 50 : 5.8 m  (Round-trip  7.8 ms) speed  0.3 m/s

2025-08-22T17:02:17.337Z,1755882137.337 [DAT](INFO): DAT read: user:407>

2025-08-22T17:02:17.337Z,1755882137.337 [DAT](INFO): DAT read: Tx time:17:02:18.4423

2025-08-22T17:02:17.338Z,1755882137.338 [DAT](INFO): Ping request sent.
2025-08-22T17:02:17.338Z,1755882137.338 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:17.338Z,1755882137.338 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T17:02:17.339Z,1755882137.339 [DAT](INFO): direction in FSK: [0.948552,0.270202,0.165048]
2025-08-22T17:02:17.339Z,1755882137.339 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:17.340Z,1755882137.340 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:17.343Z,1755882137.343 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:17.343Z,1755882137.343 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:17.346Z,1755882137.346 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.008486
2025-08-22T17:02:17.459Z,1755882137.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.800000 m,
      deltaT: 3.527848 s,
      deltaX: -1.400000 m,
      approachRate: -0.396842 m/s,
      rangeRepo size: 4

2025-08-22T17:02:17.468Z,1755882137.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.762985 m,
      bearing: 21.314777 deg,
      lat: 36.779476 deg,
      lon: -121.859646 deg,
      deltaT: 7.055482 s,
      deltaX: -2.881524 m,
      approachRate: -0.408409 m/s,
      posRepo size: 4

2025-08-22T17:02:17.475Z,1755882137.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.76 m. 8.64 m.
2025-08-22T17:02:17.483Z,1755882137.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.511655 m,
      bearing: 5.779722 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 353.964964 deg,
      new cmd heading: 353.207119 deg.

2025-08-22T17:02:17.485Z,1755882137.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164627 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:17.581Z,1755882137.581 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.242890
2025-08-22T17:02:17.835Z,1755882137.835 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.496717
2025-08-22T17:02:17.862Z,1755882137.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:17.865Z,1755882137.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.343862 m,
      bearing: 5.737977 deg,
      approach rate: -0.410812 m/s,
      LOS rate: -0.105414 deg/s,
      cmd heading: 353.207114 deg,
      new cmd heading: 353.121002 deg.

2025-08-22T17:02:17.886Z,1755882137.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163124 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:18.087Z,1755882138.087 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.748936
2025-08-22T17:02:18.263Z,1755882138.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:18.269Z,1755882138.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.189780 m,
      bearing: 5.718864 deg,
      approach rate: -0.384836 m/s,
      LOS rate: -0.049155 deg/s,
      cmd heading: 353.120999 deg,
      new cmd heading: 353.081637 deg.

2025-08-22T17:02:18.270Z,1755882138.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162437 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:18.339Z,1755882138.339 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.000862
2025-08-22T17:02:18.590Z,1755882138.590 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.252658
2025-08-22T17:02:18.647Z,1755882138.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:18.650Z,1755882138.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 5.038842 m,
      bearing: 5.719868 deg,
      approach rate: -0.392369 m/s,
      LOS rate: 0.002690 deg/s,
      cmd heading: 353.081629 deg,
      new cmd heading: 353.083699 deg.

2025-08-22T17:02:18.651Z,1755882138.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162473 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:18.843Z,1755882138.843 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.504766
2025-08-22T17:02:19.078Z,1755882139.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:19.080Z,1755882139.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:19.083Z,1755882139.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.871407 m,
      bearing: 5.764838 deg,
      approach rate: -0.386991 m/s,
      LOS rate: 0.107510 deg/s,
      cmd heading: 353.083706 deg,
      new cmd heading: 353.176736 deg.

2025-08-22T17:02:19.084Z,1755882139.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164097 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:19.095Z,1755882139.095 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.756863
2025-08-22T17:02:19.347Z,1755882139.347 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.009019
2025-08-22T17:02:19.455Z,1755882139.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:19.461Z,1755882139.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.725557 m,
      bearing: 5.827438 deg,
      approach rate: -0.389321 m/s,
      LOS rate: 0.172259 deg/s,
      cmd heading: 353.176733 deg,
      new cmd heading: 353.305798 deg.

2025-08-22T17:02:19.463Z,1755882139.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166349 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:19.600Z,1755882139.600 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.261655
2025-08-22T17:02:19.851Z,1755882139.851 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.512814
2025-08-22T17:02:19.889Z,1755882139.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:19.891Z,1755882139.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.554055 m,
      bearing: 5.947806 deg,
      approach rate: -0.395246 m/s,
      LOS rate: 0.287848 deg/s,
      cmd heading: 353.305796 deg,
      new cmd heading: 353.555596 deg.

2025-08-22T17:02:19.892Z,1755882139.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170709 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:20.103Z,1755882140.103 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.765368
2025-08-22T17:02:20.280Z,1755882140.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:20.282Z,1755882140.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.399576 m,
      bearing: 6.085775 deg,
      approach rate: -0.395195 m/s,
      LOS rate: 0.365352 deg/s,
      cmd heading: 353.555590 deg,
      new cmd heading: 353.841214 deg.

2025-08-22T17:02:20.283Z,1755882140.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175694 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:20.355Z,1755882140.355 [DAT](INFO): DAT read: Rx Time:17:02:20.8526

2025-08-22T17:02:20.355Z,1755882140.355 [DAT](INFO): Rx dataTimestamp_ set to:1755882140.354870
2025-08-22T17:02:20.356Z,1755882140.356 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.017894
2025-08-22T17:02:20.607Z,1755882140.607 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.268742
2025-08-22T17:02:20.708Z,1755882140.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:20.778Z,1755882140.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.237699 m,
      bearing: 6.263010 deg,
      approach rate: -0.394590 m/s,
      LOS rate: 0.448527 deg/s,
      cmd heading: 353.841201 deg,
      new cmd heading: 354.209204 deg.

2025-08-22T17:02:20.779Z,1755882140.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182117 target range: 8.644509 and range: 5.80 m.
2025-08-22T17:02:20.864Z,1755882140.864 [DAT](INFO): DAT read: 17:02:20.8526 LVL= 16656, 32753, 32754, 32755, AGC= 44, IDX= 427, 0.16,-3.070, 1.150,-3.111, 2.895, PHS= 0.420,-1.700, 0.233, RAW= 145.4,  10.3, CAL= 145.0,  11.2, ROT=   5.0, -11.2

2025-08-22T17:02:20.865Z,1755882140.865 [DAT](INFO): got valid direction response:
 17:02:20.8526 LVL= 16656, 32753, 32754, 32755, AGC= 44, IDX= 427, 0.16,-3.070, 1.150,-3.111, 2.895, PHS= 0.420,-1.700, 0.233, RAW= 145.4,  10.3, CAL= 145.0,  11.2, ROT=   5.0, -11.2

2025-08-22T17:02:20.871Z,1755882140.871 [DAT](INFO): DAT read: Bearing 169.7,   4.1 (Local)

2025-08-22T17:02:20.871Z,1755882140.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.7,   4.1 (Local)

2025-08-22T17:02:20.873Z,1755882140.873 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m  (Round-trip  6.1 ms) speed  0.3 m/s

2025-08-22T17:02:20.882Z,1755882140.882 [DAT](INFO): DAT read: user:408>

2025-08-22T17:02:20.883Z,1755882140.883 [DAT](INFO): DAT read: Tx time:17:02:21.9423

2025-08-22T17:02:20.883Z,1755882140.883 [DAT](INFO): Ping request sent.
2025-08-22T17:02:20.884Z,1755882140.884 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:20.884Z,1755882140.884 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T17:02:20.890Z,1755882140.890 [DAT](INFO): direction in FSK: [0.977222,0.085496,0.194234]
2025-08-22T17:02:20.891Z,1755882140.891 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:20.891Z,1755882140.891 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:20.907Z,1755882140.907 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:20.907Z,1755882140.907 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:20.914Z,1755882140.914 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.030789
2025-08-22T17:02:21.111Z,1755882141.111 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.227019
2025-08-22T17:02:21.147Z,1755882141.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 3.532140 s,
      deltaX: -1.300000 m,
      approachRate: -0.368049 m/s,
      rangeRepo size: 4

2025-08-22T17:02:21.149Z,1755882141.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.471269 m,
      bearing: 4.476744 deg,
      lat: 36.779476 deg,
      lon: -121.859646 deg,
      deltaT: 10.587622 s,
      deltaX: -4.173240 m,
      approachRate: -0.394162 m/s,
      posRepo size: 4

2025-08-22T17:02:21.150Z,1755882141.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 8.64 m.
2025-08-22T17:02:21.161Z,1755882141.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 4.071402 m,
      bearing: 6.486184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 354.209212 deg,
      new cmd heading: 353.359073 deg.

2025-08-22T17:02:21.167Z,1755882141.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167279 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:21.363Z,1755882141.363 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.479480
2025-08-22T17:02:21.510Z,1755882141.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:21.513Z,1755882141.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:21.516Z,1755882141.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.924277 m,
      bearing: 6.717699 deg,
      approach rate: -0.401528 m/s,
      LOS rate: 0.655534 deg/s,
      cmd heading: 353.359072 deg,
      new cmd heading: 353.839450 deg.

2025-08-22T17:02:21.516Z,1755882141.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175663 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:21.616Z,1755882141.616 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.731862
2025-08-22T17:02:21.867Z,1755882141.867 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.982939
2025-08-22T17:02:21.932Z,1755882141.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:21.951Z,1755882141.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.759604 m,
      bearing: 6.982425 deg,
      approach rate: -0.393062 m/s,
      LOS rate: 0.659552 deg/s,
      cmd heading: 353.839453 deg,
      new cmd heading: 354.392074 deg.

2025-08-22T17:02:21.953Z,1755882141.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185308 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:22.119Z,1755882142.119 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.235063
2025-08-22T17:02:22.323Z,1755882142.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:22.326Z,1755882142.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.605866 m,
      bearing: 7.266760 deg,
      approach rate: -0.392576 m/s,
      LOS rate: 0.757016 deg/s,
      cmd heading: 354.392070 deg,
      new cmd heading: 354.984963 deg.

2025-08-22T17:02:22.327Z,1755882142.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195656 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:22.371Z,1755882142.372 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.487912
2025-08-22T17:02:22.623Z,1755882142.623 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.739219
2025-08-22T17:02:22.730Z,1755882142.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:22.732Z,1755882142.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.448811 m,
      bearing: 7.597886 deg,
      approach rate: -0.386826 m/s,
      LOS rate: 0.852694 deg/s,
      cmd heading: 354.984957 deg,
      new cmd heading: 355.677329 deg.

2025-08-22T17:02:22.733Z,1755882142.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207740 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:22.875Z,1755882142.875 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.991040
2025-08-22T17:02:23.127Z,1755882143.127 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.242957
2025-08-22T17:02:23.171Z,1755882143.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:23.176Z,1755882143.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.270503 m,
      bearing: 8.038303 deg,
      approach rate: -0.403989 m/s,
      LOS rate: 1.052233 deg/s,
      cmd heading: 355.677320 deg,
      new cmd heading: 356.606087 deg.

2025-08-22T17:02:23.177Z,1755882143.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223950 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:23.379Z,1755882143.379 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.495476
2025-08-22T17:02:23.529Z,1755882143.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:23.532Z,1755882143.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:23.535Z,1755882143.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 3.123223 m,
      bearing: 8.449665 deg,
      approach rate: -0.407878 m/s,
      LOS rate: 1.192945 deg/s,
      cmd heading: 356.606089 deg,
      new cmd heading: 357.467538 deg.

2025-08-22T17:02:23.536Z,1755882143.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238986 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:23.631Z,1755882143.631 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.747170
2025-08-22T17:02:23.760Z,1755882143.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:02:23.883Z,1755882143.883 [DAT](INFO): DAT read: Rx Time:17:02:24.3509

2025-08-22T17:02:23.883Z,1755882143.883 [DAT](INFO): Rx dataTimestamp_ set to:1755882143.882688
2025-08-22T17:02:23.884Z,1755882143.884 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.999958
2025-08-22T17:02:24.014Z,1755882144.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:24.016Z,1755882144.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.931890 m,
      bearing: 9.150618 deg,
      approach rate: -0.397274 m/s,
      LOS rate: 1.550359 deg/s,
      cmd heading: 357.467540 deg,
      new cmd heading: 358.960557 deg.

2025-08-22T17:02:24.017Z,1755882144.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265044 target range: 8.644509 and range: 4.50 m.
2025-08-22T17:02:24.135Z,1755882144.135 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.250923
2025-08-22T17:02:24.412Z,1755882144.412 [DAT](INFO): DAT read: 17:02:24.3509 LVL= 25632, 32753, 32754, 32755, AGC= 39, IDX= 426,-0.06,-1.796, 2.447,-3.023,-2.143, PHS= 0.449,-1.648,-0.924, RAW= 109.9,  22.1, CAL= 110.1,  26.5, ROT=  39.9, -26.5

2025-08-22T17:02:24.418Z,1755882144.418 [DAT](INFO): got valid direction response:
 17:02:24.3509 LVL= 25632, 32753, 32754, 32755, AGC= 39, IDX= 426,-0.06,-1.796, 2.447,-3.023,-2.143, PHS= 0.449,-1.648,-0.924, RAW= 109.9,  22.1, CAL= 110.1,  26.5, ROT=  39.9, -26.5

2025-08-22T17:02:24.419Z,1755882144.419 [DAT](INFO): DAT read: Bearing 187.2,  33.6 (Local)

2025-08-22T17:02:24.419Z,1755882144.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.2,  33.6 (Local)

2025-08-22T17:02:24.420Z,1755882144.420 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.4 ms) speed  0.2 m/s

2025-08-22T17:02:24.421Z,1755882144.421 [DAT](INFO): DAT read: user:409>

2025-08-22T17:02:24.431Z,1755882144.431 [DAT](INFO): DAT read: Tx time:17:02:25.4423

2025-08-22T17:02:24.431Z,1755882144.431 [DAT](INFO): Ping request sent.
2025-08-22T17:02:24.431Z,1755882144.431 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:24.431Z,1755882144.431 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T17:02:24.432Z,1755882144.432 [DAT](INFO): direction in FSK: [0.686562,0.574055,0.446198]
2025-08-22T17:02:24.433Z,1755882144.433 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:24.433Z,1755882144.433 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:24.436Z,1755882144.436 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:24.436Z,1755882144.436 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:24.486Z,1755882144.486 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.054529
2025-08-22T17:02:24.547Z,1755882144.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.527972 s,
      deltaX: -1.200000 m,
      approachRate: -0.340139 m/s,
      rangeRepo size: 4

2025-08-22T17:02:24.549Z,1755882144.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.278962 m,
      bearing: 36.503566 deg,
      lat: 36.779475 deg,
      lon: -121.859639 deg,
      deltaT: 14.115594 s,
      deltaX: -5.365547 m,
      approachRate: -0.380115 m/s,
      posRepo size: 4

2025-08-22T17:02:24.560Z,1755882144.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 8.64 m.
2025-08-22T17:02:24.576Z,1755882144.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.728514 m,
      bearing: 10.005800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.930926 deg/s,
      cmd heading: 358.960565 deg,
      new cmd heading: 357.968200 deg.

2025-08-22T17:02:24.586Z,1755882144.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247724 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:24.639Z,1755882144.639 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.207475
2025-08-22T17:02:24.762Z,1755882144.762 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:02:24.891Z,1755882144.891 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.459445
2025-08-22T17:02:24.925Z,1755882144.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:24.928Z,1755882144.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.568852 m,
      bearing: 10.817348 deg,
      approach rate: -0.422118 m/s,
      LOS rate: 2.278862 deg/s,
      cmd heading: 357.968193 deg,
      new cmd heading: 359.691591 deg.

2025-08-22T17:02:24.928Z,1755882144.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277802 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:25.143Z,1755882145.143 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.711805
2025-08-22T17:02:25.334Z,1755882145.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:25.336Z,1755882145.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.405766 m,
      bearing: 11.769255 deg,
      approach rate: -0.399020 m/s,
      LOS rate: 2.486794 deg/s,
      cmd heading: 359.691586 deg,
      new cmd heading: 1.723514 deg.

2025-08-22T17:02:25.337Z,1755882145.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030081 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:25.396Z,1755882145.396 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.964480
2025-08-22T17:02:25.647Z,1755882145.647 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.215363
2025-08-22T17:02:25.718Z,1755882145.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:25.721Z,1755882145.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:25.723Z,1755882145.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.252193 m,
      bearing: 12.800742 deg,
      approach rate: -0.396682 m/s,
      LOS rate: 2.845873 deg/s,
      cmd heading: 1.723514 deg,
      new cmd heading: 3.925953 deg.

2025-08-22T17:02:25.724Z,1755882145.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068521 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:25.900Z,1755882145.900 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.468041
2025-08-22T17:02:26.151Z,1755882146.151 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.719575
2025-08-22T17:02:26.177Z,1755882146.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:26.181Z,1755882146.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 2.070276 m,
      bearing: 14.189522 deg,
      approach rate: -0.399131 m/s,
      LOS rate: 3.314448 deg/s,
      cmd heading: 3.925953 deg,
      new cmd heading: 6.944488 deg.

2025-08-22T17:02:26.183Z,1755882146.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121204 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:26.402Z,1755882146.402 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.971291
2025-08-22T17:02:26.538Z,1755882146.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:26.541Z,1755882146.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 1.920314 m,
      bearing: 15.540027 deg,
      approach rate: -0.414700 m/s,
      LOS rate: 4.025911 deg/s,
      cmd heading: 6.944489 deg,
      new cmd heading: 9.853653 deg.

2025-08-22T17:02:26.542Z,1755882146.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.171979 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:26.655Z,1755882146.655 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.223592
2025-08-22T17:02:26.907Z,1755882146.907 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.475431
2025-08-22T17:02:26.950Z,1755882146.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:26.978Z,1755882146.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 1.759164 m,
      bearing: 17.288490 deg,
      approach rate: -0.391835 m/s,
      LOS rate: 4.640087 deg/s,
      cmd heading: 9.853654 deg,
      new cmd heading: 13.664699 deg.

2025-08-22T17:02:26.979Z,1755882146.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238494 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:27.160Z,1755882147.160 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.728331
2025-08-22T17:02:27.345Z,1755882147.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:27.348Z,1755882147.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 1.602206 m,
      bearing: 19.332109 deg,
      approach rate: -0.396767 m/s,
      LOS rate: 5.670864 deg/s,
      cmd heading: 13.664699 deg,
      new cmd heading: 18.142248 deg.

2025-08-22T17:02:27.349Z,1755882147.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316642 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:27.412Z,1755882147.412 [DAT](INFO): DAT read: Rx Time:17:02:27.8503

2025-08-22T17:02:27.412Z,1755882147.412 [DAT](INFO): Rx dataTimestamp_ set to:1755882147.411696
2025-08-22T17:02:27.413Z,1755882147.413 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.981373
2025-08-22T17:02:27.663Z,1755882147.663 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.231344
2025-08-22T17:02:27.787Z,1755882147.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:27.790Z,1755882147.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 8.64 m.
2025-08-22T17:02:27.792Z,1755882147.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.644509 m,
      nav range: 1.430353 m,
      bearing: 22.056641 deg,
      approach rate: -0.386644 m/s,
      LOS rate: 6.863694 deg/s,
      cmd heading: 18.142248 deg,
      new cmd heading: 24.220793 deg.

2025-08-22T17:02:27.793Z,1755882147.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422733 target range: 8.644509 and range: 3.30 m.
2025-08-22T17:02:27.922Z,1755882147.922 [DAT](INFO): DAT read: 17:02:27.8503 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 429, 0.11,-0.758,-2.334,-1.462,-0.135, PHS=-0.521,-2.155,-1.371, RAW= 118.7,  45.3, CAL= 117.3,  52.4, ROT=  32.7, -52.4

2025-08-22T17:02:27.924Z,1755882147.924 [DAT](INFO): got valid direction response:
 17:02:27.8503 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 429, 0.11,-0.758,-2.334,-1.462,-0.135, PHS=-0.521,-2.155,-1.371, RAW= 118.7,  45.3, CAL= 117.3,  52.4, ROT=  32.7, -52.4

2025-08-22T17:02:27.925Z,1755882147.925 [DAT](INFO): DAT read: Bearing 210.4,  20.2 (Local)

2025-08-22T17:02:27.926Z,1755882147.926 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.4,  20.2 (Local)

2025-08-22T17:02:27.928Z,1755882147.928 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m  (Round-trip  3.9 ms) speed  0.1 m/s

2025-08-22T17:02:27.928Z,1755882147.928 [DAT](INFO): DAT read: user:410>

2025-08-22T17:02:27.929Z,1755882147.929 [DAT](INFO): DAT read: Tx time:17:02:28.9423

2025-08-22T17:02:27.930Z,1755882147.930 [DAT](INFO): Ping request sent.
2025-08-22T17:02:27.930Z,1755882147.930 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:27.930Z,1755882147.930 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T17:02:27.931Z,1755882147.931 [DAT](INFO): direction in FSK: [0.513444,0.329625,0.792290]
2025-08-22T17:02:27.931Z,1755882147.931 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:27.932Z,1755882147.932 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:27.935Z,1755882147.935 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:27.935Z,1755882147.935 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:27.938Z,1755882147.938 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.008563
2025-08-22T17:02:28.168Z,1755882148.168 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.238378
2025-08-22T17:02:28.216Z,1755882148.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 3.528086 s,
      deltaX: -0.400000 m,
      approachRate: -0.113376 m/s,
      rangeRepo size: 4

2025-08-22T17:02:28.223Z,1755882148.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.881505 m,
      bearing: 24.843429 deg,
      lat: 36.779476 deg,
      lon: -121.859639 deg,
      deltaT: 17.643680 s,
      deltaX: -5.763004 m,
      approachRate: -0.326633 m/s,
      posRepo size: 4

2025-08-22T17:02:28.223Z,1755882148.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-08-22T17:02:28.223Z,1755882148.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T17:02:28.421Z,1755882148.421 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.491519
2025-08-22T17:02:28.671Z,1755882148.671 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.740679
2025-08-22T17:02:28.923Z,1755882148.923 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.992801
2025-08-22T17:02:29.175Z,1755882149.175 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.245215
2025-08-22T17:02:29.427Z,1755882149.427 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.496755
2025-08-22T17:02:29.679Z,1755882149.679 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.748716
2025-08-22T17:02:29.931Z,1755882149.931 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.001300
2025-08-22T17:02:30.183Z,1755882150.183 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.253363
2025-08-22T17:02:30.266Z,1755882150.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:30.436Z,1755882150.436 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.506179
2025-08-22T17:02:30.689Z,1755882150.689 [DAT](INFO): DAT read: Rx Time:17:02:31.3492

2025-08-22T17:02:30.695Z,1755882150.695 [DAT](INFO): Rx dataTimestamp_ set to:1755882150.689047
2025-08-22T17:02:30.695Z,1755882150.695 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.765405
2025-08-22T17:02:30.940Z,1755882150.940 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.009790
2025-08-22T17:02:31.191Z,1755882151.191 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.260950
2025-08-22T17:02:31.454Z,1755882151.454 [DAT](INFO): DAT read: 17:02:31.3492 LVL= 23376, 31345, 32754, 32755, AGC= 47, IDX= 425,-0.19,-0.760,-1.155,-2.537,-0.436, PHS=-0.222,-0.673,-2.144, RAW=  43.0,  31.7, CAL=  40.1,  38.0, ROT= 109.9, -38.0

2025-08-22T17:02:31.456Z,1755882151.456 [DAT](INFO): got valid direction response:
 17:02:31.3492 LVL= 23376, 31345, 32754, 32755, AGC= 47, IDX= 425,-0.19,-0.760,-1.155,-2.537,-0.436, PHS=-0.222,-0.673,-2.144, RAW=  43.0,  31.7, CAL=  40.1,  38.0, ROT= 109.9, -38.0

2025-08-22T17:02:31.457Z,1755882151.457 [DAT](INFO): DAT read: Bearing 277.1,  56.7 (Local)

2025-08-22T17:02:31.463Z,1755882151.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.1,  56.7 (Local)

2025-08-22T17:02:31.474Z,1755882151.474 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed -0.2 m/s

2025-08-22T17:02:31.475Z,1755882151.475 [DAT](INFO): DAT read: user:411>

2025-08-22T17:02:31.476Z,1755882151.476 [DAT](INFO): DAT read: Tx time:17:02:32.4422

2025-08-22T17:02:31.476Z,1755882151.476 [DAT](INFO): Ping request sent.
2025-08-22T17:02:31.476Z,1755882151.476 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:31.476Z,1755882151.476 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T17:02:31.482Z,1755882151.482 [DAT](INFO): direction in FSK: [-0.268223,0.740957,0.615661]
2025-08-22T17:02:31.482Z,1755882151.482 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:31.483Z,1755882151.483 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:31.504Z,1755882151.504 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:31.504Z,1755882151.504 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:31.512Z,1755882151.512 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.035750
2025-08-22T17:02:31.695Z,1755882151.695 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.218303
2025-08-22T17:02:31.796Z,1755882151.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528692 s,
      deltaX: -0.800000 m,
      approachRate: -0.226713 m/s,
      rangeRepo size: 4

2025-08-22T17:02:31.815Z,1755882151.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086609 m,
      bearing: 118.627792 deg,
      lat: 36.779476 deg,
      lon: -121.859645 deg,
      deltaT: 3.528692 s,
      deltaX: -0.794896 m,
      approachRate: -0.225266 m/s,
      posRepo size: 4

2025-08-22T17:02:31.950Z,1755882151.950 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.473081
2025-08-22T17:02:32.199Z,1755882152.199 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.722377
2025-08-22T17:02:32.451Z,1755882152.451 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.974879
2025-08-22T17:02:32.583Z,1755882152.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:32.703Z,1755882152.703 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.226634
2025-08-22T17:02:32.960Z,1755882152.960 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.483527
2025-08-22T17:02:33.211Z,1755882153.211 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.734790
2025-08-22T17:02:33.463Z,1755882153.463 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.987251
2025-08-22T17:02:33.714Z,1755882153.714 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.238255
2025-08-22T17:02:33.972Z,1755882153.972 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.495144
2025-08-22T17:02:34.223Z,1755882154.223 [DAT](INFO): DAT read: Rx Time:17:02:34.8500

2025-08-22T17:02:34.223Z,1755882154.223 [DAT](INFO): Rx dataTimestamp_ set to:1755882154.222810
2025-08-22T17:02:34.224Z,1755882154.224 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.747444
2025-08-22T17:02:34.476Z,1755882154.476 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.999526
2025-08-22T17:02:34.620Z,1755882154.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:34.730Z,1755882154.730 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.252733
2025-08-22T17:02:34.989Z,1755882154.989 [DAT](INFO): DAT read: 17:02:34.8500 LVL= 23984, 21345, 29618, 32755, AGC= 41, IDX= 434,-0.48, 2.597,-2.620, 1.580,-3.059, PHS=-0.525, 0.484,-1.688, RAW=   2.3,  18.0, CAL=   2.5,  22.3, ROT= 147.5, -22.3

2025-08-22T17:02:34.990Z,1755882154.990 [DAT](INFO): got valid direction response:
 17:02:34.8500 LVL= 23984, 21345, 29618, 32755, AGC= 41, IDX= 434,-0.48, 2.597,-2.620, 1.580,-3.059, PHS=-0.525, 0.484,-1.688, RAW=   2.3,  18.0, CAL=   2.5,  22.3, ROT= 147.5, -22.3

2025-08-22T17:02:34.991Z,1755882154.991 [DAT](INFO): DAT read: Bearing 331.8,  33.9 (Local)

2025-08-22T17:02:34.992Z,1755882154.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.8,  33.9 (Local)

2025-08-22T17:02:34.993Z,1755882154.993 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.7 ms) speed -0.3 m/s

2025-08-22T17:02:34.999Z,1755882154.999 [DAT](INFO): DAT read: user:412>

2025-08-22T17:02:34.000Z,1755882155.000 [DAT](INFO): DAT read: Tx time:17:02:35.9422

2025-08-22T17:02:34.000Z,1755882155.000 [DAT](INFO): Ping request sent.
2025-08-22T17:02:35.000Z,1755882155.000 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:35.000Z,1755882155.000 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T17:02:35.009Z,1755882155.009 [DAT](INFO): direction in FSK: [-0.780314,0.497115,0.379456]
2025-08-22T17:02:35.010Z,1755882155.010 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:35.011Z,1755882155.011 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:35.035Z,1755882155.035 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:35.035Z,1755882155.035 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:35.042Z,1755882155.042 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.042170
2025-08-22T17:02:35.127Z,1755882155.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.537071 s,
      deltaX: 0.600000 m,
      approachRate: 0.169632 m/s,
      rangeRepo size: 4

2025-08-22T17:02:35.129Z,1755882155.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.682783 m,
      bearing: 167.571068 deg,
      lat: 36.779475 deg,
      lon: -121.859648 deg,
      deltaT: 3.537071 s,
      deltaX: 0.596174 m,
      approachRate: 0.168550 m/s,
      posRepo size: 4

2025-08-22T17:02:35.231Z,1755882155.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.230582
2025-08-22T17:02:35.446Z,1755882155.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-08-22T17:02:35.483Z,1755882155.483 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.482582
2025-08-22T17:02:35.735Z,1755882155.735 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.734556
2025-08-22T17:02:35.990Z,1755882155.990 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.988977
2025-08-22T17:02:36.239Z,1755882156.239 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.238547
2025-08-22T17:02:36.282Z,1755882156.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-08-22T17:02:36.491Z,1755882156.491 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.490807
2025-08-22T17:02:36.655Z,1755882156.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:36.657Z,1755882156.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-08-22T17:02:36.743Z,1755882156.743 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.742827
2025-08-22T17:02:37.001Z,1755882157.001 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.000532
2025-08-22T17:02:37.089Z,1755882157.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-08-22T17:02:37.247Z,1755882157.247 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.246446
2025-08-22T17:02:37.477Z,1755882157.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-08-22T17:02:37.499Z,1755882157.499 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.498573
2025-08-22T17:02:37.751Z,1755882157.751 [DAT](INFO): DAT read: Rx Time:17:02:38.3513

2025-08-22T17:02:37.751Z,1755882157.751 [DAT](INFO): Rx dataTimestamp_ set to:1755882157.750736
2025-08-22T17:02:37.752Z,1755882157.752 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.751505
2025-08-22T17:02:38.006Z,1755882158.006 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.005147
2025-08-22T17:02:38.264Z,1755882158.264 [DAT](INFO): DAT read: 17:02:38.3513 LVL= 32656, 23521, 32754, 32755, AGC= 46, IDX= 431, 0.02, 1.897,-3.125, 1.008, 2.558, PHS=-0.559, 0.645,-1.594, RAW= 357.5,  15.4, CAL= 358.1,  19.4, ROT= 151.9, -19.4

2025-08-22T17:02:38.266Z,1755882158.266 [DAT](INFO): got valid direction response:
 17:02:38.3513 LVL= 32656, 23521, 32754, 32755, AGC= 46, IDX= 431, 0.02, 1.897,-3.125, 1.008, 2.558, PHS=-0.559, 0.645,-1.594, RAW= 357.5,  15.4, CAL= 358.1,  19.4, ROT= 151.9, -19.4

2025-08-22T17:02:38.267Z,1755882158.267 [DAT](INFO): DAT read: Bearing 340.1,  27.9 (Local)

2025-08-22T17:02:38.267Z,1755882158.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,  27.9 (Local)

2025-08-22T17:02:38.268Z,1755882158.268 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m  (Round-trip  4.9 ms) speed -0.4 m/s

2025-08-22T17:02:38.269Z,1755882158.269 [DAT](INFO): DAT read: user:413>

2025-08-22T17:02:38.273Z,1755882158.273 [DAT](INFO): DAT read: Tx time:17:02:39.4422

2025-08-22T17:02:38.273Z,1755882158.273 [DAT](INFO): Ping request sent.
2025-08-22T17:02:38.273Z,1755882158.273 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:38.274Z,1755882158.274 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T17:02:38.275Z,1755882158.275 [DAT](INFO): direction in FSK: [-0.832042,0.444269,0.332161]
2025-08-22T17:02:38.275Z,1755882158.275 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:38.275Z,1755882158.275 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:38.289Z,1755882158.289 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:38.289Z,1755882158.289 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:38.293Z,1755882158.293 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.019023
2025-08-22T17:02:38.468Z,1755882158.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.278442 s,
      deltaX: 0.900000 m,
      approachRate: 0.274521 m/s,
      rangeRepo size: 4

2025-08-22T17:02:38.478Z,1755882158.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.577038 m,
      bearing: 175.437984 deg,
      lat: 36.779475 deg,
      lon: -121.859645 deg,
      deltaT: 3.278442 s,
      deltaX: 0.894255 m,
      approachRate: 0.272768 m/s,
      posRepo size: 4

2025-08-22T17:02:38.479Z,1755882158.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-22T17:02:38.511Z,1755882158.511 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.237081
2025-08-22T17:02:38.763Z,1755882158.763 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.489004
2025-08-22T17:02:38.867Z,1755882158.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:38.869Z,1755882158.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-22T17:02:39.018Z,1755882159.018 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.743444
2025-08-22T17:02:39.267Z,1755882159.267 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.993063
2025-08-22T17:02:39.267Z,1755882159.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-22T17:02:39.519Z,1755882159.519 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.245023
2025-08-22T17:02:39.638Z,1755882159.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-22T17:02:39.770Z,1755882159.770 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.496924
2025-08-22T17:02:40.026Z,1755882160.026 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.751598
2025-08-22T17:02:40.275Z,1755882160.275 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.001023
2025-08-22T17:02:40.484Z,1755882160.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-22T17:02:40.527Z,1755882160.527 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.253177
2025-08-22T17:02:40.779Z,1755882160.779 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.505019
2025-08-22T17:02:40.984Z,1755882160.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:40.987Z,1755882160.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-22T17:02:41.034Z,1755882161.034 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.760111
2025-08-22T17:02:41.283Z,1755882161.283 [DAT](INFO): DAT read: Rx Time:17:02:41.8530

2025-08-22T17:02:41.283Z,1755882161.283 [DAT](INFO): Rx dataTimestamp_ set to:1755882161.282707
2025-08-22T17:02:41.284Z,1755882161.284 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.010027
2025-08-22T17:02:41.406Z,1755882161.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-22T17:02:41.534Z,1755882161.534 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.260951
2025-08-22T17:02:41.798Z,1755882161.798 [DAT](INFO): DAT read: 17:02:41.8530 LVL= 29680, 23521, 32754, 32755, AGC= 53, IDX= 464, 0.32, 3.072,-1.768, 2.504,-2.514, PHS=-0.595, 0.792,-1.309, RAW= 349.5,  12.0, CAL= 349.9,  14.2, ROT= 160.1, -14.2

2025-08-22T17:02:41.799Z,1755882161.799 [DAT](INFO): got valid direction response:
 17:02:41.8530 LVL= 29680, 23521, 32754, 32755, AGC= 53, IDX= 464, 0.32, 3.072,-1.768, 2.504,-2.514, PHS=-0.595, 0.792,-1.309, RAW= 349.5,  12.0, CAL= 349.9,  14.2, ROT= 160.1, -14.2

2025-08-22T17:02:41.800Z,1755882161.800 [DAT](INFO): DAT read: Bearing 347.2,  18.8 (Local)

2025-08-22T17:02:41.800Z,1755882161.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.2,  18.8 (Local)

2025-08-22T17:02:41.802Z,1755882161.802 [DAT](INFO): DAT read: Range 11 to 50 : 4.9 m  (Round-trip  6.6 ms) speed -0.4 m/s

2025-08-22T17:02:41.802Z,1755882161.802 [DAT](INFO): DAT read: user:414>

2025-08-22T17:02:41.803Z,1755882161.803 [DAT](INFO): DAT read: Tx time:17:02:42.9422

2025-08-22T17:02:41.803Z,1755882161.803 [DAT](INFO): Ping request sent.
2025-08-22T17:02:41.803Z,1755882161.803 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:41.804Z,1755882161.804 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T17:02:41.805Z,1755882161.805 [DAT](INFO): direction in FSK: [-0.911558,0.329979,0.245307]
2025-08-22T17:02:41.805Z,1755882161.805 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:41.806Z,1755882161.806 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:41.809Z,1755882161.809 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:41.809Z,1755882161.809 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:41.812Z,1755882161.812 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.008835
2025-08-22T17:02:41.829Z,1755882161.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.900000 m,
      deltaT: 3.533537 s,
      deltaX: 1.300000 m,
      approachRate: 0.367903 m/s,
      rangeRepo size: 4

2025-08-22T17:02:41.832Z,1755882161.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.868694 m,
      bearing: 184.584279 deg,
      lat: 36.779474 deg,
      lon: -121.859645 deg,
      deltaT: 3.533537 s,
      deltaX: 1.291656 m,
      approachRate: 0.365542 m/s,
      posRepo size: 4

2025-08-22T17:02:41.833Z,1755882161.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.90 m.
2025-08-22T17:02:42.050Z,1755882162.050 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.246296
2025-08-22T17:02:42.225Z,1755882162.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.90 m.
2025-08-22T17:02:42.299Z,1755882162.299 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.495406
2025-08-22T17:02:42.551Z,1755882162.551 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.747087
2025-08-22T17:02:42.588Z,1755882162.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.90 m.
2025-08-22T17:02:42.803Z,1755882162.803 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.999111
2025-08-22T17:02:42.992Z,1755882162.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:43.058Z,1755882163.058 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.253613
2025-08-22T17:02:43.307Z,1755882163.307 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.503073
2025-08-22T17:02:43.434Z,1755882163.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.90 m.
2025-08-22T17:02:43.559Z,1755882163.559 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.755001
2025-08-22T17:02:43.800Z,1755882163.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.90 m.
2025-08-22T17:02:43.819Z,1755882163.819 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.015070
2025-08-22T17:02:44.074Z,1755882164.074 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.269536
2025-08-22T17:02:44.251Z,1755882164.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.90 m.
2025-08-22T17:02:44.324Z,1755882164.324 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.520455
2025-08-22T17:02:44.575Z,1755882164.575 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.771091
2025-08-22T17:02:44.678Z,1755882164.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.90 m.
2025-08-22T17:02:44.827Z,1755882164.827 [DAT](INFO): DAT read: Rx Time:17:02:45.3547

2025-08-22T17:02:44.827Z,1755882164.827 [DAT](INFO): Rx dataTimestamp_ set to:1755882164.826778
2025-08-22T17:02:44.828Z,1755882164.828 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.024101
2025-08-22T17:02:45.058Z,1755882165.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:45.081Z,1755882165.081 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.277226
2025-08-22T17:02:45.336Z,1755882165.336 [DAT](INFO): DAT read: 17:02:45.3547 LVL= 32752, 20065, 32754, 32755, AGC= 57, IDX= 451,-0.49, 0.987, 2.659, 0.605, 1.818, PHS=-0.729, 0.886,-1.257, RAW= 343.7,  11.4, CAL= 343.9,  13.3, ROT= 166.1, -13.3

2025-08-22T17:02:45.337Z,1755882165.337 [DAT](INFO): got valid direction response:
 17:02:45.3547 LVL= 32752, 20065, 32754, 32755, AGC= 57, IDX= 451,-0.49, 0.987, 2.659, 0.605, 1.818, PHS=-0.729, 0.886,-1.257, RAW= 343.7,  11.4, CAL= 343.9,  13.3, ROT= 166.1, -13.3

2025-08-22T17:02:45.338Z,1755882165.338 [DAT](INFO): DAT read: Bearing 349.3,  12.9 (Local)

2025-08-22T17:02:45.338Z,1755882165.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,  12.9 (Local)

2025-08-22T17:02:45.340Z,1755882165.340 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed -0.4 m/s

2025-08-22T17:02:45.340Z,1755882165.340 [DAT](INFO): DAT read: user:415>

2025-08-22T17:02:45.341Z,1755882165.341 [DAT](INFO): DAT read: Tx time:17:02:46.4422

2025-08-22T17:02:45.341Z,1755882165.341 [DAT](INFO): Ping request sent.
2025-08-22T17:02:45.341Z,1755882165.341 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:45.342Z,1755882165.342 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T17:02:45.343Z,1755882165.343 [DAT](INFO): direction in FSK: [-0.944681,0.233785,0.230050]
2025-08-22T17:02:45.343Z,1755882165.343 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:45.343Z,1755882165.343 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:45.346Z,1755882165.346 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:45.347Z,1755882165.347 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:45.350Z,1755882165.350 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.008451
2025-08-22T17:02:45.526Z,1755882165.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 3.538023 s,
      deltaX: 1.300000 m,
      approachRate: 0.367437 m/s,
      rangeRepo size: 4

2025-08-22T17:02:45.528Z,1755882165.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.160421 m,
      bearing: 191.831224 deg,
      lat: 36.779474 deg,
      lon: -121.859644 deg,
      deltaT: 3.538023 s,
      deltaX: 1.291728 m,
      approachRate: 0.365099 m/s,
      posRepo size: 4

2025-08-22T17:02:45.529Z,1755882165.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.20 m.
2025-08-22T17:02:45.583Z,1755882165.583 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.241663
2025-08-22T17:02:45.835Z,1755882165.835 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.493197
2025-08-22T17:02:46.088Z,1755882166.088 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.746699
2025-08-22T17:02:46.339Z,1755882166.339 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.997182
2025-08-22T17:02:46.594Z,1755882166.594 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.253085
2025-08-22T17:02:46.847Z,1755882166.847 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.505148
2025-08-22T17:02:47.102Z,1755882167.102 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.760604
2025-08-22T17:02:47.350Z,1755882167.350 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.009097
2025-08-22T17:02:47.523Z,1755882167.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:47.604Z,1755882167.604 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.262119
2025-08-22T17:02:47.855Z,1755882167.855 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.513211
2025-08-22T17:02:48.107Z,1755882168.107 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.765979
2025-08-22T17:02:48.359Z,1755882168.359 [DAT](INFO): DAT read: Rx Time:17:02:48.8566

2025-08-22T17:02:48.360Z,1755882168.360 [DAT](INFO): Rx dataTimestamp_ set to:1755882168.359447
2025-08-22T17:02:48.361Z,1755882168.361 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.019240
2025-08-22T17:02:48.611Z,1755882168.611 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.269221
2025-08-22T17:02:48.869Z,1755882168.869 [DAT](INFO): DAT read: 17:02:48.8566 LVL= 31664, 26865, 32754, 32755, AGC= 64, IDX= 455, 0.09,-2.320,-0.168,-2.249,-1.165, PHS=-1.053, 1.042,-1.128, RAW= 331.7,  10.7, CAL= 331.3,  12.4, ROT= 178.7, -12.4

2025-08-22T17:02:48.870Z,1755882168.870 [DAT](INFO): got valid direction response:
 17:02:48.8566 LVL= 31664, 26865, 32754, 32755, AGC= 64, IDX= 455, 0.09,-2.320,-0.168,-2.249,-1.165, PHS=-1.053, 1.042,-1.128, RAW= 331.7,  10.7, CAL= 331.3,  12.4, ROT= 178.7, -12.4

2025-08-22T17:02:48.871Z,1755882168.871 [DAT](INFO): DAT read: Bearing 350.8,   0.9 (Local)

2025-08-22T17:02:48.871Z,1755882168.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.8,   0.9 (Local)

2025-08-22T17:02:48.872Z,1755882168.872 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m  (Round-trip  10.3 ms) speed -0.4 m/s

2025-08-22T17:02:48.873Z,1755882168.873 [DAT](INFO): DAT read: user:416>

2025-08-22T17:02:48.874Z,1755882168.874 [DAT](INFO): DAT read: Tx time:17:02:49.9421

2025-08-22T17:02:48.874Z,1755882168.874 [DAT](INFO): Ping request sent.
2025-08-22T17:02:48.874Z,1755882168.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:48.875Z,1755882168.875 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T17:02:48.876Z,1755882168.876 [DAT](INFO): direction in FSK: [-0.976421,0.022158,0.214735]
2025-08-22T17:02:48.876Z,1755882168.876 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:48.876Z,1755882168.876 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:48.879Z,1755882168.879 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:48.879Z,1755882168.879 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:48.883Z,1755882168.883 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.008328
2025-08-22T17:02:49.118Z,1755882169.118 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.242744
2025-08-22T17:02:49.122Z,1755882169.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 3.532007 s,
      deltaX: 1.500000 m,
      approachRate: 0.424688 m/s,
      rangeRepo size: 4

2025-08-22T17:02:49.124Z,1755882169.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.650854 m,
      bearing: 205.395370 deg,
      lat: 36.779474 deg,
      lon: -121.859644 deg,
      deltaT: 3.532007 s,
      deltaX: 1.490432 m,
      approachRate: 0.421979 m/s,
      posRepo size: 4

2025-08-22T17:02:49.125Z,1755882169.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.70 m. Rolling out.
2025-08-22T17:02:49.126Z,1755882169.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-22T17:02:49.196Z,1755882169.196 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T17:02:49.197Z,1755882169.197 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T17:02:49.203Z,1755882169.203 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T17:02:49.367Z,1755882169.367 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.492225
2025-08-22T17:02:49.565Z,1755882169.565 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-22T17:02:49.565Z,1755882169.565 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T17:02:49.565Z,1755882169.565 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-22T17:02:49.567Z,1755882169.567 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 7.700000 m (mode  5.000000 count ).
2025-08-22T17:02:49.567Z,1755882169.567 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-22T17:02:49.567Z,1755882169.567 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-22T17:02:49.567Z,1755882169.567 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-08-22T17:02:49.568Z,1755882169.568 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T17:02:49.568Z,1755882169.568 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-08-22T17:02:49.569Z,1755882169.569 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  7.700000 m (mode  5.000000 count ).
2025-08-22T17:02:49.569Z,1755882169.569 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-08-22T17:02:49.569Z,1755882169.569 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-08-22T17:02:49.570Z,1755882169.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:02:49.572Z,1755882169.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:49.574Z,1755882169.574 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T17:02:49.574Z,1755882169.574 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T17:02:49.575Z,1755882169.575 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T17:02:49.575Z,1755882169.575 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T17:02:49.620Z,1755882169.620 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.745425
2025-08-22T17:02:49.870Z,1755882169.870 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.996165
2025-08-22T17:02:49.979Z,1755882169.979 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-22T17:02:49.979Z,1755882169.979 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-22T17:02:49.980Z,1755882169.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-08-22T17:02:49.980Z,1755882169.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-08-22T17:02:49.982Z,1755882169.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:50.123Z,1755882170.123 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.248265
2025-08-22T17:02:50.374Z,1755882170.374 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.500194
2025-08-22T17:02:50.394Z,1755882170.394 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-22T17:02:50.394Z,1755882170.394 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-22T17:02:50.395Z,1755882170.395 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-08-22T17:02:50.395Z,1755882170.395 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-08-22T17:02:50.406Z,1755882170.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:50.629Z,1755882170.629 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.754240
2025-08-22T17:02:50.803Z,1755882170.803 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-22T17:02:50.803Z,1755882170.803 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T17:02:50.803Z,1755882170.803 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-22T17:02:50.803Z,1755882170.803 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-22T17:02:50.804Z,1755882170.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-08-22T17:02:50.804Z,1755882170.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T17:02:50.804Z,1755882170.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-08-22T17:02:50.804Z,1755882170.804 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-08-22T17:02:50.806Z,1755882170.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:50.880Z,1755882170.880 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.005121
2025-08-22T17:02:51.130Z,1755882171.130 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.256189
2025-08-22T17:02:51.274Z,1755882171.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:51.383Z,1755882171.383 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.508463
2025-08-22T17:02:51.639Z,1755882171.639 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.764881
2025-08-22T17:02:51.704Z,1755882171.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:51.887Z,1755882171.887 [DAT](INFO): DAT read: Rx Time:17:02:52.3586

2025-08-22T17:02:51.887Z,1755882171.887 [DAT](INFO): Rx dataTimestamp_ set to:1755882171.886724
2025-08-22T17:02:51.888Z,1755882171.888 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.013285
2025-08-22T17:02:52.139Z,1755882172.139 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.264311
2025-08-22T17:02:52.162Z,1755882172.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m.
2025-08-22T17:02:52.399Z,1755882172.399 [DAT](INFO): DAT read: 17:02:52.3586 LVL= 29824, 27217, 32466, 31603, AGC= 64, IDX= 443, 0.08,-0.622, 0.785,-1.079, 0.062, PHS=-0.582, 0.768,-1.185, RAW= 347.5,  11.5, CAL= 347.8,  13.5, ROT= 162.2, -13.5

2025-08-22T17:02:52.401Z,1755882172.401 [DAT](INFO): got valid direction response:
 17:02:52.3586 LVL= 29824, 27217, 32466, 31603, AGC= 64, IDX= 443, 0.08,-0.622, 0.785,-1.079, 0.062, PHS=-0.582, 0.768,-1.185, RAW= 347.5,  11.5, CAL= 347.8,  13.5, ROT= 162.2, -13.5

2025-08-22T17:02:52.403Z,1755882172.403 [DAT](INFO): DAT read: Bearing 350.2,  17.5 (Local)

2025-08-22T17:02:52.403Z,1755882172.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2,  17.5 (Local)

2025-08-22T17:02:52.405Z,1755882172.405 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m  (Round-trip  12.4 ms) speed -0.5 m/s

2025-08-22T17:02:52.413Z,1755882172.413 [DAT](INFO): DAT read: user:417>

2025-08-22T17:02:52.423Z,1755882172.423 [DAT](INFO): DAT read: Tx time:17:02:53.4421

2025-08-22T17:02:52.423Z,1755882172.423 [DAT](INFO): Ping request sent.
2025-08-22T17:02:52.424Z,1755882172.424 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:52.424Z,1755882172.424 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T17:02:52.430Z,1755882172.430 [DAT](INFO): direction in FSK: [-0.925822,0.297249,0.233445]
2025-08-22T17:02:52.430Z,1755882172.430 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:52.431Z,1755882172.431 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:52.459Z,1755882172.459 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:52.459Z,1755882172.459 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:52.467Z,1755882172.467 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.043195
2025-08-22T17:02:52.601Z,1755882172.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 3.528165 s,
      deltaX: 1.600000 m,
      approachRate: 0.453494 m/s,
      rangeRepo size: 4

2025-08-22T17:02:52.607Z,1755882172.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.240600 m,
      bearing: 189.403844 deg,
      lat: 36.779474 deg,
      lon: -121.859642 deg,
      deltaT: 3.528165 s,
      deltaX: 1.589746 m,
      approachRate: 0.450587 m/s,
      posRepo size: 4

2025-08-22T17:02:52.607Z,1755882172.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:52.643Z,1755882172.643 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.219112
2025-08-22T17:02:52.896Z,1755882172.896 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.472262
2025-08-22T17:02:52.947Z,1755882172.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:53.147Z,1755882173.147 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.722969
2025-08-22T17:02:53.370Z,1755882173.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:53.400Z,1755882173.400 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.976421
2025-08-22T17:02:53.650Z,1755882173.650 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.226889
2025-08-22T17:02:53.724Z,1755882173.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:53.903Z,1755882173.903 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.479815
2025-08-22T17:02:54.139Z,1755882174.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:54.156Z,1755882174.156 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.731868
2025-08-22T17:02:54.407Z,1755882174.407 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.983251
2025-08-22T17:02:54.569Z,1755882174.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:54.659Z,1755882174.659 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.234964
2025-08-22T17:02:54.891Z,1755882174.891 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:02:54.912Z,1755882174.912 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.488459
2025-08-22T17:02:54.953Z,1755882174.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:55.163Z,1755882175.163 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.739260
2025-08-22T17:02:55.368Z,1755882175.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:55.415Z,1755882175.415 [DAT](INFO): DAT read: Rx Time:17:02:55.8606

2025-08-22T17:02:55.416Z,1755882175.416 [DAT](INFO): Rx dataTimestamp_ set to:1755882175.415663
2025-08-22T17:02:55.417Z,1755882175.417 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.993609
2025-08-22T17:02:55.667Z,1755882175.667 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.242935
2025-08-22T17:02:55.818Z,1755882175.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m.
2025-08-22T17:02:55.896Z,1755882175.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:02:55.926Z,1755882175.926 [DAT](INFO): DAT read: 17:02:55.8606 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 447,-0.18,-1.520, 0.302,-1.841,-0.832, PHS=-0.586, 1.180,-1.053, RAW= 341.4,   4.5, CAL= 341.1,   2.6, ROT= 168.9,  -2.6

2025-08-22T17:02:55.927Z,1755882175.927 [DAT](INFO): got valid direction response:
 17:02:55.8606 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 447,-0.18,-1.520, 0.302,-1.841,-0.832, PHS=-0.586, 1.180,-1.053, RAW= 341.4,   4.5, CAL= 341.1,   2.6, ROT= 168.9,  -2.6

2025-08-22T17:02:55.928Z,1755882175.928 [DAT](INFO): DAT read: Bearing   1.4,  10.9 (Local)

2025-08-22T17:02:55.928Z,1755882175.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  10.9 (Local)

2025-08-22T17:02:55.929Z,1755882175.929 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m  (Round-trip  14.3 ms) speed  0.1 m/s

2025-08-22T17:02:55.931Z,1755882175.931 [DAT](INFO): DAT read: user:418>

2025-08-22T17:02:55.931Z,1755882175.931 [DAT](INFO): DAT read: Tx time:17:02:56.9421

2025-08-22T17:02:55.932Z,1755882175.932 [DAT](INFO): Ping request sent.
2025-08-22T17:02:55.932Z,1755882175.932 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:55.932Z,1755882175.932 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T17:02:55.933Z,1755882175.933 [DAT](INFO): direction in FSK: [-0.980282,0.192324,0.045363]
2025-08-22T17:02:55.933Z,1755882175.933 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:55.934Z,1755882175.934 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:55.937Z,1755882175.937 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:55.937Z,1755882175.937 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:55.940Z,1755882175.940 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.008484
2025-08-22T17:02:56.171Z,1755882176.171 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.239219
2025-08-22T17:02:56.324Z,1755882176.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 3.528734 s,
      deltaX: 1.400000 m,
      approachRate: 0.396743 m/s,
      rangeRepo size: 4

2025-08-22T17:02:56.338Z,1755882176.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.631749 m,
      bearing: 195.371279 deg,
      lat: 36.779473 deg,
      lon: -121.859641 deg,
      deltaT: 3.528734 s,
      deltaX: 1.391150 m,
      approachRate: 0.394235 m/s,
      posRepo size: 4

2025-08-22T17:02:56.339Z,1755882176.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:56.424Z,1755882176.424 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.492180
2025-08-22T17:02:56.674Z,1755882176.674 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.742524
2025-08-22T17:02:56.705Z,1755882176.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:56.931Z,1755882176.931 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.998360
2025-08-22T17:02:57.057Z,1755882177.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:57.179Z,1755882177.179 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.247285
2025-08-22T17:02:57.430Z,1755882177.430 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.498578
2025-08-22T17:02:57.488Z,1755882177.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:57.683Z,1755882177.683 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.751035
2025-08-22T17:02:57.868Z,1755882177.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:57.935Z,1755882177.935 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.002796
2025-08-22T17:02:58.187Z,1755882178.187 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.255291
2025-08-22T17:02:58.276Z,1755882178.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:58.439Z,1755882178.439 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.506646
2025-08-22T17:02:58.691Z,1755882178.691 [DAT](INFO): DAT read: Rx Time:17:02:59.3623

2025-08-22T17:02:58.692Z,1755882178.692 [DAT](INFO): Rx dataTimestamp_ set to:1755882178.691368
2025-08-22T17:02:58.693Z,1755882178.693 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.760503
2025-08-22T17:02:58.837Z,1755882178.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:58.942Z,1755882178.942 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.010615
2025-08-22T17:02:59.195Z,1755882179.195 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.263016
2025-08-22T17:02:59.368Z,1755882179.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-22T17:02:59.452Z,1755882179.452 [DAT](INFO): DAT read: 17:02:59.3623 LVL= 32752, 26081, 32754, 32755, AGC= 69, IDX= 464,-0.26, 2.188,-1.982, 2.274, 3.054, PHS=-0.764, 1.292,-0.824, RAW= 331.4,   2.9, CAL= 330.3,   0.1, ROT= 179.7,  -0.1

2025-08-22T17:02:59.453Z,1755882179.453 [DAT](INFO): got valid direction response:
 17:02:59.3623 LVL= 32752, 26081, 32754, 32755, AGC= 69, IDX= 464,-0.26, 2.188,-1.982, 2.274, 3.054, PHS=-0.764, 1.292,-0.824, RAW= 331.4,   2.9, CAL= 330.3,   0.1, ROT= 179.7,  -0.1

2025-08-22T17:02:59.454Z,1755882179.454 [DAT](INFO): DAT read: Bearing   3.0,   0.0 (Local)

2025-08-22T17:02:59.455Z,1755882179.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,   0.0 (Local)

2025-08-22T17:02:59.456Z,1755882179.456 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m  (Round-trip  16.0 ms) speed -0.4 m/s

2025-08-22T17:02:59.457Z,1755882179.457 [DAT](INFO): DAT read: user:419>

2025-08-22T17:02:59.458Z,1755882179.458 [DAT](INFO): DAT read: Tx time:17:03:00.4921

2025-08-22T17:02:59.458Z,1755882179.458 [DAT](INFO): Ping request sent.
2025-08-22T17:02:59.458Z,1755882179.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:02:59.459Z,1755882179.459 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T17:02:59.460Z,1755882179.460 [DAT](INFO): direction in FSK: [-0.999985,0.005236,0.001745]
2025-08-22T17:02:59.460Z,1755882179.460 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:59.460Z,1755882179.460 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:59.463Z,1755882179.463 [DAT](INFO): publishing transmit ping time
2025-08-22T17:02:59.464Z,1755882179.464 [DAT](INFO): publishing direction and range info
2025-08-22T17:02:59.467Z,1755882179.467 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.008794
2025-08-22T17:02:59.698Z,1755882179.698 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.240173
2025-08-22T17:02:59.826Z,1755882179.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 3.527184 s,
      deltaX: 1.300000 m,
      approachRate: 0.368566 m/s,
      rangeRepo size: 4

2025-08-22T17:02:59.828Z,1755882179.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.923324 m,
      bearing: 205.545179 deg,
      lat: 36.779473 deg,
      lon: -121.859641 deg,
      deltaT: 3.527184 s,
      deltaX: 1.291574 m,
      approachRate: 0.366177 m/s,
      posRepo size: 4

2025-08-22T17:02:59.828Z,1755882179.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:02:59.952Z,1755882179.952 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.493437
2025-08-22T17:03:00.203Z,1755882180.203 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744231
2025-08-22T17:03:00.243Z,1755882180.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:00.456Z,1755882180.456 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.997344
2025-08-22T17:03:00.668Z,1755882180.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:00.707Z,1755882180.707 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.248507
2025-08-22T17:03:00.959Z,1755882180.959 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500302
2025-08-22T17:03:01.045Z,1755882181.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:01.211Z,1755882181.211 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.752240
2025-08-22T17:03:01.463Z,1755882181.463 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.004415
2025-08-22T17:03:01.498Z,1755882181.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:01.715Z,1755882181.715 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.256281
2025-08-22T17:03:01.859Z,1755882181.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:01.967Z,1755882181.967 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.508332
2025-08-22T17:03:02.218Z,1755882182.218 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.760186
2025-08-22T17:03:02.279Z,1755882182.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:02.471Z,1755882182.471 [DAT](INFO): DAT read: Rx Time:17:03:02.9135

2025-08-22T17:03:02.471Z,1755882182.471 [DAT](INFO): Rx dataTimestamp_ set to:1755882182.470700
2025-08-22T17:03:02.472Z,1755882182.472 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.013272
2025-08-22T17:03:02.693Z,1755882182.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m.
2025-08-22T17:03:02.723Z,1755882182.723 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.264235
2025-08-22T17:03:02.980Z,1755882182.980 [DAT](INFO): DAT read: 17:03:02.9135 LVL= 29616, 32417, 32754, 32755, AGC= 68, IDX= 445,-0.03,-1.287, 1.037,-0.945,-0.309, PHS=-0.876, 1.391,-0.680, RAW= 325.5,   1.5, CAL= 324.1,  -1.4, ROT= 185.9,   1.4

2025-08-22T17:03:02.981Z,1755882182.981 [DAT](INFO): got valid direction response:
 17:03:02.9135 LVL= 29616, 32417, 32754, 32755, AGC= 68, IDX= 445,-0.03,-1.287, 1.037,-0.945,-0.309, PHS=-0.876, 1.391,-0.680, RAW= 325.5,   1.5, CAL= 324.1,  -1.4, ROT= 185.9,   1.4

2025-08-22T17:03:02.982Z,1755882182.982 [DAT](INFO): DAT read: Bearing   3.2,  -6.6 (Local)

2025-08-22T17:03:02.983Z,1755882182.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  -6.6 (Local)

2025-08-22T17:03:02.984Z,1755882182.984 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m  (Round-trip  17.2 ms) speed -0.1 m/s

2025-08-22T17:03:02.985Z,1755882182.985 [DAT](INFO): DAT read: user:420>

2025-08-22T17:03:02.985Z,1755882182.985 [DAT](INFO): DAT read: Tx time:17:03:04.0421

2025-08-22T17:03:02.986Z,1755882182.986 [DAT](INFO): Ping request sent.
2025-08-22T17:03:02.986Z,1755882182.986 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:02.986Z,1755882182.986 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T17:03:02.987Z,1755882182.987 [DAT](INFO): direction in FSK: [-0.994406,-0.102762,-0.024432]
2025-08-22T17:03:02.987Z,1755882182.987 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:02.988Z,1755882182.988 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:03.007Z,1755882183.007 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:03.007Z,1755882183.007 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:03.015Z,1755882183.015 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.029116
2025-08-22T17:03:03.119Z,1755882183.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.527993 s,
      deltaX: 0.900000 m,
      approachRate: 0.255102 m/s,
      rangeRepo size: 4

2025-08-22T17:03:03.121Z,1755882183.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.817626 m,
      bearing: 211.018882 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 3.527993 s,
      deltaX: 0.894302 m,
      approachRate: 0.253488 m/s,
      posRepo size: 4

2025-08-22T17:03:03.126Z,1755882183.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:03.227Z,1755882183.227 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.241182
2025-08-22T17:03:03.479Z,1755882183.479 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.492733
2025-08-22T17:03:03.510Z,1755882183.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:03.731Z,1755882183.731 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.744663
2025-08-22T17:03:03.876Z,1755882183.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:03.983Z,1755882183.983 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.996748
2025-08-22T17:03:04.234Z,1755882184.234 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.248641
2025-08-22T17:03:04.287Z,1755882184.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:04.487Z,1755882184.487 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.501577
2025-08-22T17:03:04.721Z,1755882184.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:04.739Z,1755882184.739 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.752830
2025-08-22T17:03:04.990Z,1755882184.990 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.004646
2025-08-22T17:03:05.135Z,1755882185.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:05.243Z,1755882185.243 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.256719
2025-08-22T17:03:05.495Z,1755882185.495 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.508728
2025-08-22T17:03:05.601Z,1755882185.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:05.746Z,1755882185.746 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.760641
2025-08-22T17:03:05.936Z,1755882185.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:05.000Z,1755882186.000 [DAT](INFO): DAT read: Rx Time:17:03:06.5465

2025-08-22T17:03:06.000Z,1755882186.000 [DAT](INFO): Rx dataTimestamp_ set to:1755882185.999745
2025-08-22T17:03:06.001Z,1755882186.001 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.015059
2025-08-22T17:03:06.251Z,1755882186.251 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.264707
2025-08-22T17:03:06.350Z,1755882186.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:06.508Z,1755882186.508 [DAT](INFO): DAT read: 17:03:06.5465 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 255,-0.19,-2.246,-1.851,-1.694, 2.833, PHS= 1.306, 1.644, 1.712, RAW= 261.0, -77.1, CAL= 259.2, -76.6, ROT= 250.8,  76.6

2025-08-22T17:03:06.509Z,1755882186.509 [DAT](INFO): got valid direction response:
 17:03:06.5465 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 255,-0.19,-2.246,-1.851,-1.694, 2.833, PHS= 1.306, 1.644, 1.712, RAW= 261.0, -77.1, CAL= 259.2, -76.6, ROT= 250.8,  76.6

2025-08-22T17:03:06.510Z,1755882186.510 [DAT](INFO): DAT read: $Error in header

2025-08-22T17:03:06.510Z,1755882186.510 [DAT](INFO): Received a bad header
2025-08-22T17:03:06.522Z,1755882186.522 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-08-22T17:03:06.523Z,1755882186.523 [DAT](INFO): direction in FSK: [-0.076214,-0.218857,-0.972776]
2025-08-22T17:03:06.526Z,1755882186.526 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.540514
2025-08-22T17:03:06.755Z,1755882186.755 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.768741
2025-08-22T17:03:06.775Z,1755882186.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:07.007Z,1755882187.007 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=4.020739
2025-08-22T17:03:07.139Z,1755882187.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:07.259Z,1755882187.259 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=4.272661
2025-08-22T17:03:07.511Z,1755882187.511 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=4.524739
2025-08-22T17:03:07.569Z,1755882187.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:07.765Z,1755882187.765 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=4.779516
2025-08-22T17:03:07.982Z,1755882187.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:08.015Z,1755882188.015 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.028714
2025-08-22T17:03:08.267Z,1755882188.267 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.280668
2025-08-22T17:03:08.384Z,1755882188.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:08.519Z,1755882188.519 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.532810
2025-08-22T17:03:08.771Z,1755882188.771 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.784719
2025-08-22T17:03:08.805Z,1755882188.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:09.023Z,1755882189.023 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=6.036664
2025-08-22T17:03:09.179Z,1755882189.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:09.275Z,1755882189.275 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=6.289402
2025-08-22T17:03:09.526Z,1755882189.526 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=6.540602
2025-08-22T17:03:09.606Z,1755882189.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:09.779Z,1755882189.779 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=6.793184
2025-08-22T17:03:10.018Z,1755882190.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:10.031Z,1755882190.031 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=7.044833
2025-08-22T17:03:10.283Z,1755882190.283 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=7.296801
2025-08-22T17:03:10.432Z,1755882190.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:10.535Z,1755882190.535 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=7.548809
2025-08-22T17:03:10.787Z,1755882190.787 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=7.800737
2025-08-22T17:03:10.853Z,1755882190.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:11.040Z,1755882191.040 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=8.054590
2025-08-22T17:03:11.268Z,1755882191.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:11.290Z,1755882191.290 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=8.304574
2025-08-22T17:03:11.543Z,1755882191.543 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=8.556672
2025-08-22T17:03:11.734Z,1755882191.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:11.795Z,1755882191.795 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=8.809094
2025-08-22T17:03:12.047Z,1755882192.047 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.060793
2025-08-22T17:03:12.073Z,1755882192.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:12.299Z,1755882192.299 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.312683
2025-08-22T17:03:12.481Z,1755882192.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:12.554Z,1755882192.554 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.567529
2025-08-22T17:03:12.803Z,1755882192.803 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=9.816908
2025-08-22T17:03:12.947Z,1755882192.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:13.055Z,1755882193.055 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.068707
2025-08-22T17:03:13.308Z,1755882193.308 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.322307
2025-08-22T17:03:13.465Z,1755882193.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:13.559Z,1755882193.559 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.573109
2025-08-22T17:03:13.812Z,1755882193.812 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=10.826220
2025-08-22T17:03:13.876Z,1755882193.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:14.062Z,1755882194.062 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.076610
2025-08-22T17:03:14.242Z,1755882194.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:14.315Z,1755882194.315 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.328694
2025-08-22T17:03:14.569Z,1755882194.569 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.582730
2025-08-22T17:03:14.661Z,1755882194.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:14.819Z,1755882194.819 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.832646
2025-08-22T17:03:15.022Z,1755882195.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:15.071Z,1755882195.071 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=12.085394
2025-08-22T17:03:15.323Z,1755882195.323 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:03:15.323Z,1755882195.323 [DAT](INFO): response not received
2025-08-22T17:03:15.323Z,1755882195.323 [DAT](INFO): DAT read: user:422>

2025-08-22T17:03:15.324Z,1755882195.324 [DAT](INFO): DAT read: Tx time:17:03:16.4920

2025-08-22T17:03:15.324Z,1755882195.324 [DAT](INFO): Ping request sent.
2025-08-22T17:03:15.324Z,1755882195.324 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:15.325Z,1755882195.325 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:15.342Z,1755882195.342 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.000799
2025-08-22T17:03:15.479Z,1755882195.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:15.577Z,1755882195.577 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.252575
2025-08-22T17:03:15.827Z,1755882195.827 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.502151
2025-08-22T17:03:15.872Z,1755882195.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:16.082Z,1755882196.082 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.757283
2025-08-22T17:03:16.244Z,1755882196.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:16.330Z,1755882196.330 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.006019
2025-08-22T17:03:16.585Z,1755882196.585 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.260006
2025-08-22T17:03:16.713Z,1755882196.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:16.835Z,1755882196.835 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.510141
2025-08-22T17:03:17.046Z,1755882197.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:17.087Z,1755882197.087 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.762324
2025-08-22T17:03:17.339Z,1755882197.339 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.014083
2025-08-22T17:03:17.450Z,1755882197.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:17.594Z,1755882197.594 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.268760
2025-08-22T17:03:17.843Z,1755882197.843 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.518152
2025-08-22T17:03:17.888Z,1755882197.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:18.094Z,1755882198.094 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.770032
2025-08-22T17:03:18.250Z,1755882198.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:18.348Z,1755882198.348 [DAT](INFO): DAT read: Rx Time:17:03:18.9171

2025-08-22T17:03:18.349Z,1755882198.349 [DAT](INFO): Rx dataTimestamp_ set to:1755882198.348329
2025-08-22T17:03:18.350Z,1755882198.350 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.025685
2025-08-22T17:03:18.601Z,1755882198.601 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.276317
2025-08-22T17:03:18.697Z,1755882198.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T17:03:18.859Z,1755882198.859 [DAT](INFO): DAT read: 17:03:18.9171 LVL= 21232, 17905, 18738, 21603, AGC= 68, IDX= 133,-0.47,-0.242, 2.260, 0.700, 0.878, PHS=-1.018, 1.426,-0.222, RAW= 311.4,  -1.8, CAL= 309.9,  -5.1, ROT= 200.1,   5.1

2025-08-22T17:03:18.863Z,1755882198.863 [DAT](INFO): got valid direction response:
 17:03:18.9171 LVL= 21232, 17905, 18738, 21603, AGC= 68, IDX= 133,-0.47,-0.242, 2.260, 0.700, 0.878, PHS=-1.018, 1.426,-0.222, RAW= 311.4,  -1.8, CAL= 309.9,  -5.1, ROT= 200.1,   5.1

2025-08-22T17:03:18.865Z,1755882198.865 [DAT](INFO): DAT read: Bearing   3.3, -21.7 (Local)

2025-08-22T17:03:18.866Z,1755882198.866 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3, -21.7 (Local)

2025-08-22T17:03:18.867Z,1755882198.867 [DAT](INFO): DAT read: Range 11 to 50 : 15.7 m  (Round-trip  21.0 ms) speed  0.0 m/s

2025-08-22T17:03:18.869Z,1755882198.869 [DAT](INFO): DAT read: user:423>

2025-08-22T17:03:18.870Z,1755882198.870 [DAT](INFO): DAT read: Tx time:17:03:20.0419

2025-08-22T17:03:18.871Z,1755882198.871 [DAT](INFO): Ping request sent.
2025-08-22T17:03:18.871Z,1755882198.871 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:18.871Z,1755882198.871 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T17:03:18.873Z,1755882198.873 [DAT](INFO): direction in FSK: [-0.935376,-0.342299,-0.088894]
2025-08-22T17:03:18.875Z,1755882198.875 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:18.876Z,1755882198.876 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:18.920Z,1755882198.920 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:18.920Z,1755882198.920 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:18.927Z,1755882198.927 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.056714
2025-08-22T17:03:19.103Z,1755882199.103 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.231856
2025-08-22T17:03:19.168Z,1755882199.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.700000 m,
      deltaT: 15.876794 s,
      deltaX: 2.800000 m,
      approachRate: 0.176358 m/s,
      rangeRepo size: 4

2025-08-22T17:03:19.177Z,1755882199.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.599647 m,
      bearing: 222.886647 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 15.876794 s,
      deltaX: 2.782021 m,
      approachRate: 0.175226 m/s,
      posRepo size: 4

2025-08-22T17:03:19.182Z,1755882199.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:19.355Z,1755882199.355 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.484223
2025-08-22T17:03:19.488Z,1755882199.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:19.610Z,1755882199.610 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.738989
2025-08-22T17:03:19.859Z,1755882199.859 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.988322
2025-08-22T17:03:19.915Z,1755882199.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:20.111Z,1755882200.111 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.240279
2025-08-22T17:03:20.286Z,1755882200.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:20.364Z,1755882200.364 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.492911
2025-08-22T17:03:20.619Z,1755882200.619 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.747854
2025-08-22T17:03:20.746Z,1755882200.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:20.868Z,1755882200.868 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.996695
2025-08-22T17:03:21.068Z,1755882201.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:21.119Z,1755882201.119 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.248277
2025-08-22T17:03:21.371Z,1755882201.371 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.500704
2025-08-22T17:03:21.494Z,1755882201.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:21.625Z,1755882201.625 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.753772
2025-08-22T17:03:21.875Z,1755882201.875 [DAT](INFO): DAT read: Rx Time:17:03:22.4677

2025-08-22T17:03:21.875Z,1755882201.875 [DAT](INFO): Rx dataTimestamp_ set to:1755882201.874767
2025-08-22T17:03:21.876Z,1755882201.876 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.004867
2025-08-22T17:03:21.927Z,1755882201.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:22.127Z,1755882202.127 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.256319
2025-08-22T17:03:22.288Z,1755882202.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:22.383Z,1755882202.383 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.6 ms) speed  0.0 m/s

2025-08-22T17:03:22.384Z,1755882202.384 [DAT](INFO): DAT read: user:424>

2025-08-22T17:03:22.385Z,1755882202.385 [DAT](INFO): DAT read: Tx time:17:03:23.5919

2025-08-22T17:03:22.385Z,1755882202.385 [DAT](INFO): Ping request sent.
2025-08-22T17:03:22.385Z,1755882202.385 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:22.386Z,1755882202.386 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-08-22T17:03:22.386Z,1755882202.386 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:22.387Z,1755882202.387 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:22.388Z,1755882202.388 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.002291
2025-08-22T17:03:22.631Z,1755882202.631 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.245370
2025-08-22T17:03:22.752Z,1755882202.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.529050 s,
      deltaX: 0.500001 m,
      approachRate: 0.141681 m/s,
      rangeRepo size: 4

2025-08-22T17:03:22.752Z,1755882202.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:22.883Z,1755882202.883 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.497467
2025-08-22T17:03:23.087Z,1755882203.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:23.135Z,1755882203.135 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.749848
2025-08-22T17:03:23.387Z,1755882203.387 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.001470
2025-08-22T17:03:23.504Z,1755882203.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:23.642Z,1755882203.642 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.255745
2025-08-22T17:03:23.891Z,1755882203.891 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.505364
2025-08-22T17:03:23.923Z,1755882203.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:24.143Z,1755882204.143 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.757837
2025-08-22T17:03:24.322Z,1755882204.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:24.395Z,1755882204.395 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.010021
2025-08-22T17:03:24.646Z,1755882204.646 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.261266
2025-08-22T17:03:24.790Z,1755882204.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:24.899Z,1755882204.899 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.513636
2025-08-22T17:03:25.109Z,1755882205.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:25.151Z,1755882205.151 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.765969
2025-08-22T17:03:25.403Z,1755882205.403 [DAT](INFO): DAT read: Rx Time:17:03:26.0182

2025-08-22T17:03:25.403Z,1755882205.403 [DAT](INFO): Rx dataTimestamp_ set to:1755882205.402737
2025-08-22T17:03:25.404Z,1755882205.404 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.018391
2025-08-22T17:03:25.525Z,1755882205.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:03:25.657Z,1755882205.657 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.271078
2025-08-22T17:03:25.925Z,1755882205.925 [DAT](INFO): DAT read: 17:03:26.0182 LVL= 31040, 24817, 30146, 27075, AGC= 66, IDX= 447, 0.01, 1.698,-2.494, 2.461, 2.676, PHS=-0.876, 1.158,-0.258, RAW= 312.8,  -0.3, CAL= 311.0,  -3.4, ROT= 199.0,   3.4

2025-08-22T17:03:25.926Z,1755882205.926 [DAT](INFO): got valid direction response:
 17:03:26.0182 LVL= 31040, 24817, 30146, 27075, AGC= 66, IDX= 447, 0.01, 1.698,-2.494, 2.461, 2.676, PHS=-0.876, 1.158,-0.258, RAW= 312.8,  -0.3, CAL= 311.0,  -3.4, ROT= 199.0,   3.4

2025-08-22T17:03:25.927Z,1755882205.927 [DAT](INFO): DAT read: Bearing   1.2, -21.1 (Local)

2025-08-22T17:03:25.928Z,1755882205.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2, -21.1 (Local)

2025-08-22T17:03:25.929Z,1755882205.929 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m  (Round-trip  22.1 ms) speed -0.1 m/s

2025-08-22T17:03:25.934Z,1755882205.934 [DAT](INFO): DAT read: user:425>

2025-08-22T17:03:25.935Z,1755882205.935 [DAT](INFO): DAT read: Tx time:17:03:27.1419

2025-08-22T17:03:25.935Z,1755882205.935 [DAT](INFO): Ping request sent.
2025-08-22T17:03:25.936Z,1755882205.936 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:25.936Z,1755882205.936 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T17:03:25.937Z,1755882205.937 [DAT](INFO): direction in FSK: [-0.943854,-0.324995,-0.059306]
2025-08-22T17:03:25.937Z,1755882205.937 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:25.942Z,1755882205.942 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:25.945Z,1755882205.945 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:25.945Z,1755882205.945 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:25.952Z,1755882205.952 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.016677
2025-08-22T17:03:26.014Z,1755882206.014 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:03:26.068Z,1755882206.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.528033 s,
      deltaX: 0.299999 m,
      approachRate: 0.085033 m/s,
      rangeRepo size: 4

2025-08-22T17:03:26.075Z,1755882206.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394693 m,
      bearing: 221.583736 deg,
      lat: 36.779477 deg,
      lon: -121.859654 deg,
      deltaT: 7.057083 s,
      deltaX: 0.795047 m,
      approachRate: 0.112659 m/s,
      posRepo size: 4

2025-08-22T17:03:26.075Z,1755882206.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:26.165Z,1755882206.165 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.229608
2025-08-22T17:03:26.371Z,1755882206.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:26.415Z,1755882206.415 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.479195
2025-08-22T17:03:26.667Z,1755882206.667 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.731525
2025-08-22T17:03:26.808Z,1755882206.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:26.918Z,1755882206.918 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.982897
2025-08-22T17:03:27.020Z,1755882207.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:03:27.131Z,1755882207.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:27.171Z,1755882207.171 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.235508
2025-08-22T17:03:27.425Z,1755882207.425 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.489355
2025-08-22T17:03:27.603Z,1755882207.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:27.675Z,1755882207.675 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.739290
2025-08-22T17:03:27.927Z,1755882207.927 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.991046
2025-08-22T17:03:27.992Z,1755882207.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:28.180Z,1755882208.180 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.243786
2025-08-22T17:03:28.373Z,1755882208.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:28.431Z,1755882208.431 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.495334
2025-08-22T17:03:28.683Z,1755882208.683 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.746948
2025-08-22T17:03:28.824Z,1755882208.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:28.935Z,1755882208.935 [DAT](INFO): DAT read: Rx Time:17:03:29.5686

2025-08-22T17:03:28.935Z,1755882208.935 [DAT](INFO): Rx dataTimestamp_ set to:1755882208.934766
2025-08-22T17:03:28.936Z,1755882208.936 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.000044
2025-08-22T17:03:29.187Z,1755882209.187 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.251658
2025-08-22T17:03:29.200Z,1755882209.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:29.441Z,1755882209.441 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.505116
2025-08-22T17:03:29.565Z,1755882209.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:03:29.696Z,1755882209.696 [DAT](INFO): DAT read: 17:03:29.5686 LVL= 32752, 29601, 29042, 31843, AGC= 67, IDX= 435, 0.09, 0.525, 2.617, 1.333, 1.565, PHS=-0.938, 1.097,-0.276, RAW= 311.4,   1.3, CAL= 309.3,  -1.8, ROT= 200.7,   1.8

2025-08-22T17:03:29.697Z,1755882209.697 [DAT](INFO): got valid direction response:
 17:03:29.5686 LVL= 32752, 29601, 29042, 31843, AGC= 67, IDX= 435, 0.09, 0.525, 2.617, 1.333, 1.565, PHS=-0.938, 1.097,-0.276, RAW= 311.4,   1.3, CAL= 309.3,  -1.8, ROT= 200.7,   1.8

2025-08-22T17:03:29.698Z,1755882209.698 [DAT](INFO): DAT read: Bearing 359.5, -22.9 (Local)

2025-08-22T17:03:29.699Z,1755882209.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5, -22.9 (Local)

2025-08-22T17:03:29.700Z,1755882209.700 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m  (Round-trip  22.5 ms) speed  0.0 m/s

2025-08-22T17:03:29.701Z,1755882209.701 [DAT](INFO): DAT read: user:426>

2025-08-22T17:03:29.701Z,1755882209.701 [DAT](INFO): DAT read: Tx time:17:03:30.6919

2025-08-22T17:03:29.702Z,1755882209.702 [DAT](INFO): Ping request sent.
2025-08-22T17:03:29.702Z,1755882209.702 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:29.702Z,1755882209.702 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T17:03:29.703Z,1755882209.703 [DAT](INFO): direction in FSK: [-0.934982,-0.353300,-0.031411]
2025-08-22T17:03:29.703Z,1755882209.703 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:29.704Z,1755882209.704 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:29.723Z,1755882209.723 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:29.723Z,1755882209.723 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:29.750Z,1755882209.750 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.043090
2025-08-22T17:03:29.943Z,1755882209.943 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.240867
2025-08-22T17:03:30.017Z,1755882210.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 3.782123 s,
      deltaX: 0.299999 m,
      approachRate: 0.079320 m/s,
      rangeRepo size: 4

2025-08-22T17:03:30.023Z,1755882210.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692726 m,
      bearing: 223.433090 deg,
      lat: 36.779487 deg,
      lon: -121.859668 deg,
      deltaT: 3.782123 s,
      deltaX: 0.298033 m,
      approachRate: 0.078800 m/s,
      posRepo size: 4

2025-08-22T17:03:30.024Z,1755882210.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:30.195Z,1755882210.195 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.492710
2025-08-22T17:03:30.403Z,1755882210.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:30.447Z,1755882210.447 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.745227
2025-08-22T17:03:30.698Z,1755882210.698 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.996609
2025-08-22T17:03:30.836Z,1755882210.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:30.951Z,1755882210.951 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.249535
2025-08-22T17:03:31.203Z,1755882211.203 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.500835
2025-08-22T17:03:31.208Z,1755882211.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:31.454Z,1755882211.454 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.752655
2025-08-22T17:03:31.575Z,1755882211.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:31.707Z,1755882211.707 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.004798
2025-08-22T17:03:31.959Z,1755882211.959 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.256703
2025-08-22T17:03:32.016Z,1755882212.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:32.211Z,1755882212.211 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.508723
2025-08-22T17:03:32.455Z,1755882212.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:32.463Z,1755882212.463 [DAT](INFO): DAT read: Rx Time:17:03:33.1190

2025-08-22T17:03:32.463Z,1755882212.463 [DAT](INFO): Rx dataTimestamp_ set to:1755882212.462839
2025-08-22T17:03:32.464Z,1755882212.464 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.761860
2025-08-22T17:03:32.715Z,1755882212.715 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.012758
2025-08-22T17:03:32.871Z,1755882212.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:03:32.970Z,1755882212.970 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.267205
2025-08-22T17:03:33.224Z,1755882213.224 [DAT](INFO): DAT read: 17:03:33.1190 LVL= 32752, 26049, 30882, 30867, AGC= 68, IDX= 439,-0.26, 0.135, 2.434, 1.051, 1.177, PHS=-0.940, 1.303,-0.170, RAW= 310.2,  -2.0, CAL= 308.8,  -5.4, ROT= 201.2,   5.4

2025-08-22T17:03:33.225Z,1755882213.225 [DAT](INFO): got valid direction response:
 17:03:33.1190 LVL= 32752, 26049, 30882, 30867, AGC= 68, IDX= 439,-0.26, 0.135, 2.434, 1.051, 1.177, PHS=-0.940, 1.303,-0.170, RAW= 310.2,  -2.0, CAL= 308.8,  -5.4, ROT= 201.2,   5.4

2025-08-22T17:03:33.226Z,1755882213.226 [DAT](INFO): DAT read: Bearing   3.6, -23.8 (Local)

2025-08-22T17:03:33.227Z,1755882213.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6, -23.8 (Local)

2025-08-22T17:03:33.228Z,1755882213.228 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.9 ms) speed -0.4 m/s

2025-08-22T17:03:33.229Z,1755882213.229 [DAT](INFO): DAT read: user:427>

2025-08-22T17:03:33.229Z,1755882213.229 [DAT](INFO): DAT read: Tx time:17:03:34.2419

2025-08-22T17:03:33.230Z,1755882213.230 [DAT](INFO): Ping request sent.
2025-08-22T17:03:33.230Z,1755882213.230 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:33.230Z,1755882213.230 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T17:03:33.231Z,1755882213.231 [DAT](INFO): direction in FSK: [-0.928186,-0.360020,-0.094108]
2025-08-22T17:03:33.231Z,1755882213.231 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:33.232Z,1755882213.232 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:33.239Z,1755882213.239 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:33.239Z,1755882213.239 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:33.291Z,1755882213.291 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.060977
2025-08-22T17:03:33.350Z,1755882213.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 3.528026 s,
      deltaX: 0.300001 m,
      approachRate: 0.085034 m/s,
      rangeRepo size: 4

2025-08-22T17:03:33.352Z,1755882213.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990934 m,
      bearing: 223.900712 deg,
      lat: 36.779489 deg,
      lon: -121.859669 deg,
      deltaT: 3.528026 s,
      deltaX: 0.298208 m,
      approachRate: 0.084526 m/s,
      posRepo size: 4

2025-08-22T17:03:33.353Z,1755882213.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:33.471Z,1755882213.471 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.240821
2025-08-22T17:03:33.643Z,1755882213.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:33.722Z,1755882213.722 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.492568
2025-08-22T17:03:33.975Z,1755882213.975 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.744614
2025-08-22T17:03:34.060Z,1755882214.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:34.231Z,1755882214.231 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.000456
2025-08-22T17:03:34.425Z,1755882214.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:34.479Z,1755882214.479 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.249180
2025-08-22T17:03:34.730Z,1755882214.730 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500600
2025-08-22T17:03:34.896Z,1755882214.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:34.983Z,1755882214.983 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.752725
2025-08-22T17:03:35.235Z,1755882215.235 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004716
2025-08-22T17:03:35.243Z,1755882215.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:35.487Z,1755882215.487 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.256665
2025-08-22T17:03:35.631Z,1755882215.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:35.739Z,1755882215.739 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.508763
2025-08-22T17:03:35.990Z,1755882215.990 [DAT](INFO): DAT read: Rx Time:17:03:36.6691

2025-08-22T17:03:35.991Z,1755882215.991 [DAT](INFO): Rx dataTimestamp_ set to:1755882215.990646
2025-08-22T17:03:35.991Z,1755882215.991 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.761610
2025-08-22T17:03:36.077Z,1755882216.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:36.243Z,1755882216.243 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.012613
2025-08-22T17:03:36.435Z,1755882216.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:03:36.496Z,1755882216.496 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.265615
2025-08-22T17:03:36.752Z,1755882216.752 [DAT](INFO): DAT read: 17:03:36.6691 LVL= 30928, 19041, 28994, 29875, AGC= 66, IDX= 425, 0.26, 0.507, 2.796, 1.461, 1.578, PHS=-0.968, 1.263,-0.160, RAW= 309.0,  -1.4, CAL= 307.5,  -4.8, ROT= 202.5,   4.8

2025-08-22T17:03:36.753Z,1755882216.753 [DAT](INFO): got valid direction response:
 17:03:36.6691 LVL= 30928, 19041, 28994, 29875, AGC= 66, IDX= 425, 0.26, 0.507, 2.796, 1.461, 1.578, PHS=-0.968, 1.263,-0.160, RAW= 309.0,  -1.4, CAL= 307.5,  -4.8, ROT= 202.5,   4.8

2025-08-22T17:03:36.755Z,1755882216.755 [DAT](INFO): DAT read: Bearing   3.0, -25.4 (Local)

2025-08-22T17:03:36.755Z,1755882216.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0, -25.4 (Local)

2025-08-22T17:03:36.756Z,1755882216.756 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m  (Round-trip  23.1 ms) speed -0.1 m/s

2025-08-22T17:03:36.757Z,1755882216.757 [DAT](INFO): DAT read: user:428>

2025-08-22T17:03:36.761Z,1755882216.761 [DAT](INFO): DAT read: Tx time:17:03:37.7918

2025-08-22T17:03:36.762Z,1755882216.762 [DAT](INFO): Ping request sent.
2025-08-22T17:03:36.762Z,1755882216.762 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:36.762Z,1755882216.762 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T17:03:36.763Z,1755882216.763 [DAT](INFO): direction in FSK: [-0.920639,-0.381341,-0.083678]
2025-08-22T17:03:36.763Z,1755882216.763 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:36.764Z,1755882216.764 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:36.787Z,1755882216.787 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:36.787Z,1755882216.787 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:36.795Z,1755882216.795 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.032941
2025-08-22T17:03:36.966Z,1755882216.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 3.527929 s,
      deltaX: 0.199999 m,
      approachRate: 0.056690 m/s,
      rangeRepo size: 4

2025-08-22T17:03:36.968Z,1755882216.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189545 m,
      bearing: 225.260085 deg,
      lat: 36.779490 deg,
      lon: -121.859670 deg,
      deltaT: 3.527929 s,
      deltaX: 0.198610 m,
      approachRate: 0.056297 m/s,
      posRepo size: 4

2025-08-22T17:03:36.968Z,1755882216.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:36.000Z,1755882217.000 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.237888
2025-08-22T17:03:37.251Z,1755882217.251 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.488809
2025-08-22T17:03:37.267Z,1755882217.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:37.503Z,1755882217.503 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.741124
2025-08-22T17:03:37.659Z,1755882217.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:37.755Z,1755882217.755 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.993075
2025-08-22T17:03:38.007Z,1755882218.007 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.244744
2025-08-22T17:03:38.086Z,1755882218.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:38.258Z,1755882218.258 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.496605
2025-08-22T17:03:38.457Z,1755882218.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:38.511Z,1755882218.511 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.749288
2025-08-22T17:03:38.763Z,1755882218.763 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.000793
2025-08-22T17:03:38.870Z,1755882218.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:39.015Z,1755882219.015 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.253184
2025-08-22T17:03:39.267Z,1755882219.267 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.504734
2025-08-22T17:03:39.288Z,1755882219.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:39.519Z,1755882219.519 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.756830
2025-08-22T17:03:39.683Z,1755882219.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:39.771Z,1755882219.771 [DAT](INFO): DAT read: Rx Time:17:03:40.2194

2025-08-22T17:03:39.771Z,1755882219.771 [DAT](INFO): Rx dataTimestamp_ set to:1755882219.770967
2025-08-22T17:03:39.772Z,1755882219.772 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.009989
2025-08-22T17:03:40.023Z,1755882220.023 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.260693
2025-08-22T17:03:40.172Z,1755882220.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:03:40.280Z,1755882220.280 [DAT](INFO): DAT read: 17:03:40.2194 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 428,-0.01,-0.379, 2.117, 0.691, 0.783, PHS=-1.060, 1.379,-0.136, RAW= 308.0,  -1.7, CAL= 306.6,  -5.3, ROT= 203.4,   5.3

2025-08-22T17:03:40.282Z,1755882220.282 [DAT](INFO): got valid direction response:
 17:03:40.2194 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 428,-0.01,-0.379, 2.117, 0.691, 0.783, PHS=-1.060, 1.379,-0.136, RAW= 308.0,  -1.7, CAL= 306.6,  -5.3, ROT= 203.4,   5.3

2025-08-22T17:03:40.283Z,1755882220.283 [DAT](INFO): DAT read: Bearing   3.2, -26.4 (Local)

2025-08-22T17:03:40.283Z,1755882220.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2, -26.4 (Local)

2025-08-22T17:03:40.284Z,1755882220.284 [DAT](INFO): DAT read: Range 11 to 50 : 17.5 m  (Round-trip  23.4 ms) speed  0.0 m/s

2025-08-22T17:03:40.285Z,1755882220.285 [DAT](INFO): DAT read: user:429>

2025-08-22T17:03:40.286Z,1755882220.286 [DAT](INFO): DAT read: Tx time:17:03:41.3418

2025-08-22T17:03:40.286Z,1755882220.286 [DAT](INFO): Ping request sent.
2025-08-22T17:03:40.286Z,1755882220.286 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:40.287Z,1755882220.287 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T17:03:40.288Z,1755882220.288 [DAT](INFO): direction in FSK: [-0.913831,-0.395450,-0.092371]
2025-08-22T17:03:40.288Z,1755882220.288 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:40.288Z,1755882220.288 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:40.292Z,1755882220.292 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:40.292Z,1755882220.292 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:40.295Z,1755882220.295 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.009168
2025-08-22T17:03:40.511Z,1755882220.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.500000 m,
      deltaT: 3.528437 s,
      deltaX: 0.200001 m,
      approachRate: 0.056683 m/s,
      rangeRepo size: 4

2025-08-22T17:03:40.513Z,1755882220.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.388338 m,
      bearing: 226.210375 deg,
      lat: 36.779490 deg,
      lon: -121.859670 deg,
      deltaT: 3.528437 s,
      deltaX: 0.198793 m,
      approachRate: 0.056340 m/s,
      posRepo size: 4

2025-08-22T17:03:40.513Z,1755882220.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:40.527Z,1755882220.527 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.240306
2025-08-22T17:03:40.778Z,1755882220.778 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.492201
2025-08-22T17:03:40.880Z,1755882220.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:41.031Z,1755882221.031 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.744286
2025-08-22T17:03:41.283Z,1755882221.283 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.996288
2025-08-22T17:03:41.324Z,1755882221.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:41.536Z,1755882221.536 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.249329
2025-08-22T17:03:41.718Z,1755882221.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:41.791Z,1755882221.791 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.505042
2025-08-22T17:03:42.043Z,1755882222.043 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.756242
2025-08-22T17:03:42.195Z,1755882222.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:42.295Z,1755882222.295 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.008283
2025-08-22T17:03:42.510Z,1755882222.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:42.547Z,1755882222.547 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.260526
2025-08-22T17:03:42.800Z,1755882222.800 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.513202
2025-08-22T17:03:42.919Z,1755882222.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:43.051Z,1755882223.051 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.764922
2025-08-22T17:03:43.304Z,1755882223.304 [DAT](INFO): DAT read: Rx Time:17:03:43.7697

2025-08-22T17:03:43.305Z,1755882223.305 [DAT](INFO): Rx dataTimestamp_ set to:1755882223.304411
2025-08-22T17:03:43.307Z,1755882223.307 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.020283
2025-08-22T17:03:43.372Z,1755882223.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:43.555Z,1755882223.555 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.268367
2025-08-22T17:03:43.751Z,1755882223.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:03:43.817Z,1755882223.817 [DAT](INFO): DAT read: 17:03:43.7697 LVL= 31696, 20289, 29042, 26931, AGC= 66, IDX= 447, 0.19, 0.563, 2.798, 1.573, 1.719, PHS=-1.054, 1.124,-0.189, RAW= 306.8,   1.3, CAL= 304.8,  -2.2, ROT= 205.2,   2.2

2025-08-22T17:03:43.825Z,1755882223.825 [DAT](INFO): got valid direction response:
 17:03:43.7697 LVL= 31696, 20289, 29042, 26931, AGC= 66, IDX= 447, 0.19, 0.563, 2.798, 1.573, 1.719, PHS=-1.054, 1.124,-0.189, RAW= 306.8,   1.3, CAL= 304.8,  -2.2, ROT= 205.2,   2.2

2025-08-22T17:03:43.826Z,1755882223.826 [DAT](INFO): DAT read: Bearing 359.1, -27.8 (Local)

2025-08-22T17:03:43.827Z,1755882223.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1, -27.8 (Local)

2025-08-22T17:03:43.829Z,1755882223.829 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m  (Round-trip  23.7 ms) speed  0.0 m/s

2025-08-22T17:03:43.835Z,1755882223.835 [DAT](INFO): DAT read: user:430>

2025-08-22T17:03:43.842Z,1755882223.842 [DAT](INFO): DAT read: Tx time:17:03:44.8918

2025-08-22T17:03:43.843Z,1755882223.843 [DAT](INFO): Ping request sent.
2025-08-22T17:03:43.843Z,1755882223.843 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:43.843Z,1755882223.843 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T17:03:43.844Z,1755882223.844 [DAT](INFO): direction in FSK: [-0.904160,-0.425465,-0.038388]
2025-08-22T17:03:43.845Z,1755882223.845 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:43.845Z,1755882223.845 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:43.856Z,1755882223.856 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:43.856Z,1755882223.856 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:43.864Z,1755882223.864 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.021309
2025-08-22T17:03:44.059Z,1755882224.059 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.215995
2025-08-22T17:03:44.164Z,1755882224.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 3.533039 s,
      deltaX: 0.200001 m,
      approachRate: 0.056609 m/s,
      rangeRepo size: 4

2025-08-22T17:03:44.171Z,1755882224.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.586927 m,
      bearing: 228.274503 deg,
      lat: 36.779491 deg,
      lon: -121.859670 deg,
      deltaT: 3.533039 s,
      deltaX: 0.198589 m,
      approachRate: 0.056209 m/s,
      posRepo size: 4

2025-08-22T17:03:44.172Z,1755882224.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:44.311Z,1755882224.311 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.468278
2025-08-22T17:03:44.515Z,1755882224.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:44.563Z,1755882224.563 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.720356
2025-08-22T17:03:44.816Z,1755882224.816 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.972786
2025-08-22T17:03:44.921Z,1755882224.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:45.066Z,1755882225.066 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.223753
2025-08-22T17:03:45.319Z,1755882225.319 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.476461
2025-08-22T17:03:45.383Z,1755882225.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:45.571Z,1755882225.571 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.727853
2025-08-22T17:03:45.787Z,1755882225.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:45.844Z,1755882225.844 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.000699
2025-08-22T17:03:46.094Z,1755882226.094 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.251720
2025-08-22T17:03:46.203Z,1755882226.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:46.347Z,1755882226.347 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.504296
2025-08-22T17:03:46.580Z,1755882226.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:46.599Z,1755882226.599 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.755788
2025-08-22T17:03:46.851Z,1755882226.851 [DAT](INFO): DAT read: Rx Time:17:03:47.3199

2025-08-22T17:03:46.851Z,1755882226.851 [DAT](INFO): Rx dataTimestamp_ set to:1755882226.850749
2025-08-22T17:03:46.852Z,1755882226.852 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.008871
2025-08-22T17:03:46.965Z,1755882226.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:03:47.103Z,1755882227.103 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.259896
2025-08-22T17:03:47.360Z,1755882227.360 [DAT](INFO): DAT read: 17:03:47.3199 LVL= 32752, 29857, 32754, 30035, AGC= 66, IDX= 449, 0.30,-0.426, 1.670, 0.511, 0.669, PHS=-0.993, 1.046,-0.202, RAW= 307.4,   1.7, CAL= 305.3,  -1.8, ROT= 204.7,   1.8

2025-08-22T17:03:47.361Z,1755882227.361 [DAT](INFO): got valid direction response:
 17:03:47.3199 LVL= 32752, 29857, 32754, 30035, AGC= 66, IDX= 449, 0.30,-0.426, 1.670, 0.511, 0.669, PHS=-0.993, 1.046,-0.202, RAW= 307.4,   1.7, CAL= 305.3,  -1.8, ROT= 204.7,   1.8

2025-08-22T17:03:47.362Z,1755882227.362 [DAT](INFO): DAT read: Bearing 358.3, -27.1 (Local)

2025-08-22T17:03:47.363Z,1755882227.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3, -27.1 (Local)

2025-08-22T17:03:47.364Z,1755882227.364 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m  (Round-trip  23.9 ms) speed  0.0 m/s

2025-08-22T17:03:47.365Z,1755882227.365 [DAT](INFO): DAT read: user:431>

2025-08-22T17:03:47.365Z,1755882227.365 [DAT](INFO): DAT read: Tx time:17:03:48.4418

2025-08-22T17:03:47.366Z,1755882227.366 [DAT](INFO): Ping request sent.
2025-08-22T17:03:47.366Z,1755882227.366 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:47.366Z,1755882227.366 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T17:03:47.367Z,1755882227.367 [DAT](INFO): direction in FSK: [-0.908060,-0.417661,-0.031411]
2025-08-22T17:03:47.367Z,1755882227.367 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:47.368Z,1755882227.368 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:47.375Z,1755882227.375 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:47.375Z,1755882227.375 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:47.380Z,1755882227.380 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.013746
2025-08-22T17:03:47.472Z,1755882227.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 3.546582 s,
      deltaX: 0.199999 m,
      approachRate: 0.056392 m/s,
      rangeRepo size: 4

2025-08-22T17:03:47.478Z,1755882227.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.785591 m,
      bearing: 227.497861 deg,
      lat: 36.779491 deg,
      lon: -121.859670 deg,
      deltaT: 3.546582 s,
      deltaX: 0.198664 m,
      approachRate: 0.056016 m/s,
      posRepo size: 4

2025-08-22T17:03:47.479Z,1755882227.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:47.607Z,1755882227.607 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.240811
2025-08-22T17:03:47.783Z,1755882227.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:47.859Z,1755882227.859 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.492713
2025-08-22T17:03:48.110Z,1755882228.110 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.744639
2025-08-22T17:03:48.212Z,1755882228.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:48.362Z,1755882228.362 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.996642
2025-08-22T17:03:48.579Z,1755882228.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:48.615Z,1755882228.615 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.248815
2025-08-22T17:03:48.866Z,1755882228.866 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.500537
2025-08-22T17:03:48.971Z,1755882228.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:49.119Z,1755882229.119 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.752919
2025-08-22T17:03:49.371Z,1755882229.371 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.004824
2025-08-22T17:03:49.426Z,1755882229.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:49.623Z,1755882229.623 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.257016
2025-08-22T17:03:49.825Z,1755882229.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:03:49.827Z,1755882229.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:49.875Z,1755882229.875 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.509409
2025-08-22T17:03:50.127Z,1755882230.127 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.760710
2025-08-22T17:03:50.315Z,1755882230.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:50.380Z,1755882230.380 [DAT](INFO): DAT read: Rx Time:17:03:50.8700

2025-08-22T17:03:50.380Z,1755882230.380 [DAT](INFO): Rx dataTimestamp_ set to:1755882230.379954
2025-08-22T17:03:50.381Z,1755882230.381 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.014946
2025-08-22T17:03:50.631Z,1755882230.631 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.264929
2025-08-22T17:03:50.693Z,1755882230.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:03:50.890Z,1755882230.890 [DAT](INFO): DAT read: 17:03:50.8700 LVL= 32752, 20593, 26466, 32755, AGC= 65, IDX= 450,-0.16, 2.000,-2.021, 2.900,-3.129, PHS=-1.052, 1.153,-0.298, RAW= 310.3,   2.1, CAL= 308.1,  -1.1, ROT= 201.9,   1.1

2025-08-22T17:03:50.892Z,1755882230.892 [DAT](INFO): got valid direction response:
 17:03:50.8700 LVL= 32752, 20593, 26466, 32755, AGC= 65, IDX= 450,-0.16, 2.000,-2.021, 2.900,-3.129, PHS=-1.052, 1.153,-0.298, RAW= 310.3,   2.1, CAL= 308.1,  -1.1, ROT= 201.9,   1.1

2025-08-22T17:03:50.893Z,1755882230.893 [DAT](INFO): DAT read: Bearing 357.7, -24.1 (Local)

2025-08-22T17:03:50.894Z,1755882230.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7, -24.1 (Local)

2025-08-22T17:03:50.896Z,1755882230.896 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.0 ms) speed  0.0 m/s

2025-08-22T17:03:50.897Z,1755882230.897 [DAT](INFO): DAT read: user:432>

2025-08-22T17:03:50.898Z,1755882230.898 [DAT](INFO): DAT read: Tx time:17:03:51.9918

2025-08-22T17:03:50.898Z,1755882230.898 [DAT](INFO): Ping request sent.
2025-08-22T17:03:50.898Z,1755882230.898 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:50.899Z,1755882230.899 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T17:03:50.900Z,1755882230.900 [DAT](INFO): direction in FSK: [-0.927665,-0.372919,-0.019197]
2025-08-22T17:03:50.900Z,1755882230.900 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:50.900Z,1755882230.900 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:50.927Z,1755882230.927 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:50.927Z,1755882230.927 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:50.943Z,1755882230.943 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.044466
2025-08-22T17:03:51.135Z,1755882231.135 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.236050
2025-08-22T17:03:51.209Z,1755882231.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.528225 s,
      deltaX: 0.100000 m,
      approachRate: 0.028343 m/s,
      rangeRepo size: 4

2025-08-22T17:03:51.211Z,1755882231.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884937 m,
      bearing: 224.265801 deg,
      lat: 36.779491 deg,
      lon: -121.859670 deg,
      deltaT: 3.528225 s,
      deltaX: 0.099346 m,
      approachRate: 0.028158 m/s,
      posRepo size: 4

2025-08-22T17:03:51.211Z,1755882231.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:51.387Z,1755882231.387 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.488535
2025-08-22T17:03:51.603Z,1755882231.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:51.639Z,1755882231.639 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.740776
2025-08-22T17:03:51.890Z,1755882231.890 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.992000
2025-08-22T17:03:52.000Z,1755882232.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:52.143Z,1755882232.143 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.244063
2025-08-22T17:03:52.395Z,1755882232.395 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.496082
2025-08-22T17:03:52.434Z,1755882232.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:52.649Z,1755882232.649 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.750685
2025-08-22T17:03:52.828Z,1755882232.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:52.899Z,1755882232.899 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.000351
2025-08-22T17:03:53.153Z,1755882233.153 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.254301
2025-08-22T17:03:53.247Z,1755882233.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:53.403Z,1755882233.403 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.504033
2025-08-22T17:03:53.655Z,1755882233.655 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.756121
2025-08-22T17:03:53.662Z,1755882233.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:53.907Z,1755882233.907 [DAT](INFO): DAT read: Rx Time:17:03:54.4199

2025-08-22T17:03:53.907Z,1755882233.907 [DAT](INFO): Rx dataTimestamp_ set to:1755882233.906883
2025-08-22T17:03:53.908Z,1755882233.908 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.009257
2025-08-22T17:03:54.047Z,1755882234.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:54.159Z,1755882234.159 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.260633
2025-08-22T17:03:54.422Z,1755882234.422 [DAT](INFO): DAT read: 17:03:54.4199 LVL= 32752, 29729, 31378, 29619, AGC= 66, IDX= 434, 0.24, 2.714,-1.482,-2.709,-2.361, PHS=-1.106, 0.924,-0.392, RAW= 309.7,   6.5, CAL= 307.5,   5.8, ROT= 202.5,  -5.8

2025-08-22T17:03:54.423Z,1755882234.423 [DAT](INFO): got valid direction response:
 17:03:54.4199 LVL= 32752, 29729, 31378, 29619, AGC= 66, IDX= 434, 0.24, 2.714,-1.482,-2.709,-2.361, PHS=-1.106, 0.924,-0.392, RAW= 309.7,   6.5, CAL= 307.5,   5.8, ROT= 202.5,  -5.8

2025-08-22T17:03:54.424Z,1755882234.424 [DAT](INFO): DAT read: Bearing 349.9, -23.4 (Local)

2025-08-22T17:03:54.425Z,1755882234.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9, -23.4 (Local)

2025-08-22T17:03:54.430Z,1755882234.430 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.0 ms) speed  0.0 m/s

2025-08-22T17:03:54.431Z,1755882234.431 [DAT](INFO): DAT read: user:433>

2025-08-22T17:03:54.432Z,1755882234.432 [DAT](INFO): DAT read: Tx time:17:03:55.5417

2025-08-22T17:03:54.432Z,1755882234.432 [DAT](INFO): Ping request sent.
2025-08-22T17:03:54.432Z,1755882234.432 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:54.433Z,1755882234.433 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T17:03:54.434Z,1755882234.434 [DAT](INFO): direction in FSK: [-0.919150,-0.380724,0.101056]
2025-08-22T17:03:54.434Z,1755882234.434 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:54.434Z,1755882234.434 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:54.437Z,1755882234.437 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:54.446Z,1755882234.446 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:54.449Z,1755882234.449 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.016656
2025-08-22T17:03:54.580Z,1755882234.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.527723 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:03:54.586Z,1755882234.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884928 m,
      bearing: 224.860552 deg,
      lat: 36.779491 deg,
      lon: -121.859670 deg,
      deltaT: 3.527723 s,
      deltaX: -0.000010 m,
      approachRate: -0.000003 m/s,
      posRepo size: 4

2025-08-22T17:03:54.587Z,1755882234.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:54.663Z,1755882234.663 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.230346
2025-08-22T17:03:54.914Z,1755882234.914 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.482137
2025-08-22T17:03:55.005Z,1755882235.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:55.170Z,1755882235.170 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.737339
2025-08-22T17:03:55.419Z,1755882235.419 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.986352
2025-08-22T17:03:55.435Z,1755882235.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:55.670Z,1755882235.670 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.238147
2025-08-22T17:03:55.812Z,1755882235.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:55.923Z,1755882235.923 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.490652
2025-08-22T17:03:56.177Z,1755882236.177 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.744396
2025-08-22T17:03:56.240Z,1755882236.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:56.426Z,1755882236.426 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.994144
2025-08-22T17:03:56.679Z,1755882236.679 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.246344
2025-08-22T17:03:56.700Z,1755882236.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:56.931Z,1755882236.931 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.498429
2025-08-22T17:03:57.023Z,1755882237.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:57.138Z,1755882237.138 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:03:57.189Z,1755882237.189 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.756005
2025-08-22T17:03:57.439Z,1755882237.439 [DAT](INFO): DAT read: Rx Time:17:03:57.9701

2025-08-22T17:03:57.439Z,1755882237.439 [DAT](INFO): Rx dataTimestamp_ set to:1755882237.438779
2025-08-22T17:03:57.440Z,1755882237.440 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.007346
2025-08-22T17:03:57.502Z,1755882237.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:57.691Z,1755882237.691 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.258268
2025-08-22T17:03:57.894Z,1755882237.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:03:57.951Z,1755882237.951 [DAT](INFO): DAT read: 17:03:57.9701 LVL= 32752, 26913, 30370, 32755, AGC= 67, IDX= 436,-0.14, 1.592,-2.450, 2.542, 2.877, PHS=-1.183, 1.001,-0.379, RAW= 308.7,   5.9, CAL= 306.4,   4.8, ROT= 203.6,  -4.8

2025-08-22T17:03:57.952Z,1755882237.952 [DAT](INFO): got valid direction response:
 17:03:57.9701 LVL= 32752, 26913, 30370, 32755, AGC= 67, IDX= 436,-0.14, 1.592,-2.450, 2.542, 2.877, PHS=-1.183, 1.001,-0.379, RAW= 308.7,   5.9, CAL= 306.4,   4.8, ROT= 203.6,  -4.8

2025-08-22T17:03:57.953Z,1755882237.953 [DAT](INFO): DAT read: Bearing 350.7, -24.5 (Local)

2025-08-22T17:03:57.954Z,1755882237.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7, -24.5 (Local)

2025-08-22T17:03:57.955Z,1755882237.955 [DAT](INFO): DAT read: Range 11 to 50 : 18.1 m  (Round-trip  24.2 ms) speed  0.0 m/s

2025-08-22T17:03:57.956Z,1755882237.956 [DAT](INFO): DAT read: user:434>

2025-08-22T17:03:57.956Z,1755882237.956 [DAT](INFO): DAT read: Tx time:17:03:59.0917

2025-08-22T17:03:57.957Z,1755882237.957 [DAT](INFO): Ping request sent.
2025-08-22T17:03:57.957Z,1755882237.957 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:03:57.957Z,1755882237.957 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T17:03:57.970Z,1755882237.970 [DAT](INFO): direction in FSK: [-0.913149,-0.398945,0.083678]
2025-08-22T17:03:57.970Z,1755882237.970 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:57.971Z,1755882237.971 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:57.978Z,1755882237.978 [DAT](INFO): publishing transmit ping time
2025-08-22T17:03:57.979Z,1755882237.979 [DAT](INFO): publishing direction and range info
2025-08-22T17:03:57.988Z,1755882237.988 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.030895
2025-08-22T17:03:58.142Z,1755882238.142 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:03:58.197Z,1755882238.197 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.239518
2025-08-22T17:03:58.320Z,1755882238.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.100000 m,
      deltaT: 3.532596 s,
      deltaX: 0.100000 m,
      approachRate: 0.028308 m/s,
      rangeRepo size: 4

2025-08-22T17:03:58.327Z,1755882238.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.984276 m,
      bearing: 225.468886 deg,
      lat: 36.779483 deg,
      lon: -121.859661 deg,
      deltaT: 3.532596 s,
      deltaX: 0.099348 m,
      approachRate: 0.028123 m/s,
      posRepo size: 4

2025-08-22T17:03:58.327Z,1755882238.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:03:58.447Z,1755882238.447 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.489736
2025-08-22T17:03:58.655Z,1755882238.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:03:58.699Z,1755882238.699 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.742390
2025-08-22T17:03:58.951Z,1755882238.951 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.993682
2025-08-22T17:03:59.125Z,1755882239.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:03:59.206Z,1755882239.206 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.248427
2025-08-22T17:03:59.456Z,1755882239.456 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.499141
2025-08-22T17:03:59.528Z,1755882239.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:03:59.707Z,1755882239.707 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.750016
2025-08-22T17:03:59.883Z,1755882239.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:03:59.959Z,1755882239.959 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.001835
2025-08-22T17:04:00.213Z,1755882240.213 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.255700
2025-08-22T17:04:00.328Z,1755882240.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:00.463Z,1755882240.463 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.505787
2025-08-22T17:04:00.685Z,1755882240.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:00.715Z,1755882240.715 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.757834
2025-08-22T17:04:00.967Z,1755882240.967 [DAT](INFO): DAT read: Rx Time:17:04:01.5201

2025-08-22T17:04:00.967Z,1755882240.967 [DAT](INFO): Rx dataTimestamp_ set to:1755882240.966698
2025-08-22T17:04:00.968Z,1755882240.968 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.010718
2025-08-22T17:04:01.082Z,1755882241.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:01.221Z,1755882241.221 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.263820
2025-08-22T17:04:01.476Z,1755882241.476 [DAT](INFO): DAT read: 17:04:01.5201 LVL= 32752, 25009, 30610, 32627, AGC= 65, IDX= 436,-0.33, 1.277,-2.718, 2.309, 2.539, PHS=-1.160, 1.071,-0.274, RAW= 306.8,   3.8, CAL= 304.4,   0.6, ROT= 205.6,  -0.6

2025-08-22T17:04:01.477Z,1755882241.477 [DAT](INFO): got valid direction response:
 17:04:01.5201 LVL= 32752, 25009, 30610, 32627, AGC= 65, IDX= 436,-0.33, 1.277,-2.718, 2.309, 2.539, PHS=-1.160, 1.071,-0.274, RAW= 306.8,   3.8, CAL= 304.4,   0.6, ROT= 205.6,  -0.6

2025-08-22T17:04:01.488Z,1755882241.488 [DAT](INFO): DAT read: Bearing 354.9, -27.3 (Local)

2025-08-22T17:04:01.489Z,1755882241.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9, -27.3 (Local)

2025-08-22T17:04:01.490Z,1755882241.490 [DAT](INFO): DAT read: Range 11 to 50 : 18.1 m  (Round-trip  24.2 ms) speed  0.0 m/s

2025-08-22T17:04:01.491Z,1755882241.491 [DAT](INFO): DAT read: user:435>

2025-08-22T17:04:01.492Z,1755882241.492 [DAT](INFO): DAT read: Tx time:17:04:02.6417

2025-08-22T17:04:01.492Z,1755882241.492 [DAT](INFO): Ping request sent.
2025-08-22T17:04:01.492Z,1755882241.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:01.492Z,1755882241.492 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T17:04:01.501Z,1755882241.501 [DAT](INFO): direction in FSK: [-0.901783,-0.432062,0.010472]
2025-08-22T17:04:01.502Z,1755882241.502 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:01.502Z,1755882241.502 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:01.505Z,1755882241.505 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:01.505Z,1755882241.505 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:01.518Z,1755882241.518 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.026233
2025-08-22T17:04:01.574Z,1755882241.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.100000 m,
      deltaT: 3.527523 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:01.576Z,1755882241.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.984272 m,
      bearing: 226.656303 deg,
      lat: 36.779483 deg,
      lon: -121.859661 deg,
      deltaT: 3.527523 s,
      deltaX: -0.000004 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-22T17:04:01.577Z,1755882241.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:01.723Z,1755882241.723 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.230728
2025-08-22T17:04:01.920Z,1755882241.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:01.975Z,1755882241.975 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.482968
2025-08-22T17:04:02.229Z,1755882242.229 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.736700
2025-08-22T17:04:02.331Z,1755882242.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:02.478Z,1755882242.478 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.986470
2025-08-22T17:04:02.696Z,1755882242.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:02.731Z,1755882242.731 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.238929
2025-08-22T17:04:02.983Z,1755882242.983 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.490507
2025-08-22T17:04:03.108Z,1755882243.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:03.235Z,1755882243.235 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.742513
2025-08-22T17:04:03.486Z,1755882243.486 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.994430
2025-08-22T17:04:03.532Z,1755882243.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:03.739Z,1755882243.739 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.246515
2025-08-22T17:04:03.900Z,1755882243.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:03.991Z,1755882243.991 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.498982
2025-08-22T17:04:04.246Z,1755882244.246 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.753631
2025-08-22T17:04:04.371Z,1755882244.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:04.495Z,1755882244.495 [DAT](INFO): DAT read: Rx Time:17:04:05.0700

2025-08-22T17:04:04.495Z,1755882244.495 [DAT](INFO): Rx dataTimestamp_ set to:1755882244.494700
2025-08-22T17:04:04.496Z,1755882244.496 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.003560
2025-08-22T17:04:04.723Z,1755882244.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.98 m.
2025-08-22T17:04:04.747Z,1755882244.747 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.254572
2025-08-22T17:04:05.005Z,1755882245.005 [DAT](INFO): DAT read: 17:04:05.0700 LVL= 32752, 28113, 32754, 29747, AGC= 65, IDX= 434, 0.46,-0.149, 2.410, 1.022, 1.261, PHS=-1.308, 1.193,-0.283, RAW= 306.0,   3.7, CAL= 303.5,   0.4, ROT= 206.5,  -0.4

2025-08-22T17:04:05.008Z,1755882245.008 [DAT](INFO): got valid direction response:
 17:04:05.0700 LVL= 32752, 28113, 32754, 29747, AGC= 65, IDX= 434, 0.46,-0.149, 2.410, 1.022, 1.261, PHS=-1.308, 1.193,-0.283, RAW= 306.0,   3.7, CAL= 303.5,   0.4, ROT= 206.5,  -0.4

2025-08-22T17:04:05.009Z,1755882245.009 [DAT](INFO): DAT read: Bearing 355.1, -28.2 (Local)

2025-08-22T17:04:05.012Z,1755882245.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1, -28.2 (Local)

2025-08-22T17:04:05.013Z,1755882245.013 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.1 ms) speed  0.0 m/s

2025-08-22T17:04:05.014Z,1755882245.014 [DAT](INFO): DAT read: user:436>

2025-08-22T17:04:05.015Z,1755882245.015 [DAT](INFO): DAT read: Tx time:17:04:06.1917

2025-08-22T17:04:05.015Z,1755882245.015 [DAT](INFO): Ping request sent.
2025-08-22T17:04:05.015Z,1755882245.015 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:05.015Z,1755882245.015 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T17:04:05.016Z,1755882245.016 [DAT](INFO): direction in FSK: [-0.894913,-0.446187,0.006981]
2025-08-22T17:04:05.017Z,1755882245.017 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:05.017Z,1755882245.017 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:05.038Z,1755882245.038 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:05.038Z,1755882245.038 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:05.042Z,1755882245.042 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.026728
2025-08-22T17:04:05.156Z,1755882245.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.528588 s,
      deltaX: -0.100000 m,
      approachRate: -0.028340 m/s,
      rangeRepo size: 4

2025-08-22T17:04:05.163Z,1755882245.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884924 m,
      bearing: 227.223034 deg,
      lat: 36.779483 deg,
      lon: -121.859661 deg,
      deltaT: 3.528588 s,
      deltaX: -0.099348 m,
      approachRate: -0.028155 m/s,
      posRepo size: 4

2025-08-22T17:04:05.163Z,1755882245.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:05.251Z,1755882245.251 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.235710
2025-08-22T17:04:05.502Z,1755882245.502 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.487302
2025-08-22T17:04:05.549Z,1755882245.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:05.756Z,1755882245.756 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.740684
2025-08-22T17:04:05.972Z,1755882245.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:06.007Z,1755882246.007 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.992006
2025-08-22T17:04:06.262Z,1755882246.262 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.247068
2025-08-22T17:04:06.414Z,1755882246.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:06.511Z,1755882246.511 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.495483
2025-08-22T17:04:06.763Z,1755882246.763 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.748050
2025-08-22T17:04:06.805Z,1755882246.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:07.018Z,1755882247.018 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.002499
2025-08-22T17:04:07.211Z,1755882247.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:07.268Z,1755882247.268 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.252372
2025-08-22T17:04:07.519Z,1755882247.519 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.503505
2025-08-22T17:04:07.618Z,1755882247.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:07.772Z,1755882247.772 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.756436
2025-08-22T17:04:08.021Z,1755882248.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:08.023Z,1755882248.023 [DAT](INFO): DAT read: Rx Time:17:04:08.6199

2025-08-22T17:04:08.023Z,1755882248.023 [DAT](INFO): Rx dataTimestamp_ set to:1755882248.022938
2025-08-22T17:04:08.024Z,1755882248.024 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.008741
2025-08-22T17:04:08.275Z,1755882248.275 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.260118
2025-08-22T17:04:08.416Z,1755882248.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:08.537Z,1755882248.537 [DAT](INFO): DAT read: 17:04:08.6199 LVL= 32752, 25201, 27634, 32755, AGC= 65, IDX= 434, 0.23,-1.033, 1.346, 0.133, 0.265, PHS=-1.197, 1.126,-0.177, RAW= 304.0,   2.5, CAL= 301.8,  -1.2, ROT= 208.2,   1.2

2025-08-22T17:04:08.540Z,1755882248.540 [DAT](INFO): got valid direction response:
 17:04:08.6199 LVL= 32752, 25201, 27634, 32755, AGC= 65, IDX= 434, 0.23,-1.033, 1.346, 0.133, 0.265, PHS=-1.197, 1.126,-0.177, RAW= 304.0,   2.5, CAL= 301.8,  -1.2, ROT= 208.2,   1.2

2025-08-22T17:04:08.540Z,1755882248.540 [DAT](INFO): DAT read: Bearing 357.1, -30.4 (Local)

2025-08-22T17:04:08.541Z,1755882248.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1, -30.4 (Local)

2025-08-22T17:04:08.543Z,1755882248.543 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.0 ms) speed  0.1 m/s

2025-08-22T17:04:08.543Z,1755882248.543 [DAT](INFO): DAT read: user:437>

2025-08-22T17:04:08.544Z,1755882248.544 [DAT](INFO): DAT read: Tx time:17:04:09.7417

2025-08-22T17:04:08.544Z,1755882248.544 [DAT](INFO): Ping request sent.
2025-08-22T17:04:08.545Z,1755882248.545 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:08.545Z,1755882248.545 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T17:04:08.546Z,1755882248.546 [DAT](INFO): direction in FSK: [-0.881110,-0.472447,-0.020942]
2025-08-22T17:04:08.546Z,1755882248.546 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:08.547Z,1755882248.547 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:08.550Z,1755882248.550 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:08.550Z,1755882248.550 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:08.554Z,1755882248.554 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.008781
2025-08-22T17:04:08.780Z,1755882248.780 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.234934
2025-08-22T17:04:08.822Z,1755882248.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.527358 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:08.824Z,1755882248.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884958 m,
      bearing: 228.866761 deg,
      lat: 36.779483 deg,
      lon: -121.859661 deg,
      deltaT: 3.527358 s,
      deltaX: 0.000034 m,
      approachRate: 0.000010 m/s,
      posRepo size: 4

2025-08-22T17:04:08.825Z,1755882248.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:09.031Z,1755882249.031 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.486016
2025-08-22T17:04:09.222Z,1755882249.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:09.283Z,1755882249.283 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.738024
2025-08-22T17:04:09.535Z,1755882249.535 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.989904
2025-08-22T17:04:09.650Z,1755882249.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:09.787Z,1755882249.787 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.241981
2025-08-22T17:04:10.013Z,1755882250.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:10.039Z,1755882250.039 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.494174
2025-08-22T17:04:10.291Z,1755882250.291 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.745922
2025-08-22T17:04:10.449Z,1755882250.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:10.544Z,1755882250.544 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.999068
2025-08-22T17:04:10.801Z,1755882250.801 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.256193
2025-08-22T17:04:10.900Z,1755882250.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:11.050Z,1755882251.050 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.505889
2025-08-22T17:04:11.255Z,1755882251.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:11.303Z,1755882251.303 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.758043
2025-08-22T17:04:11.554Z,1755882251.554 [DAT](INFO): DAT read: Rx Time:17:04:12.1699

2025-08-22T17:04:11.555Z,1755882251.555 [DAT](INFO): Rx dataTimestamp_ set to:1755882251.554656
2025-08-22T17:04:11.555Z,1755882251.555 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.010891
2025-08-22T17:04:11.724Z,1755882251.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:11.807Z,1755882251.807 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.262873
2025-08-22T17:04:12.076Z,1755882252.076 [DAT](INFO): DAT read: 17:04:12.1699 LVL= 32752, 23265, 26610, 31699, AGC= 63, IDX= 435,-0.27, 2.255,-1.670,-2.864,-2.799, PHS=-1.127, 1.174,-0.109, RAW= 303.8,   0.6, CAL= 302.0,  -3.2, ROT= 208.0,   3.2

2025-08-22T17:04:12.077Z,1755882252.077 [DAT](INFO): got valid direction response:
 17:04:12.1699 LVL= 32752, 23265, 26610, 31699, AGC= 63, IDX= 435,-0.27, 2.255,-1.670,-2.864,-2.799, PHS=-1.127, 1.174,-0.109, RAW= 303.8,   0.6, CAL= 302.0,  -3.2, ROT= 208.0,   3.2

2025-08-22T17:04:12.079Z,1755882252.079 [DAT](INFO): DAT read: Bearing 359.9, -30.8 (Local)

2025-08-22T17:04:12.079Z,1755882252.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9, -30.8 (Local)

2025-08-22T17:04:12.080Z,1755882252.080 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.1 ms) speed  0.0 m/s

2025-08-22T17:04:12.086Z,1755882252.086 [DAT](INFO): DAT read: user:438>

2025-08-22T17:04:12.087Z,1755882252.087 [DAT](INFO): DAT read: Tx time:17:04:13.2916

2025-08-22T17:04:12.087Z,1755882252.087 [DAT](INFO): Ping request sent.
2025-08-22T17:04:12.087Z,1755882252.087 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:12.087Z,1755882252.087 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T17:04:12.088Z,1755882252.088 [DAT](INFO): direction in FSK: [-0.881571,-0.468739,-0.055822]
2025-08-22T17:04:12.089Z,1755882252.089 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:12.089Z,1755882252.089 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:12.112Z,1755882252.112 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:12.112Z,1755882252.112 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:12.128Z,1755882252.128 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.040976
2025-08-22T17:04:12.183Z,1755882252.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.533689 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:12.190Z,1755882252.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884975 m,
      bearing: 229.031866 deg,
      lat: 36.779484 deg,
      lon: -121.859661 deg,
      deltaT: 3.533689 s,
      deltaX: 0.000017 m,
      approachRate: 0.000005 m/s,
      posRepo size: 4

2025-08-22T17:04:12.191Z,1755882252.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:12.310Z,1755882252.310 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.223336
2025-08-22T17:04:12.563Z,1755882252.563 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.475574
2025-08-22T17:04:12.594Z,1755882252.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:12.815Z,1755882252.815 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.728066
2025-08-22T17:04:12.874Z,1755882252.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:13.069Z,1755882253.069 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.982058
2025-08-22T17:04:13.294Z,1755882253.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:13.319Z,1755882253.319 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.231599
2025-08-22T17:04:13.571Z,1755882253.571 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.483546
2025-08-22T17:04:13.744Z,1755882253.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:13.823Z,1755882253.823 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.735816
2025-08-22T17:04:14.073Z,1755882254.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:14.075Z,1755882254.075 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.987596
2025-08-22T17:04:14.327Z,1755882254.327 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.239669
2025-08-22T17:04:14.503Z,1755882254.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:14.579Z,1755882254.579 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.491719
2025-08-22T17:04:14.831Z,1755882254.831 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.743630
2025-08-22T17:04:14.899Z,1755882254.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:15.086Z,1755882255.086 [DAT](INFO): DAT read: Rx Time:17:04:15.7199

2025-08-22T17:04:15.086Z,1755882255.086 [DAT](INFO): Rx dataTimestamp_ set to:1755882255.086100
2025-08-22T17:04:15.087Z,1755882255.087 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.999907
2025-08-22T17:04:15.289Z,1755882255.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:15.335Z,1755882255.335 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.247572
2025-08-22T17:04:15.590Z,1755882255.590 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.502041
2025-08-22T17:04:15.747Z,1755882255.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:15.844Z,1755882255.844 [DAT](INFO): DAT read: 17:04:15.7199 LVL= 31408, 21217, 26162, 27011, AGC= 65, IDX= 435,-0.21, 1.988,-1.735,-3.064,-2.957, PHS=-1.237, 1.267,-0.151, RAW= 304.4,   1.1, CAL= 302.5,  -2.6, ROT= 207.5,   2.6

2025-08-22T17:04:15.845Z,1755882255.845 [DAT](INFO): got valid direction response:
 17:04:15.7199 LVL= 31408, 21217, 26162, 27011, AGC= 65, IDX= 435,-0.21, 1.988,-1.735,-3.064,-2.957, PHS=-1.237, 1.267,-0.151, RAW= 304.4,   1.1, CAL= 302.5,  -2.6, ROT= 207.5,   2.6

2025-08-22T17:04:15.847Z,1755882255.847 [DAT](INFO): DAT read: Bearing 359.6, -30.7 (Local)

2025-08-22T17:04:15.847Z,1755882255.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -30.7 (Local)

2025-08-22T17:04:15.848Z,1755882255.848 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.1 ms) speed  0.0 m/s

2025-08-22T17:04:15.849Z,1755882255.849 [DAT](INFO): DAT read: user:439>

2025-08-22T17:04:15.854Z,1755882255.854 [DAT](INFO): DAT read: Tx time:17:04:16.8416

2025-08-22T17:04:15.855Z,1755882255.855 [DAT](INFO): Ping request sent.
2025-08-22T17:04:15.855Z,1755882255.855 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:15.856Z,1755882255.856 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T17:04:15.856Z,1755882255.856 [DAT](INFO): direction in FSK: [-0.886098,-0.461273,-0.045363]
2025-08-22T17:04:15.857Z,1755882255.857 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:15.857Z,1755882255.857 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:15.860Z,1755882255.860 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:15.860Z,1755882255.860 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:15.884Z,1755882255.884 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.028804
2025-08-22T17:04:16.091Z,1755882256.091 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.235369
2025-08-22T17:04:16.098Z,1755882256.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.778359 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:16.100Z,1755882256.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.884909 m,
      bearing: 228.967774 deg,
      lat: 36.779484 deg,
      lon: -121.859660 deg,
      deltaT: 3.778359 s,
      deltaX: -0.000067 m,
      approachRate: -0.000018 m/s,
      posRepo size: 4

2025-08-22T17:04:16.101Z,1755882256.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:16.342Z,1755882256.342 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.487277
2025-08-22T17:04:16.535Z,1755882256.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:16.595Z,1755882256.595 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.739500
2025-08-22T17:04:16.847Z,1755882256.847 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.991406
2025-08-22T17:04:16.905Z,1755882256.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:17.099Z,1755882257.099 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.243875
2025-08-22T17:04:17.311Z,1755882257.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:17.351Z,1755882257.351 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.495972
2025-08-22T17:04:17.602Z,1755882257.602 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.747211
2025-08-22T17:04:17.782Z,1755882257.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:17.855Z,1755882257.855 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.999531
2025-08-22T17:04:18.107Z,1755882258.107 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.251444
2025-08-22T17:04:18.112Z,1755882258.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:18.359Z,1755882258.359 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.503363
2025-08-22T17:04:18.567Z,1755882258.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:18.611Z,1755882258.611 [DAT](INFO): DAT read: Rx Time:17:04:19.2697

2025-08-22T17:04:18.612Z,1755882258.612 [DAT](INFO): Rx dataTimestamp_ set to:1755882258.611125
2025-08-22T17:04:18.612Z,1755882258.612 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.757042
2025-08-22T17:04:18.863Z,1755882258.863 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.007501
2025-08-22T17:04:18.938Z,1755882258.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:19.114Z,1755882259.114 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.259233
2025-08-22T17:04:19.323Z,1755882259.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m.
2025-08-22T17:04:19.373Z,1755882259.373 [DAT](INFO): DAT read: 17:04:19.2697 LVL= 32752, 25025, 24994, 32755, AGC= 66, IDX= 432, 0.40, 0.537, 3.005, 1.723, 1.845, PHS=-1.206, 1.205,-0.166, RAW= 304.5,   1.6, CAL= 302.5,  -2.1, ROT= 207.5,   2.1

2025-08-22T17:04:19.375Z,1755882259.375 [DAT](INFO): got valid direction response:
 17:04:19.2697 LVL= 32752, 25025, 24994, 32755, AGC= 66, IDX= 432, 0.40, 0.537, 3.005, 1.723, 1.845, PHS=-1.206, 1.205,-0.166, RAW= 304.5,   1.6, CAL= 302.5,  -2.1, ROT= 207.5,   2.1

2025-08-22T17:04:19.376Z,1755882259.376 [DAT](INFO): DAT read: Bearing 359.4, -30.8 (Local)

2025-08-22T17:04:19.376Z,1755882259.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4, -30.8 (Local)

2025-08-22T17:04:19.380Z,1755882259.380 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m  (Round-trip  23.9 ms) speed  0.1 m/s

2025-08-22T17:04:19.381Z,1755882259.381 [DAT](INFO): DAT read: user:440>

2025-08-22T17:04:19.386Z,1755882259.386 [DAT](INFO): DAT read: Tx time:17:04:20.3916

2025-08-22T17:04:19.386Z,1755882259.386 [DAT](INFO): Ping request sent.
2025-08-22T17:04:19.387Z,1755882259.387 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:19.387Z,1755882259.387 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T17:04:19.388Z,1755882259.388 [DAT](INFO): direction in FSK: [-0.886415,-0.461438,-0.036644]
2025-08-22T17:04:19.389Z,1755882259.389 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:19.389Z,1755882259.389 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:19.414Z,1755882259.414 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:19.414Z,1755882259.414 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:19.417Z,1755882259.417 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.030740
2025-08-22T17:04:19.619Z,1755882259.619 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.232079
2025-08-22T17:04:19.822Z,1755882259.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 3.527944 s,
      deltaX: -0.100000 m,
      approachRate: -0.028345 m/s,
      rangeRepo size: 4

2025-08-22T17:04:19.824Z,1755882259.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.785627 m,
      bearing: 229.414823 deg,
      lat: 36.779484 deg,
      lon: -121.859659 deg,
      deltaT: 3.527944 s,
      deltaX: -0.099281 m,
      approachRate: -0.028141 m/s,
      posRepo size: 4

2025-08-22T17:04:19.824Z,1755882259.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:19.875Z,1755882259.875 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.488368
2025-08-22T17:04:20.123Z,1755882260.123 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.736178
2025-08-22T17:04:20.138Z,1755882260.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:20.375Z,1755882260.375 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.988055
2025-08-22T17:04:20.600Z,1755882260.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:20.627Z,1755882260.627 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.240123
2025-08-22T17:04:20.879Z,1755882260.879 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.492057
2025-08-22T17:04:20.938Z,1755882260.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:21.135Z,1755882261.135 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.747642
2025-08-22T17:04:21.351Z,1755882261.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:21.383Z,1755882261.383 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.996959
2025-08-22T17:04:21.635Z,1755882261.635 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.248068
2025-08-22T17:04:21.826Z,1755882261.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:21.887Z,1755882261.887 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.500251
2025-08-22T17:04:22.139Z,1755882262.139 [DAT](INFO): DAT read: Rx Time:17:04:22.8196

2025-08-22T17:04:22.139Z,1755882262.139 [DAT](INFO): Rx dataTimestamp_ set to:1755882262.139124
2025-08-22T17:04:22.140Z,1755882262.140 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.753524
2025-08-22T17:04:22.188Z,1755882262.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:22.392Z,1755882262.392 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.005552
2025-08-22T17:04:22.643Z,1755882262.643 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.256162
2025-08-22T17:04:22.653Z,1755882262.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m.
2025-08-22T17:04:22.902Z,1755882262.902 [DAT](INFO): DAT read: 17:04:22.8196 LVL= 32560, 25073, 26450, 26787, AGC= 62, IDX= 448,-0.45, 2.822,-0.991,-2.422,-2.165, PHS=-1.194, 1.219,-0.300, RAW= 308.5,   2.6, CAL= 306.2,  -0.7, ROT= 203.8,   0.7

2025-08-22T17:04:22.904Z,1755882262.904 [DAT](INFO): got valid direction response:
 17:04:22.8196 LVL= 32560, 25073, 26450, 26787, AGC= 62, IDX= 448,-0.45, 2.822,-0.991,-2.422,-2.165, PHS=-1.194, 1.219,-0.300, RAW= 308.5,   2.6, CAL= 306.2,  -0.7, ROT= 203.8,   0.7

2025-08-22T17:04:22.905Z,1755882262.905 [DAT](INFO): DAT read: Bearing 359.2, -26.9 (Local)

2025-08-22T17:04:22.906Z,1755882262.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2, -26.9 (Local)

2025-08-22T17:04:22.907Z,1755882262.907 [DAT](INFO): DAT read: Range 11 to 50 : 17.8 m  (Round-trip  23.8 ms) speed  0.0 m/s

2025-08-22T17:04:22.908Z,1755882262.908 [DAT](INFO): DAT read: user:441>

2025-08-22T17:04:22.913Z,1755882262.913 [DAT](INFO): DAT read: Tx time:17:04:23.9416

2025-08-22T17:04:22.914Z,1755882262.914 [DAT](INFO): Ping request sent.
2025-08-22T17:04:22.914Z,1755882262.914 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:04:22.914Z,1755882262.914 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T17:04:22.915Z,1755882262.915 [DAT](INFO): direction in FSK: [-0.914891,-0.403515,-0.012217]
2025-08-22T17:04:22.915Z,1755882262.915 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:22.916Z,1755882262.916 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:22.920Z,1755882262.920 [DAT](INFO): publishing transmit ping time
2025-08-22T17:04:22.920Z,1755882262.920 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:22.924Z,1755882262.924 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.009691
2025-08-22T17:04:23.116Z,1755882263.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.799999 m,
      deltaT: 3.528188 s,
      deltaX: -0.100000 m,
      approachRate: -0.028343 m/s,
      rangeRepo size: 4

2025-08-22T17:04:23.135Z,1755882263.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.686222 m,
      bearing: 226.338993 deg,
      lat: 36.779482 deg,
      lon: -121.859657 deg,
      deltaT: 3.528188 s,
      deltaX: -0.099405 m,
      approachRate: -0.028175 m/s,
      posRepo size: 4

2025-08-22T17:04:23.135Z,1755882263.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:23.147Z,1755882263.147 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.232745
2025-08-22T17:04:23.399Z,1755882263.399 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.484970
2025-08-22T17:04:23.511Z,1755882263.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:23.651Z,1755882263.651 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.736628
2025-08-22T17:04:23.903Z,1755882263.903 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.988692
2025-08-22T17:04:23.944Z,1755882263.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:24.155Z,1755882264.155 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.241314
2025-08-22T17:04:24.323Z,1755882264.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:24.406Z,1755882264.406 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.492566
2025-08-22T17:04:24.659Z,1755882264.659 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.744663
2025-08-22T17:04:24.767Z,1755882264.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:24.775Z,1755882264.775 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T16:54:24.4Z
2025-08-22T17:04:24.775Z,1755882264.775 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T17:04:24.775Z,1755882264.775 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:04:24.776Z,1755882264.776 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T17:04:24.776Z,1755882264.776 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:04:24.776Z,1755882264.776 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T17:04:24.911Z,1755882264.911 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.996639
2025-08-22T17:04:25.163Z,1755882265.163 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.248970
2025-08-22T17:04:25.204Z,1755882265.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.69 m.
2025-08-22T17:04:25.209Z,1755882265.209 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T17:04:25.209Z,1755882265.209 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T17:04:25.209Z,1755882265.209 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T17:04:25.209Z,1755882265.209 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:04:25.209Z,1755882265.209 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T17:04:25.415Z,1755882265.415 [DAT](INFO): DAT read: Rx Time:17:04:26.0946 

2025-08-22T17:04:25.415Z,1755882265.415 [DAT](INFO): Rx dataTimestamp_ set to:1755882265.415206
2025-08-22T17:04:25.417Z,1755882265.417 [DAT](INFO): DAT read: Bearing 359.6, -27.2 (Local)

2025-08-22T17:04:25.417Z,1755882265.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -27.2 (Local)

2025-08-22T17:04:25.419Z,1755882265.419 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.0

2025-08-22T17:04:25.424Z,1755882265.424 [DAT](INFO): DAT read: 17:04:26.0946 LVL= 29008, 16065, 23810, 30755, AGC= 67, IDX= 192,-0.16, 1.064,-2.811, 2.088, 2.331, PHS=-1.166, 1.186,-0.287, RAW= 308.3,   2.6, CAL= 306.0,  -0.7, ROT= 204.0,   0.7

2025-08-22T17:04:25.425Z,1755882265.425 [DAT](INFO): got valid direction response:
 17:04:26.0946 LVL= 29008, 16065, 23810, 30755, AGC= 67, IDX= 192,-0.16, 1.064,-2.811, 2.088, 2.331, PHS=-1.166, 1.186,-0.287, RAW= 308.3,   2.6, CAL= 306.0,  -0.7, ROT= 204.0,   0.7

2025-08-22T17:04:25.425Z,1755882265.425 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T17:04:25.426Z,1755882265.426 [DAT](INFO): direction in FSK: [-0.913477,-0.406706,-0.012217]
2025-08-22T17:04:25.426Z,1755882265.426 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:25.430Z,1755882265.430 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.516212
2025-08-22T17:04:25.667Z,1755882265.667 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.752915
2025-08-22T17:04:25.919Z,1755882265.919 [DAT](INFO): DAT read: Rx Time:17:04:26.5944 

2025-08-22T17:04:25.920Z,1755882265.920 [DAT](INFO): Rx dataTimestamp_ set to:1755882265.919254
2025-08-22T17:04:25.921Z,1755882265.921 [DAT](INFO): DAT read: Bearing 359.5, -27.2 (Local)

2025-08-22T17:04:25.921Z,1755882265.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5, -27.2 (Local)

2025-08-22T17:04:25.923Z,1755882265.923 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.1

2025-08-22T17:04:25.928Z,1755882265.928 [DAT](INFO): DAT read: 17:04:26.5944 LVL= 32752, 18817, 22370, 32755, AGC= 64, IDX= 511,-0.15, 0.209, 2.631, 1.239, 1.487, PHS=-1.176, 1.189,-0.292, RAW= 308.3,   2.7, CAL= 306.0,  -0.6, ROT= 204.0,   0.6

2025-08-22T17:04:25.929Z,1755882265.929 [DAT](INFO): got valid direction response:
 17:04:26.5944 LVL= 32752, 18817, 22370, 32755, AGC= 64, IDX= 511,-0.15, 0.209, 2.631, 1.239, 1.487, PHS=-1.176, 1.189,-0.292, RAW= 308.3,   2.7, CAL= 306.0,  -0.6, ROT= 204.0,   0.6

2025-08-22T17:04:25.929Z,1755882265.929 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T17:04:25.930Z,1755882265.930 [DAT](INFO): direction in FSK: [-0.913495,-0.406714,-0.010472]
2025-08-22T17:04:25.931Z,1755882265.931 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:25.970Z,1755882265.970 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.056278
2025-08-22T17:04:26.171Z,1755882266.171 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.256855
2025-08-22T17:04:26.180Z,1755882266.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 3.025056 s,
      deltaX: -0.199999 m,
      approachRate: -0.066114 m/s,
      rangeRepo size: 4

2025-08-22T17:04:26.187Z,1755882266.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487494 m,
      bearing: 226.833662 deg,
      lat: 36.779480 deg,
      lon: -121.859656 deg,
      deltaT: 3.025056 s,
      deltaX: -0.198729 m,
      approachRate: -0.065694 m/s,
      posRepo size: 4

2025-08-22T17:04:26.188Z,1755882266.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:26.423Z,1755882266.423 [DAT](INFO): DAT read: Rx Time:17:04:27.0945 

2025-08-22T17:04:26.424Z,1755882266.424 [DAT](INFO): Rx dataTimestamp_ set to:1755882266.423395
2025-08-22T17:04:26.425Z,1755882266.425 [DAT](INFO): DAT read: Bearing 357.6, -28.2 (Local)

2025-08-22T17:04:26.426Z,1755882266.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6, -28.2 (Local)

2025-08-22T17:04:26.428Z,1755882266.428 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed 0.0

2025-08-22T17:04:26.434Z,1755882266.434 [DAT](INFO): DAT read: 17:04:27.0945 LVL= 32752, 18625, 23922, 32755, AGC= 64, IDX= 512,-0.14, 0.480, 2.436, 1.371, 1.571, PHS=-0.989, 0.911,-0.244, RAW= 307.1,   3.9, CAL= 304.7,   1.0, ROT= 205.3,  -1.0

2025-08-22T17:04:26.435Z,1755882266.435 [DAT](INFO): got valid direction response:
 17:04:27.0945 LVL= 32752, 18625, 23922, 32755, AGC= 64, IDX= 512,-0.14, 0.480, 2.436, 1.371, 1.571, PHS=-0.989, 0.911,-0.244, RAW= 307.1,   3.9, CAL= 304.7,   1.0, ROT= 205.3,  -1.0

2025-08-22T17:04:26.435Z,1755882266.435 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T17:04:26.436Z,1755882266.436 [DAT](INFO): direction in FSK: [-0.903945,-0.427293,0.017452]
2025-08-22T17:04:26.437Z,1755882266.437 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:26.480Z,1755882266.480 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.566305
2025-08-22T17:04:26.647Z,1755882266.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 0.504141 s,
      deltaX: 0.100000 m,
      approachRate: 0.198358 m/s,
      rangeRepo size: 4

2025-08-22T17:04:26.649Z,1755882266.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.586855 m,
      bearing: 228.333270 deg,
      lat: 36.779474 deg,
      lon: -121.859649 deg,
      deltaT: 0.504141 s,
      deltaX: 0.099361 m,
      approachRate: 0.197091 m/s,
      posRepo size: 4

2025-08-22T17:04:26.654Z,1755882266.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m.
2025-08-22T17:04:26.675Z,1755882266.675 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.760672
2025-08-22T17:04:26.927Z,1755882266.927 [DAT](INFO): DAT read: Rx Time:17:04:27.5944 

2025-08-22T17:04:26.928Z,1755882266.928 [DAT](INFO): Rx dataTimestamp_ set to:1755882266.927329
2025-08-22T17:04:26.929Z,1755882266.929 [DAT](INFO): DAT read: Bearing 359.3, -27.4 (Local)

2025-08-22T17:04:26.929Z,1755882266.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3, -27.4 (Local)

2025-08-22T17:04:26.931Z,1755882266.931 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-08-22T17:04:26.940Z,1755882266.940 [DAT](INFO): DAT read: 17:04:27.5944 LVL= 30704, 20721, 21634, 32755, AGC= 65, IDX= 511,-0.19, 0.641, 3.044, 1.671, 1.921, PHS=-1.178, 1.168,-0.294, RAW= 308.1,   3.0, CAL= 305.7,  -0.3, ROT= 204.3,   0.3

2025-08-22T17:04:26.941Z,1755882266.941 [DAT](INFO): got valid direction response:
 17:04:27.5944 LVL= 30704, 20721, 21634, 32755, AGC= 65, IDX= 511,-0.19, 0.641, 3.044, 1.671, 1.921, PHS=-1.178, 1.168,-0.294, RAW= 308.1,   3.0, CAL= 305.7,  -0.3, ROT= 204.3,   0.3

2025-08-22T17:04:26.941Z,1755882266.941 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T17:04:26.942Z,1755882266.942 [DAT](INFO): direction in FSK: [-0.911391,-0.411509,-0.005236]
2025-08-22T17:04:26.943Z,1755882266.943 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:26.962Z,1755882266.962 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=4.048415
2025-08-22T17:04:27.061Z,1755882267.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503934 s,
      deltaX: -0.100000 m,
      approachRate: -0.198439 m/s,
      rangeRepo size: 4

2025-08-22T17:04:27.067Z,1755882267.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487488 m,
      bearing: 227.275905 deg,
      lat: 36.779473 deg,
      lon: -121.859646 deg,
      deltaT: 0.503934 s,
      deltaX: -0.099367 m,
      approachRate: -0.197183 m/s,
      posRepo size: 4

2025-08-22T17:04:27.068Z,1755882267.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:27.180Z,1755882267.180 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=4.265972
2025-08-22T17:04:27.374Z,1755882267.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:27.432Z,1755882267.432 [DAT](INFO): DAT read: Rx Time:17:04:28.0944 

2025-08-22T17:04:27.432Z,1755882267.432 [DAT](INFO): Rx dataTimestamp_ set to:1755882267.431782
2025-08-22T17:04:27.434Z,1755882267.434 [DAT](INFO): DAT read: Bearing 359.4, -27.1 (Local)

2025-08-22T17:04:27.435Z,1755882267.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4, -27.1 (Local)

2025-08-22T17:04:27.437Z,1755882267.437 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-08-22T17:04:27.443Z,1755882267.443 [DAT](INFO): DAT read: 17:04:28.0944 LVL= 29744, 15825, 22818, 31539, AGC= 64, IDX= 511,-0.23, 0.180, 2.584, 1.199, 1.457, PHS=-1.175, 1.172,-0.302, RAW= 308.4,   3.0, CAL= 306.0,  -0.3, ROT= 204.0,   0.3

2025-08-22T17:04:27.445Z,1755882267.445 [DAT](INFO): got valid direction response:
 17:04:28.0944 LVL= 29744, 15825, 22818, 31539, AGC= 64, IDX= 511,-0.23, 0.180, 2.584, 1.199, 1.457, PHS=-1.175, 1.172,-0.302, RAW= 308.4,   3.0, CAL= 306.0,  -0.3, ROT= 204.0,   0.3

2025-08-22T17:04:27.445Z,1755882267.445 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T17:04:27.447Z,1755882267.447 [DAT](INFO): direction in FSK: [-0.913533,-0.406731,-0.005236]
2025-08-22T17:04:27.447Z,1755882267.447 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:27.451Z,1755882267.451 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=4.537413
2025-08-22T17:04:27.682Z,1755882267.682 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=4.768595
2025-08-22T17:04:27.855Z,1755882267.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504453 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:27.857Z,1755882267.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487543 m,
      bearing: 227.067230 deg,
      lat: 36.779473 deg,
      lon: -121.859645 deg,
      deltaT: 0.504453 s,
      deltaX: 0.000055 m,
      approachRate: 0.000110 m/s,
      posRepo size: 4

2025-08-22T17:04:27.862Z,1755882267.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:27.936Z,1755882267.936 [DAT](INFO): DAT read: Rx Time:17:04:28.5943 

2025-08-22T17:04:27.937Z,1755882267.937 [DAT](INFO): Rx dataTimestamp_ set to:1755882267.936457
2025-08-22T17:04:27.939Z,1755882267.939 [DAT](INFO): DAT read: Bearing 359.6, -26.7 (Local)

2025-08-22T17:04:27.939Z,1755882267.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6, -26.7 (Local)

2025-08-22T17:04:27.941Z,1755882267.941 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:27.946Z,1755882267.946 [DAT](INFO): DAT read: 17:04:28.5943 LVL= 30592, 19889, 24162, 31619, AGC= 64, IDX= 510,-0.30,-0.863, 1.535, 0.144, 0.405, PHS=-1.166, 1.175,-0.305, RAW= 308.7,   2.9, CAL= 306.3,  -0.4, ROT= 203.7,   0.4

2025-08-22T17:04:27.947Z,1755882267.947 [DAT](INFO): got valid direction response:
 17:04:28.5943 LVL= 30592, 19889, 24162, 31619, AGC= 64, IDX= 510,-0.30,-0.863, 1.535, 0.144, 0.405, PHS=-1.166, 1.175,-0.305, RAW= 308.7,   2.9, CAL= 306.3,  -0.4, ROT= 203.7,   0.4

2025-08-22T17:04:27.947Z,1755882267.947 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T17:04:27.948Z,1755882267.948 [DAT](INFO): direction in FSK: [-0.915640,-0.401938,-0.006981]
2025-08-22T17:04:27.948Z,1755882267.948 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:27.957Z,1755882267.957 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=5.043235
2025-08-22T17:04:28.184Z,1755882268.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504675 s,
      deltaX: -0.200001 m,
      approachRate: -0.396296 m/s,
      rangeRepo size: 4

2025-08-22T17:04:28.187Z,1755882268.187 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=5.273393
2025-08-22T17:04:28.190Z,1755882268.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288820 m,
      bearing: 226.757614 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.504675 s,
      deltaX: -0.198723 m,
      approachRate: -0.393764 m/s,
      posRepo size: 4

2025-08-22T17:04:28.190Z,1755882268.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:28.274Z,1755882268.274 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:04:28.439Z,1755882268.439 [DAT](INFO): DAT read: Rx Time:17:04:29.0944 

2025-08-22T17:04:28.440Z,1755882268.440 [DAT](INFO): Rx dataTimestamp_ set to:1755882268.439295
2025-08-22T17:04:28.441Z,1755882268.441 [DAT](INFO): DAT read: Bearing 359.3, -26.8 (Local)

2025-08-22T17:04:28.441Z,1755882268.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3, -26.8 (Local)

2025-08-22T17:04:28.443Z,1755882268.443 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-08-22T17:04:28.448Z,1755882268.448 [DAT](INFO): DAT read: 17:04:29.0944 LVL= 32752, 18033, 24338, 32755, AGC= 64, IDX= 511,-0.36, 0.527, 2.913, 1.531, 1.797, PHS=-1.167, 1.161,-0.309, RAW= 308.6,   3.1, CAL= 306.2,  -0.2, ROT= 203.8,   0.2

2025-08-22T17:04:28.449Z,1755882268.449 [DAT](INFO): got valid direction response:
 17:04:29.0944 LVL= 32752, 18033, 24338, 32755, AGC= 64, IDX= 511,-0.36, 0.527, 2.913, 1.531, 1.797, PHS=-1.167, 1.161,-0.309, RAW= 308.6,   3.1, CAL= 306.2,  -0.2, ROT= 203.8,   0.2

2025-08-22T17:04:28.449Z,1755882268.449 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T17:04:28.451Z,1755882268.451 [DAT](INFO): direction in FSK: [-0.914954,-0.403543,-0.003491]
2025-08-22T17:04:28.451Z,1755882268.451 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:28.455Z,1755882268.455 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=5.540879
2025-08-22T17:04:28.601Z,1755882268.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.502838 s,
      deltaX: 0.200001 m,
      approachRate: 0.397744 m/s,
      rangeRepo size: 4

2025-08-22T17:04:28.616Z,1755882268.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487543 m,
      bearing: 226.937011 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.502838 s,
      deltaX: 0.198723 m,
      approachRate: 0.395203 m/s,
      posRepo size: 4

2025-08-22T17:04:28.622Z,1755882268.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:28.691Z,1755882268.691 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=5.776867
2025-08-22T17:04:28.943Z,1755882268.943 [DAT](INFO): DAT read: Rx Time:17:04:29.5943 

2025-08-22T17:04:28.944Z,1755882268.944 [DAT](INFO): Rx dataTimestamp_ set to:1755882268.943219
2025-08-22T17:04:28.945Z,1755882268.945 [DAT](INFO): DAT read: Bearing 359.5, -26.3 (Local)

2025-08-22T17:04:28.945Z,1755882268.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5, -26.3 (Local)

2025-08-22T17:04:28.947Z,1755882268.947 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.1

2025-08-22T17:04:28.952Z,1755882268.952 [DAT](INFO): DAT read: 17:04:29.5943 LVL= 32752, 18273, 24354, 32755, AGC= 63, IDX= 510,-0.40,-0.302, 2.099, 0.690, 0.965, PHS=-1.165, 1.179,-0.319, RAW= 309.1,   3.0, CAL= 306.7,  -0.2, ROT= 203.3,   0.2

2025-08-22T17:04:28.953Z,1755882268.953 [DAT](INFO): got valid direction response:
 17:04:29.5943 LVL= 32752, 18273, 24354, 32755, AGC= 63, IDX= 510,-0.40,-0.302, 2.099, 0.690, 0.965, PHS=-1.165, 1.179,-0.319, RAW= 309.1,   3.0, CAL= 306.7,  -0.2, ROT= 203.3,   0.2

2025-08-22T17:04:28.953Z,1755882268.953 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T17:04:28.954Z,1755882268.954 [DAT](INFO): direction in FSK: [-0.918441,-0.395543,-0.003491]
2025-08-22T17:04:28.954Z,1755882268.954 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:28.958Z,1755882268.958 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=6.044058
2025-08-22T17:04:29.134Z,1755882269.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503924 s,
      deltaX: -0.200001 m,
      approachRate: -0.396887 m/s,
      rangeRepo size: 4

2025-08-22T17:04:29.136Z,1755882269.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288836 m,
      bearing: 226.459040 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.503924 s,
      deltaX: -0.198708 m,
      approachRate: -0.394321 m/s,
      posRepo size: 4

2025-08-22T17:04:29.136Z,1755882269.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:29.195Z,1755882269.195 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=6.280936
2025-08-22T17:04:29.275Z,1755882269.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:04:29.447Z,1755882269.447 [DAT](INFO): DAT read: Rx Time:17:04:30.0944 

2025-08-22T17:04:29.448Z,1755882269.448 [DAT](INFO): Rx dataTimestamp_ set to:1755882269.447388
2025-08-22T17:04:29.449Z,1755882269.449 [DAT](INFO): DAT read: Bearing 358.6, -26.3 (Local)

2025-08-22T17:04:29.449Z,1755882269.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6, -26.3 (Local)

2025-08-22T17:04:29.451Z,1755882269.451 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-08-22T17:04:29.456Z,1755882269.456 [DAT](INFO): DAT read: 17:04:30.0944 LVL= 30640, 18113, 22002, 32419, AGC= 64, IDX= 511,-0.50, 1.276,-2.620, 2.268, 2.556, PHS=-1.179, 1.152,-0.332, RAW= 309.0,   3.5, CAL= 306.6,   0.5, ROT= 203.4,  -0.5

2025-08-22T17:04:29.457Z,1755882269.457 [DAT](INFO): got valid direction response:
 17:04:30.0944 LVL= 30640, 18113, 22002, 32419, AGC= 64, IDX= 511,-0.50, 1.276,-2.620, 2.268, 2.556, PHS=-1.179, 1.152,-0.332, RAW= 309.0,   3.5, CAL= 306.6,   0.5, ROT= 203.4,  -0.5

2025-08-22T17:04:29.457Z,1755882269.457 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T17:04:29.462Z,1755882269.462 [DAT](INFO): direction in FSK: [-0.917720,-0.397133,0.008727]
2025-08-22T17:04:29.462Z,1755882269.462 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:29.474Z,1755882269.474 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=6.560202
2025-08-22T17:04:29.495Z,1755882269.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504169 s,
      deltaX: 0.200001 m,
      approachRate: 0.396694 m/s,
      rangeRepo size: 4

2025-08-22T17:04:29.497Z,1755882269.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487558 m,
      bearing: 226.640755 deg,
      lat: 36.779471 deg,
      lon: -121.859643 deg,
      deltaT: 0.504169 s,
      deltaX: 0.198723 m,
      approachRate: 0.394159 m/s,
      posRepo size: 4

2025-08-22T17:04:29.505Z,1755882269.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:29.699Z,1755882269.699 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=6.784716
2025-08-22T17:04:29.941Z,1755882269.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:29.951Z,1755882269.951 [DAT](INFO): DAT read: Rx Time:17:04:30.5943 

2025-08-22T17:04:29.952Z,1755882269.952 [DAT](INFO): Rx dataTimestamp_ set to:1755882269.951386
2025-08-22T17:04:29.953Z,1755882269.953 [DAT](INFO): DAT read: Bearing 358.4, -26.0 (Local)

2025-08-22T17:04:29.953Z,1755882269.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4, -26.0 (Local)

2025-08-22T17:04:29.955Z,1755882269.955 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:29.960Z,1755882269.960 [DAT](INFO): DAT read: 17:04:30.5943 LVL= 30560, 17793, 23170, 31059, AGC= 62, IDX= 509, 0.44, 1.948,-1.976, 2.924,-3.066, PHS=-1.166, 1.135,-0.337, RAW= 309.2,   3.7, CAL= 306.7,   0.8, ROT= 203.3,  -0.8

2025-08-22T17:04:29.961Z,1755882269.961 [DAT](INFO): got valid direction response:
 17:04:30.5943 LVL= 30560, 17793, 23170, 31059, AGC= 62, IDX= 509, 0.44, 1.948,-1.976, 2.924,-3.066, PHS=-1.166, 1.135,-0.337, RAW= 309.2,   3.7, CAL= 306.7,   0.8, ROT= 203.3,  -0.8

2025-08-22T17:04:29.961Z,1755882269.961 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T17:04:29.962Z,1755882269.962 [DAT](INFO): direction in FSK: [-0.918357,-0.395507,0.013962]
2025-08-22T17:04:29.963Z,1755882269.963 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:29.970Z,1755882269.970 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=7.056406
2025-08-22T17:04:30.203Z,1755882270.203 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=7.288638
2025-08-22T17:04:30.334Z,1755882270.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503998 s,
      deltaX: -0.200001 m,
      approachRate: -0.396828 m/s,
      rangeRepo size: 4

2025-08-22T17:04:30.336Z,1755882270.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288824 m,
      bearing: 226.633048 deg,
      lat: 36.779470 deg,
      lon: -121.859642 deg,
      deltaT: 0.503998 s,
      deltaX: -0.198734 m,
      approachRate: -0.394316 m/s,
      posRepo size: 4

2025-08-22T17:04:30.337Z,1755882270.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:30.456Z,1755882270.456 [DAT](INFO): DAT read: Rx Time:17:04:31.0944 

2025-08-22T17:04:30.456Z,1755882270.457 [DAT](INFO): Rx dataTimestamp_ set to:1755882270.456223
2025-08-22T17:04:30.458Z,1755882270.458 [DAT](INFO): DAT read: Bearing 358.3, -25.6 (Local)

2025-08-22T17:04:30.459Z,1755882270.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3, -25.6 (Local)

2025-08-22T17:04:30.462Z,1755882270.462 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.0

2025-08-22T17:04:30.466Z,1755882270.466 [DAT](INFO): DAT read: 17:04:31.0944 LVL= 32400, 17761, 22898, 32755, AGC= 62, IDX= 510, 0.34,-2.674,-0.313,-1.710,-1.406, PHS=-1.166, 1.138,-0.348, RAW= 309.5,   3.8, CAL= 307.1,   1.0, ROT= 202.9,  -1.0

2025-08-22T17:04:30.467Z,1755882270.467 [DAT](INFO): got valid direction response:
 17:04:31.0944 LVL= 32400, 17761, 22898, 32755, AGC= 62, IDX= 510, 0.34,-2.674,-0.313,-1.710,-1.406, PHS=-1.166, 1.138,-0.348, RAW= 309.5,   3.8, CAL= 307.1,   1.0, ROT= 202.9,  -1.0

2025-08-22T17:04:30.468Z,1755882270.468 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T17:04:30.469Z,1755882270.469 [DAT](INFO): direction in FSK: [-0.921045,-0.389065,0.017452]
2025-08-22T17:04:30.469Z,1755882270.469 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:30.500Z,1755882270.500 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=7.586187
2025-08-22T17:04:30.708Z,1755882270.708 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=7.793873
2025-08-22T17:04:30.816Z,1755882270.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.504837 s,
      deltaX: 0.200001 m,
      approachRate: 0.396169 m/s,
      rangeRepo size: 4

2025-08-22T17:04:30.827Z,1755882270.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.487513 m,
      bearing: 226.286674 deg,
      lat: 36.779470 deg,
      lon: -121.859641 deg,
      deltaT: 0.504837 s,
      deltaX: 0.198689 m,
      approachRate: 0.393570 m/s,
      posRepo size: 4

2025-08-22T17:04:30.827Z,1755882270.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T17:04:30.961Z,1755882270.961 [DAT](INFO): DAT read: Rx Time:17:04:31.5943 

2025-08-22T17:04:30.961Z,1755882270.961 [DAT](INFO): Rx dataTimestamp_ set to:1755882270.960702
2025-08-22T17:04:30.962Z,1755882270.962 [DAT](INFO): DAT read: Bearing 358.2, -25.8 (Local)

2025-08-22T17:04:30.963Z,1755882270.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2, -25.8 (Local)

2025-08-22T17:04:30.965Z,1755882270.965 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:30.970Z,1755882270.970 [DAT](INFO): DAT read: 17:04:31.5943 LVL= 31216, 19793, 23106, 32355, AGC= 62, IDX= 509, 0.36, 2.579,-1.340,-2.731,-2.432, PHS=-1.171, 1.136,-0.343, RAW= 309.3,   3.8, CAL= 306.9,   1.0, ROT= 203.1,  -1.0

2025-08-22T17:04:30.971Z,1755882270.971 [DAT](INFO): got valid direction response:
 17:04:31.5943 LVL= 31216, 19793, 23106, 32355, AGC= 62, IDX= 509, 0.36, 2.579,-1.340,-2.731,-2.432, PHS=-1.171, 1.136,-0.343, RAW= 309.3,   3.8, CAL= 306.9,   1.0, ROT= 203.1,  -1.0

2025-08-22T17:04:30.972Z,1755882270.972 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T17:04:30.975Z,1755882270.975 [DAT](INFO): direction in FSK: [-0.919681,-0.392277,0.017452]
2025-08-22T17:04:30.975Z,1755882270.975 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:30.980Z,1755882270.980 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=8.065960
2025-08-22T17:04:31.143Z,1755882271.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504479 s,
      deltaX: -0.200001 m,
      approachRate: -0.396450 m/s,
      rangeRepo size: 4

2025-08-22T17:04:31.146Z,1755882271.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288790 m,
      bearing: 226.532041 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.504479 s,
      deltaX: -0.198723 m,
      approachRate: -0.393917 m/s,
      posRepo size: 4

2025-08-22T17:04:31.146Z,1755882271.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:31.212Z,1755882271.212 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=8.298190
2025-08-22T17:04:31.463Z,1755882271.463 [DAT](INFO): DAT read: Rx Time:17:04:32.0943 

2025-08-22T17:04:31.464Z,1755882271.464 [DAT](INFO): Rx dataTimestamp_ set to:1755882271.463524
2025-08-22T17:04:31.465Z,1755882271.465 [DAT](INFO): DAT read: Bearing 358.0, -25.5 (Local)

2025-08-22T17:04:31.466Z,1755882271.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0, -25.5 (Local)

2025-08-22T17:04:31.468Z,1755882271.468 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:31.473Z,1755882271.473 [DAT](INFO): DAT read: 17:04:32.0943 LVL= 32528, 17985, 25394, 32755, AGC= 61, IDX= 509, 0.37, 2.789,-1.141,-2.531,-2.227, PHS=-1.165, 1.131,-0.348, RAW= 309.5,   3.8, CAL= 307.1,   1.1, ROT= 202.9,  -1.1

2025-08-22T17:04:31.474Z,1755882271.474 [DAT](INFO): got valid direction response:
 17:04:32.0943 LVL= 32528, 17985, 25394, 32755, AGC= 61, IDX= 509, 0.37, 2.789,-1.141,-2.531,-2.227, PHS=-1.165, 1.131,-0.348, RAW= 309.5,   3.8, CAL= 307.1,   1.1, ROT= 202.9,  -1.1

2025-08-22T17:04:31.474Z,1755882271.474 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T17:04:31.475Z,1755882271.475 [DAT](INFO): direction in FSK: [-0.921016,-0.389052,0.019197]
2025-08-22T17:04:31.475Z,1755882271.475 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:31.479Z,1755882271.479 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=8.565105
2025-08-22T17:04:31.594Z,1755882271.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.502822 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:31.596Z,1755882271.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288790 m,
      bearing: 226.371326 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.502822 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:04:31.596Z,1755882271.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:31.719Z,1755882271.719 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=8.804723
2025-08-22T17:04:31.968Z,1755882271.968 [DAT](INFO): DAT read: Rx Time:17:04:32.5942 

2025-08-22T17:04:31.969Z,1755882271.969 [DAT](INFO): Rx dataTimestamp_ set to:1755882271.967979
2025-08-22T17:04:31.970Z,1755882271.970 [DAT](INFO): DAT read: Bearing 358.2, -25.8 (Local)

2025-08-22T17:04:31.971Z,1755882271.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2, -25.8 (Local)

2025-08-22T17:04:31.973Z,1755882271.973 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:31.990Z,1755882271.990 [DAT](INFO): DAT read: 17:04:32.5942 LVL= 32752, 19153, 25122, 32755, AGC= 62, IDX= 508, 0.47, 0.679, 3.057, 1.663, 1.960, PHS=-1.179, 1.142,-0.341, RAW= 309.1,   3.8, CAL= 306.7,   0.9, ROT= 203.3,  -0.9

2025-08-22T17:04:31.991Z,1755882271.991 [DAT](INFO): got valid direction response:
 17:04:32.5942 LVL= 32752, 19153, 25122, 32755, AGC= 62, IDX= 508, 0.47, 0.679, 3.057, 1.663, 1.960, PHS=-1.179, 1.142,-0.341, RAW= 309.1,   3.8, CAL= 306.7,   0.9, ROT= 203.3,  -0.9

2025-08-22T17:04:31.992Z,1755882271.992 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T17:04:31.993Z,1755882271.993 [DAT](INFO): direction in FSK: [-0.918333,-0.395497,0.015707]
2025-08-22T17:04:31.993Z,1755882271.993 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:31.997Z,1755882271.997 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=9.083227
2025-08-22T17:04:32.091Z,1755882272.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.504455 s,
      deltaX: -0.100000 m,
      approachRate: -0.198234 m/s,
      rangeRepo size: 4

2025-08-22T17:04:32.093Z,1755882272.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189405 m,
      bearing: 226.758464 deg,
      lat: 36.779469 deg,
      lon: -121.859640 deg,
      deltaT: 0.504455 s,
      deltaX: -0.099384 m,
      approachRate: -0.197013 m/s,
      posRepo size: 4

2025-08-22T17:04:32.093Z,1755882272.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:32.220Z,1755882272.220 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=9.305742
2025-08-22T17:04:32.471Z,1755882272.471 [DAT](INFO): DAT read: Rx Time:17:04:33.0943 

2025-08-22T17:04:32.472Z,1755882272.472 [DAT](INFO): Rx dataTimestamp_ set to:1755882272.471287
2025-08-22T17:04:32.473Z,1755882272.473 [DAT](INFO): DAT read: Bearing 358.7, -25.9 (Local)

2025-08-22T17:04:32.473Z,1755882272.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7, -25.9 (Local)

2025-08-22T17:04:32.475Z,1755882272.475 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:32.480Z,1755882272.480 [DAT](INFO): DAT read: 17:04:33.0943 LVL= 32416, 17889, 23634, 30995, AGC= 62, IDX= 510,-0.38, 0.319, 2.718, 1.313, 1.602, PHS=-1.181, 1.161,-0.334, RAW= 309.1,   3.5, CAL= 306.6,   0.4, ROT= 203.4,  -0.4

2025-08-22T17:04:32.481Z,1755882272.481 [DAT](INFO): got valid direction response:
 17:04:33.0943 LVL= 32416, 17889, 23634, 30995, AGC= 62, IDX= 510,-0.38, 0.319, 2.718, 1.313, 1.602, PHS=-1.181, 1.161,-0.334, RAW= 309.1,   3.5, CAL= 306.6,   0.4, ROT= 203.4,  -0.4

2025-08-22T17:04:32.481Z,1755882272.481 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T17:04:32.482Z,1755882272.482 [DAT](INFO): direction in FSK: [-0.917732,-0.397138,0.006981]
2025-08-22T17:04:32.482Z,1755882272.482 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:32.494Z,1755882272.494 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=9.580287
2025-08-22T17:04:32.566Z,1755882272.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503308 s,
      deltaX: 0.100000 m,
      approachRate: 0.198686 m/s,
      rangeRepo size: 4

2025-08-22T17:04:32.568Z,1755882272.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288767 m,
      bearing: 226.810313 deg,
      lat: 36.779468 deg,
      lon: -121.859640 deg,
      deltaT: 0.503308 s,
      deltaX: 0.099361 m,
      approachRate: 0.197417 m/s,
      posRepo size: 4

2025-08-22T17:04:32.568Z,1755882272.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:32.724Z,1755882272.724 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=9.810217
2025-08-22T17:04:32.951Z,1755882272.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:32.975Z,1755882272.975 [DAT](INFO): DAT read: Rx Time:17:04:33.5942 

2025-08-22T17:04:32.975Z,1755882272.975 [DAT](INFO): Rx dataTimestamp_ set to:1755882272.975140
2025-08-22T17:04:32.977Z,1755882272.977 [DAT](INFO): DAT read: Bearing 358.5, -25.9 (Local)

2025-08-22T17:04:32.978Z,1755882272.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5, -25.9 (Local)

2025-08-22T17:04:32.980Z,1755882272.980 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:32.985Z,1755882272.985 [DAT](INFO): DAT read: 17:04:33.5942 LVL= 28752, 16177, 23538, 30451, AGC= 62, IDX= 509,-0.29,-1.640, 0.763,-0.643,-0.352, PHS=-1.186, 1.160,-0.336, RAW= 309.0,   3.6, CAL= 306.6,   0.6, ROT= 203.4,  -0.6

2025-08-22T17:04:32.986Z,1755882272.986 [DAT](INFO): got valid direction response:
 17:04:33.5942 LVL= 28752, 16177, 23538, 30451, AGC= 62, IDX= 509,-0.29,-1.640, 0.763,-0.643,-0.352, PHS=-1.186, 1.160,-0.336, RAW= 309.0,   3.6, CAL= 306.6,   0.6, ROT= 203.4,  -0.6

2025-08-22T17:04:32.987Z,1755882272.987 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T17:04:32.988Z,1755882272.988 [DAT](INFO): direction in FSK: [-0.917704,-0.397126,0.010472]
2025-08-22T17:04:32.988Z,1755882272.988 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:32.992Z,1755882272.992 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=10.077621
2025-08-22T17:04:33.232Z,1755882273.232 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=10.317458
2025-08-22T17:04:33.358Z,1755882273.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503853 s,
      deltaX: -0.100000 m,
      approachRate: -0.198471 m/s,
      rangeRepo size: 4

2025-08-22T17:04:33.360Z,1755882273.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189367 m,
      bearing: 226.840054 deg,
      lat: 36.779468 deg,
      lon: -121.859640 deg,
      deltaT: 0.503853 s,
      deltaX: -0.099400 m,
      approachRate: -0.197279 m/s,
      posRepo size: 4

2025-08-22T17:04:33.361Z,1755882273.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:33.487Z,1755882273.487 [DAT](INFO): DAT read: Rx Time:17:04:34.0943 

2025-08-22T17:04:33.488Z,1755882273.488 [DAT](INFO): Rx dataTimestamp_ set to:1755882273.487460
2025-08-22T17:04:33.490Z,1755882273.490 [DAT](INFO): DAT read: Bearing 358.3, -25.9 (Local)

2025-08-22T17:04:33.490Z,1755882273.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3, -25.9 (Local)

2025-08-22T17:04:33.492Z,1755882273.492 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.1

2025-08-22T17:04:33.497Z,1755882273.497 [DAT](INFO): DAT read: 17:04:34.0943 LVL= 32752, 17681, 23522, 32755, AGC= 63, IDX= 510,-0.20,-0.438, 1.968, 0.565, 0.856, PHS=-1.192, 1.157,-0.335, RAW= 308.9,   3.6, CAL= 306.5,   0.7, ROT= 203.5,  -0.7

2025-08-22T17:04:33.498Z,1755882273.498 [DAT](INFO): got valid direction response:
 17:04:34.0943 LVL= 32752, 17681, 23522, 32755, AGC= 63, IDX= 510,-0.20,-0.438, 1.968, 0.565, 0.856, PHS=-1.192, 1.157,-0.335, RAW= 308.9,   3.6, CAL= 306.5,   0.7, ROT= 203.5,  -0.7

2025-08-22T17:04:33.498Z,1755882273.498 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T17:04:33.499Z,1755882273.499 [DAT](INFO): direction in FSK: [-0.916992,-0.398719,0.012217]
2025-08-22T17:04:33.500Z,1755882273.500 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:33.515Z,1755882273.515 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=10.601445
2025-08-22T17:04:33.737Z,1755882273.737 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=10.822764
2025-08-22T17:04:33.842Z,1755882273.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.512320 s,
      deltaX: 0.100000 m,
      approachRate: 0.195191 m/s,
      rangeRepo size: 4

2025-08-22T17:04:33.844Z,1755882273.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288820 m,
      bearing: 226.951294 deg,
      lat: 36.779468 deg,
      lon: -121.859640 deg,
      deltaT: 0.512320 s,
      deltaX: 0.099453 m,
      approachRate: 0.194123 m/s,
      posRepo size: 4

2025-08-22T17:04:33.844Z,1755882273.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:33.987Z,1755882273.987 [DAT](INFO): DAT read: Rx Time:17:04:34.5942 

2025-08-22T17:04:33.988Z,1755882273.988 [DAT](INFO): Rx dataTimestamp_ set to:1755882273.987301
2025-08-22T17:04:33.989Z,1755882273.989 [DAT](INFO): DAT read: Bearing 358.1, -25.9 (Local)

2025-08-22T17:04:33.989Z,1755882273.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1, -25.9 (Local)

2025-08-22T17:04:33.991Z,1755882273.991 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:34.019Z,1755882274.019 [DAT](INFO): DAT read: 17:04:34.5942 LVL= 28464, 16609, 23378, 30291, AGC= 62, IDX= 509,-0.13,-1.595, 0.808,-0.592,-0.299, PHS=-1.194, 1.152,-0.337, RAW= 308.9,   3.7, CAL= 306.4,   0.8, ROT= 203.6,  -0.8

2025-08-22T17:04:34.020Z,1755882274.020 [DAT](INFO): got valid direction response:
 17:04:34.5942 LVL= 28464, 16609, 23378, 30291, AGC= 62, IDX= 509,-0.13,-1.595, 0.808,-0.592,-0.299, PHS=-1.194, 1.152,-0.337, RAW= 308.9,   3.7, CAL= 306.4,   0.8, ROT= 203.6,  -0.8

2025-08-22T17:04:34.021Z,1755882274.021 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T17:04:34.026Z,1755882274.026 [DAT](INFO): direction in FSK: [-0.916273,-0.400310,0.013962]
2025-08-22T17:04:34.026Z,1755882274.026 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:34.036Z,1755882274.036 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=11.121243
2025-08-22T17:04:34.214Z,1755882274.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.499841 s,
      deltaX: -0.100000 m,
      approachRate: -0.200064 m/s,
      rangeRepo size: 4

2025-08-22T17:04:34.221Z,1755882274.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189459 m,
      bearing: 227.070000 deg,
      lat: 36.779468 deg,
      lon: -121.859639 deg,
      deltaT: 0.499841 s,
      deltaX: -0.099361 m,
      approachRate: -0.198786 m/s,
      posRepo size: 4

2025-08-22T17:04:34.222Z,1755882274.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:34.239Z,1755882274.239 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=11.324675
2025-08-22T17:04:34.491Z,1755882274.491 [DAT](INFO): DAT read: Rx Time:17:04:35.0943 

2025-08-22T17:04:34.492Z,1755882274.492 [DAT](INFO): Rx dataTimestamp_ set to:1755882274.491611
2025-08-22T17:04:34.493Z,1755882274.493 [DAT](INFO): DAT read: Bearing 358.5, -26.2 (Local)

2025-08-22T17:04:34.494Z,1755882274.494 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5, -26.2 (Local)

2025-08-22T17:04:34.496Z,1755882274.496 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.0

2025-08-22T17:04:34.500Z,1755882274.500 [DAT](INFO): DAT read: 17:04:35.0943 LVL= 32544, 18513, 24306, 32755, AGC= 62, IDX= 510,-0.10,-0.438, 1.982, 0.578, 0.860, PHS=-1.196, 1.167,-0.326, RAW= 308.7,   3.5, CAL= 306.2,   0.3, ROT= 203.8,  -0.3

2025-08-22T17:04:34.501Z,1755882274.501 [DAT](INFO): got valid direction response:
 17:04:35.0943 LVL= 32544, 18513, 24306, 32755, AGC= 62, IDX= 510,-0.10,-0.438, 1.982, 0.578, 0.860, PHS=-1.196, 1.167,-0.326, RAW= 308.7,   3.5, CAL= 306.2,   0.3, ROT= 203.8,  -0.3

2025-08-22T17:04:34.502Z,1755882274.502 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T17:04:34.503Z,1755882274.503 [DAT](INFO): direction in FSK: [-0.914947,-0.403540,0.005236]
2025-08-22T17:04:34.503Z,1755882274.503 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:34.539Z,1755882274.539 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=11.625180
2025-08-22T17:04:34.599Z,1755882274.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504310 s,
      deltaX: 0.100000 m,
      approachRate: 0.198291 m/s,
      rangeRepo size: 4

2025-08-22T17:04:34.605Z,1755882274.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.288820 m,
      bearing: 227.249923 deg,
      lat: 36.779468 deg,
      lon: -121.859640 deg,
      deltaT: 0.504310 s,
      deltaX: 0.099361 m,
      approachRate: 0.197024 m/s,
      posRepo size: 4

2025-08-22T17:04:34.606Z,1755882274.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:34.746Z,1755882274.746 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=11.831343
2025-08-22T17:04:34.952Z,1755882274.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T17:04:34.996Z,1755882274.996 [DAT](INFO): DAT read: Rx Time:17:04:35.5942 

2025-08-22T17:04:34.996Z,1755882274.996 [DAT](INFO): Rx dataTimestamp_ set to:1755882274.995898
2025-08-22T17:04:34.998Z,1755882274.998 [DAT](INFO): DAT read: Bearing 357.7, -26.1 (Local)

2025-08-22T17:04:34.998Z,1755882274.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7, -26.1 (Local)

2025-08-22T17:04:35.001Z,1755882275.001 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:35.008Z,1755882275.008 [DAT](INFO): DAT read: 17:04:35.5942 LVL= 31520, 18161, 23490, 30371, AGC= 62, IDX= 509,-0.10,-1.063, 1.332,-0.053, 0.238, PHS=-1.199, 1.140,-0.334, RAW= 308.6,   3.9, CAL= 306.2,   1.1, ROT= 203.8,  -1.1

2025-08-22T17:04:35.009Z,1755882275.009 [DAT](INFO): got valid direction response:
 17:04:35.5942 LVL= 31520, 18161, 23490, 30371, AGC= 62, IDX= 509,-0.10,-1.063, 1.332,-0.053, 0.238, PHS=-1.199, 1.140,-0.334, RAW= 308.6,   3.9, CAL= 306.2,   1.1, ROT= 203.8,  -1.1

2025-08-22T17:04:35.010Z,1755882275.010 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T17:04:35.011Z,1755882275.011 [DAT](INFO): direction in FSK: [-0.914791,-0.403471,0.019197]
2025-08-22T17:04:35.011Z,1755882275.011 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:35.015Z,1755882275.015 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=12.101048
2025-08-22T17:04:35.247Z,1755882275.247 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=12.332609
2025-08-22T17:04:35.369Z,1755882275.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.504287 s,
      deltaX: -0.100000 m,
      approachRate: -0.198301 m/s,
      rangeRepo size: 4

2025-08-22T17:04:35.374Z,1755882275.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189425 m,
      bearing: 227.348206 deg,
      lat: 36.779468 deg,
      lon: -121.859639 deg,
      deltaT: 0.504287 s,
      deltaX: -0.099396 m,
      approachRate: -0.197102 m/s,
      posRepo size: 4

2025-08-22T17:04:35.375Z,1755882275.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:35.499Z,1755882275.499 [DAT](INFO): DAT read: Rx Time:17:04:36.0942 

2025-08-22T17:04:35.500Z,1755882275.500 [DAT](INFO): Rx dataTimestamp_ set to:1755882275.499311
2025-08-22T17:04:35.501Z,1755882275.501 [DAT](INFO): DAT read: Bearing 358.2, -26.5 (Local)

2025-08-22T17:04:35.501Z,1755882275.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2, -26.5 (Local)

2025-08-22T17:04:35.503Z,1755882275.503 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:35.508Z,1755882275.508 [DAT](INFO): DAT read: 17:04:36.0942 LVL= 31344, 17985, 23106, 32755, AGC= 61, IDX= 509,-0.09,-0.515, 1.881, 0.505, 0.779, PHS=-1.192, 1.147,-0.318, RAW= 308.3,   3.6, CAL= 305.9,   0.5, ROT= 204.1,  -0.5

2025-08-22T17:04:35.509Z,1755882275.509 [DAT](INFO): got valid direction response:
 17:04:36.0942 LVL= 31344, 17985, 23106, 32755, AGC= 61, IDX= 509,-0.09,-0.515, 1.881, 0.505, 0.779, PHS=-1.192, 1.147,-0.318, RAW= 308.3,   3.6, CAL= 305.9,   0.5, ROT= 204.1,  -0.5

2025-08-22T17:04:35.509Z,1755882275.509 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T17:04:35.510Z,1755882275.510 [DAT](INFO): direction in FSK: [-0.912799,-0.408315,0.008727]
2025-08-22T17:04:35.510Z,1755882275.510 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:35.514Z,1755882275.514 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=12.600230
2025-08-22T17:04:35.753Z,1755882275.753 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=12.838564
2025-08-22T17:04:35.856Z,1755882275.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.503413 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:35.859Z,1755882275.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189390 m,
      bearing: 227.613019 deg,
      lat: 36.779468 deg,
      lon: -121.859640 deg,
      deltaT: 0.503413 s,
      deltaX: -0.000034 m,
      approachRate: -0.000068 m/s,
      posRepo size: 4

2025-08-22T17:04:35.859Z,1755882275.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:36.003Z,1755882276.003 [DAT](INFO): DAT read: Rx Time:17:04:36.5941 

2025-08-22T17:04:36.004Z,1755882276.004 [DAT](INFO): Rx dataTimestamp_ set to:1755882276.003273
2025-08-22T17:04:36.005Z,1755882276.005 [DAT](INFO): DAT read: Bearing 357.9, -26.4 (Local)

2025-08-22T17:04:36.005Z,1755882276.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9, -26.4 (Local)

2025-08-22T17:04:36.008Z,1755882276.008 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:36.012Z,1755882276.012 [DAT](INFO): DAT read: 17:04:36.5941 LVL= 32752, 18177, 22706, 32755, AGC= 60, IDX= 508,-0.14,-0.442, 1.941, 0.575, 0.851, PHS=-1.191, 1.136,-0.320, RAW= 308.3,   3.7, CAL= 305.8,   0.8, ROT= 204.2,  -0.8

2025-08-22T17:04:36.013Z,1755882276.013 [DAT](INFO): got valid direction response:
 17:04:36.5941 LVL= 32752, 18177, 22706, 32755, AGC= 60, IDX= 508,-0.14,-0.442, 1.941, 0.575, 0.851, PHS=-1.191, 1.136,-0.320, RAW= 308.3,   3.7, CAL= 305.8,   0.8, ROT= 204.2,  -0.8

2025-08-22T17:04:36.014Z,1755882276.014 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T17:04:36.015Z,1755882276.015 [DAT](INFO): direction in FSK: [-0.912031,-0.409883,0.013962]
2025-08-22T17:04:36.015Z,1755882276.015 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:36.019Z,1755882276.019 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=13.104738
2025-08-22T17:04:36.185Z,1755882276.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.503962 s,
      deltaX: -0.199999 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-08-22T17:04:36.191Z,1755882276.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990669 m,
      bearing: 227.754761 deg,
      lat: 36.779468 deg,
      lon: -121.859639 deg,
      deltaT: 0.503962 s,
      deltaX: -0.198721 m,
      approachRate: -0.394317 m/s,
      posRepo size: 4

2025-08-22T17:04:36.192Z,1755882276.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:36.260Z,1755882276.260 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=13.345773
2025-08-22T17:04:36.507Z,1755882276.507 [DAT](INFO): DAT read: Rx Time:17:04:37.0942 

2025-08-22T17:04:36.508Z,1755882276.508 [DAT](INFO): Rx dataTimestamp_ set to:1755882276.507323
2025-08-22T17:04:36.509Z,1755882276.509 [DAT](INFO): DAT read: Bearing 358.5, -26.5 (Local)

2025-08-22T17:04:36.509Z,1755882276.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5, -26.5 (Local)

2025-08-22T17:04:36.511Z,1755882276.511 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:36.516Z,1755882276.516 [DAT](INFO): DAT read: 17:04:37.0942 LVL= 32752, 18881, 22882, 32755, AGC= 59, IDX= 509,-0.12, 0.631, 3.027, 1.652, 1.920, PHS=-1.187, 1.152,-0.312, RAW= 308.3,   3.4, CAL= 305.8,   0.2, ROT= 204.2,  -0.2

2025-08-22T17:04:36.517Z,1755882276.517 [DAT](INFO): got valid direction response:
 17:04:37.0942 LVL= 32752, 18881, 22882, 32755, AGC= 59, IDX= 509,-0.12, 0.631, 3.027, 1.652, 1.920, PHS=-1.187, 1.152,-0.312, RAW= 308.3,   3.4, CAL= 305.8,   0.2, ROT= 204.2,  -0.2

2025-08-22T17:04:36.517Z,1755882276.517 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T17:04:36.518Z,1755882276.518 [DAT](INFO): direction in FSK: [-0.912115,-0.409920,0.003491]
2025-08-22T17:04:36.519Z,1755882276.519 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:36.522Z,1755882276.522 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=13.608341
2025-08-22T17:04:36.615Z,1755882276.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.504050 s,
      deltaX: 0.199999 m,
      approachRate: 0.396784 m/s,
      rangeRepo size: 4

2025-08-22T17:04:36.617Z,1755882276.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189390 m,
      bearing: 227.730873 deg,
      lat: 36.779468 deg,
      lon: -121.859639 deg,
      deltaT: 0.504050 s,
      deltaX: 0.198721 m,
      approachRate: 0.394248 m/s,
      posRepo size: 4

2025-08-22T17:04:36.630Z,1755882276.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:36.763Z,1755882276.763 [DAT](INFO): DAT read: Rx Time:17:04:37.5941 

2025-08-22T17:04:36.765Z,1755882276.765 [DAT](INFO): Rx dataTimestamp_ set to:1755882276.763804
2025-08-22T17:04:36.769Z,1755882276.769 [DAT](INFO): DAT read: Bearing 358.0, -26.9 (Local)

2025-08-22T17:04:36.771Z,1755882276.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0, -26.9 (Local)

2025-08-22T17:04:36.774Z,1755882276.774 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=13.858719
2025-08-22T17:04:37.012Z,1755882277.012 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:37.017Z,1755882277.017 [DAT](INFO): DAT read: 17:04:37.5941 LVL= 32752, 18481, 23634, 32755, AGC= 59, IDX= 508,-0.11, 0.131, 2.512, 1.165, 1.426, PHS=-1.193, 1.131,-0.306, RAW= 307.8,   3.7, CAL= 305.3,   0.6, ROT= 204.7,  -0.6

2025-08-22T17:04:37.018Z,1755882277.018 [DAT](INFO): got valid direction response:
 17:04:37.5941 LVL= 32752, 18481, 23634, 32755, AGC= 59, IDX= 508,-0.11, 0.131, 2.512, 1.165, 1.426, PHS=-1.193, 1.131,-0.306, RAW= 307.8,   3.7, CAL= 305.3,   0.6, ROT= 204.7,  -0.6

2025-08-22T17:04:37.018Z,1755882277.018 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T17:04:37.019Z,1755882277.019 [DAT](INFO): direction in FSK: [-0.908458,-0.417844,0.010472]
2025-08-22T17:04:37.020Z,1755882277.020 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:37.031Z,1755882277.031 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=14.117405
2025-08-22T17:04:37.039Z,1755882277.039 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720515667,35.0, +10.2, 90.9,  0
2025-08-22T17:04:37.080Z,1755882277.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.502799 s,
      deltaX: -0.199999 m,
      approachRate: -0.397771 m/s,
      rangeRepo size: 4

2025-08-22T17:04:37.098Z,1755882277.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990646 m,
      bearing: 228.315718 deg,
      lat: 36.779468 deg,
      lon: -121.859639 deg,
      deltaT: 0.502799 s,
      deltaX: -0.198744 m,
      approachRate: -0.395275 m/s,
      posRepo size: 4

2025-08-22T17:04:37.099Z,1755882277.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:37.266Z,1755882277.266 [DAT](INFO): DAT read: Rx Time:17:04:38.0942 

2025-08-22T17:04:37.268Z,1755882277.268 [DAT](INFO): Rx dataTimestamp_ set to:1755882277.267075
2025-08-22T17:04:37.271Z,1755882277.271 [DAT](INFO): DAT read: Bearing 357.9, -27.1 (Local)

2025-08-22T17:04:37.272Z,1755882277.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9, -27.1 (Local)

2025-08-22T17:04:37.275Z,1755882277.275 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=14.360710
2025-08-22T17:04:37.446Z,1755882277.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:37.521Z,1755882277.521 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:37.531Z,1755882277.531 [DAT](INFO): DAT read: 17:04:38.0942 LVL= 32752, 17585, 22450, 32675, AGC= 58, IDX= 509,-0.06, 1.405,-2.513, 2.438, 2.694, PHS=-1.187, 1.121,-0.300, RAW= 307.6,   3.7, CAL= 305.2,   0.6, ROT= 204.8,  -0.6

2025-08-22T17:04:37.532Z,1755882277.532 [DAT](INFO): got valid direction response:
 17:04:38.0942 LVL= 32752, 17585, 22450, 32675, AGC= 58, IDX= 509,-0.06, 1.405,-2.513, 2.438, 2.694, PHS=-1.187, 1.121,-0.300, RAW= 307.6,   3.7, CAL= 305.2,   0.6, ROT= 204.8,  -0.6

2025-08-22T17:04:37.533Z,1755882277.533 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T17:04:37.535Z,1755882277.535 [DAT](INFO): direction in FSK: [-0.907728,-0.419429,0.010472]
2025-08-22T17:04:37.535Z,1755882277.535 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:37.544Z,1755882277.544 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=14.630390
2025-08-22T17:04:37.778Z,1755882277.778 [DAT](INFO): DAT read: Rx Time:17:04:38.5941 

2025-08-22T17:04:37.781Z,1755882277.781 [DAT](INFO): Rx dataTimestamp_ set to:1755882277.779350
2025-08-22T17:04:37.785Z,1755882277.785 [DAT](INFO): DAT read: Bearing 357.7, -27.4 (Local)

2025-08-22T17:04:37.818Z,1755882277.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7, -27.4 (Local)

2025-08-22T17:04:37.820Z,1755882277.820 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:37.832Z,1755882277.832 [DAT](INFO): DAT read: 17:04:38.5941 LVL= 32752, 17841, 22210, 32755, AGC= 57, IDX= 508, 0.01, 1.035,-2.881, 2.081, 2.333, PHS=-1.196, 1.114,-0.296, RAW= 307.3,   3.8, CAL= 304.9,   0.7, ROT= 205.1,  -0.7

2025-08-22T17:04:37.842Z,1755882277.842 [DAT](INFO): got valid direction response:
 17:04:38.5941 LVL= 32752, 17841, 22210, 32755, AGC= 57, IDX= 508, 0.01, 1.035,-2.881, 2.081, 2.333, PHS=-1.196, 1.114,-0.296, RAW= 307.3,   3.8, CAL= 304.9,   0.7, ROT= 205.1,  -0.7

2025-08-22T17:04:37.842Z,1755882277.842 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T17:04:37.843Z,1755882277.843 [DAT](INFO): direction in FSK: [-0.905501,-0.424168,0.012217]
2025-08-22T17:04:37.843Z,1755882277.843 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:37.853Z,1755882277.853 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=14.939164
2025-08-22T17:04:37.970Z,1755882277.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.769228 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:37.972Z,1755882277.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990656 m,
      bearing: 228.750441 deg,
      lat: 36.779469 deg,
      lon: -121.859639 deg,
      deltaT: 0.769228 s,
      deltaX: 0.000010 m,
      approachRate: 0.000012 m/s,
      posRepo size: 4

2025-08-22T17:04:37.972Z,1755882277.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:38.023Z,1755882278.023 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=15.109471
2025-08-22T17:04:38.266Z,1755882278.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:38.278Z,1755882278.278 [DAT](INFO): DAT read: Rx Time:17:04:39.0942 

2025-08-22T17:04:38.280Z,1755882278.280 [DAT](INFO): Rx dataTimestamp_ set to:1755882278.278900
2025-08-22T17:04:38.284Z,1755882278.284 [DAT](INFO): DAT read: Bearing 357.1, -27.9 (Local)

2025-08-22T17:04:38.285Z,1755882278.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1, -27.9 (Local)

2025-08-22T17:04:38.299Z,1755882278.299 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:38.312Z,1755882278.312 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-08-22T17:04:38.322Z,1755882278.322 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=15.407966
2025-08-22T17:04:38.531Z,1755882278.531 [DAT](INFO): DAT read: 17:04:39.0942 LVL= 31088, 18033, 21618, 31891, AGC= 58, IDX= 509, 0.04, 3.073,-0.871,-2.157,-1.912, PHS=-1.196, 1.086,-0.290, RAW= 306.8,   4.1, CAL= 304.4,   1.2, ROT= 205.6,  -1.2

2025-08-22T17:04:38.532Z,1755882278.532 [DAT](INFO): got valid direction response:
 17:04:39.0942 LVL= 31088, 18033, 21618, 31891, AGC= 58, IDX= 509, 0.04, 3.073,-0.871,-2.157,-1.912, PHS=-1.196, 1.086,-0.290, RAW= 306.8,   4.1, CAL= 304.4,   1.2, ROT= 205.6,  -1.2

2025-08-22T17:04:38.533Z,1755882278.533 [DAT](INFO): #Rx 81: Read direction message, but no range.
2025-08-22T17:04:38.534Z,1755882278.534 [DAT](INFO): direction in FSK: [-0.901635,-0.431991,0.020942]
2025-08-22T17:04:38.537Z,1755882278.537 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=15.623172
2025-08-22T17:04:38.651Z,1755882278.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.499550 s,
      deltaX: 0.199999 m,
      approachRate: 0.400358 m/s,
      rangeRepo size: 4

2025-08-22T17:04:38.653Z,1755882278.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189375 m,
      bearing: 229.368283 deg,
      lat: 36.779469 deg,
      lon: -121.859639 deg,
      deltaT: 0.499550 s,
      deltaX: 0.198719 m,
      approachRate: 0.397796 m/s,
      posRepo size: 4

2025-08-22T17:04:38.653Z,1755882278.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:38.784Z,1755882278.784 [DAT](INFO): DAT read: Rx Time:17:04:39.5941 

2025-08-22T17:04:38.786Z,1755882278.786 [DAT](INFO): Rx dataTimestamp_ set to:1755882278.784576
2025-08-22T17:04:38.795Z,1755882278.795 [DAT](INFO): DAT read: Bearing 357.1, -27.9 (Local)

2025-08-22T17:04:38.797Z,1755882278.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1, -27.9 (Local)

2025-08-22T17:04:38.821Z,1755882278.821 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:38.836Z,1755882278.836 [DAT](INFO): DAT read: 17:04:39.5941 LVL= 31664, 17841, 22386, 31475, AGC= 57, IDX= 508, 0.13, 1.462,-2.470, 2.518, 2.763, PHS=-1.199, 1.094,-0.289, RAW= 306.8,   4.0, CAL= 304.4,   1.0, ROT= 205.6,  -1.0

2025-08-22T17:04:38.842Z,1755882278.842 [DAT](INFO): got valid direction response:
 17:04:39.5941 LVL= 31664, 17841, 22386, 31475, AGC= 57, IDX= 508, 0.13, 1.462,-2.470, 2.518, 2.763, PHS=-1.199, 1.094,-0.289, RAW= 306.8,   4.0, CAL= 304.4,   1.0, ROT= 205.6,  -1.0

2025-08-22T17:04:38.842Z,1755882278.842 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T17:04:38.843Z,1755882278.843 [DAT](INFO): direction in FSK: [-0.901695,-0.432020,0.017452]
2025-08-22T17:04:38.843Z,1755882278.843 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:38.849Z,1755882278.849 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=15.934799
2025-08-22T17:04:39.030Z,1755882279.030 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=16.116503
2025-08-22T17:04:39.086Z,1755882279.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.505676 s,
      deltaX: -0.199999 m,
      approachRate: -0.395508 m/s,
      rangeRepo size: 4

2025-08-22T17:04:39.106Z,1755882279.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990664 m,
      bearing: 229.371233 deg,
      lat: 36.779469 deg,
      lon: -121.859639 deg,
      deltaT: 0.505676 s,
      deltaX: -0.198711 m,
      approachRate: -0.392962 m/s,
      posRepo size: 4

2025-08-22T17:04:39.106Z,1755882279.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:39.286Z,1755882279.286 [DAT](INFO): DAT read: Rx Time:17:04:40.0941 

2025-08-22T17:04:39.288Z,1755882279.288 [DAT](INFO): Rx dataTimestamp_ set to:1755882279.287105
2025-08-22T17:04:39.294Z,1755882279.294 [DAT](INFO): DAT read: Bearing 356.5, -28.5 (Local)

2025-08-22T17:04:39.296Z,1755882279.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5, -28.5 (Local)

2025-08-22T17:04:39.301Z,1755882279.301 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:39.304Z,1755882279.304 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-22T17:04:39.310Z,1755882279.310 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=16.394987
2025-08-22T17:04:39.519Z,1755882279.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.502529 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:39.520Z,1755882279.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:39.550Z,1755882279.550 [DAT](INFO): DAT read: 17:04:40.0941 LVL= 32144, 18641, 23762, 31651, AGC= 58, IDX= 508, 0.20, 1.876,-2.059, 2.952,-3.091, PHS=-1.214, 1.077,-0.284, RAW= 306.2,   4.3, CAL= 303.8,   1.5, ROT= 206.2,  -1.5

2025-08-22T17:04:39.551Z,1755882279.551 [DAT](INFO): got valid direction response:
 17:04:40.0941 LVL= 32144, 18641, 23762, 31651, AGC= 58, IDX= 508, 0.20, 1.876,-2.059, 2.952,-3.091, PHS=-1.214, 1.077,-0.284, RAW= 306.2,   4.3, CAL= 303.8,   1.5, ROT= 206.2,  -1.5

2025-08-22T17:04:39.552Z,1755882279.552 [DAT](INFO): #Rx 84: Read direction message, but no range.
2025-08-22T17:04:39.553Z,1755882279.553 [DAT](INFO): direction in FSK: [-0.896951,-0.441354,0.026177]
2025-08-22T17:04:39.556Z,1755882279.556 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=16.642488
2025-08-22T17:04:39.792Z,1755882279.792 [DAT](INFO): DAT read: Rx Time:17:04:40.5940 

2025-08-22T17:04:39.819Z,1755882279.819 [DAT](INFO): Rx dataTimestamp_ set to:1755882279.817652
2025-08-22T17:04:39.822Z,1755882279.822 [DAT](INFO): DAT read: Bearing 355.9, -28.7 (Local)

2025-08-22T17:04:39.823Z,1755882279.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9, -28.7 (Local)

2025-08-22T17:04:39.844Z,1755882279.844 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:39.861Z,1755882279.861 [DAT](INFO): DAT read: 17:04:40.5940 LVL= 31616, 18097, 23026, 31299, AGC= 58, IDX= 507, 0.31, 1.118,-2.834, 2.196, 2.437, PHS=-1.216, 1.058,-0.284, RAW= 305.9,   4.5, CAL= 303.6,   1.9, ROT= 206.4,  -1.9

2025-08-22T17:04:39.870Z,1755882279.870 [DAT](INFO): got valid direction response:
 17:04:40.5940 LVL= 31616, 18097, 23026, 31299, AGC= 58, IDX= 507, 0.31, 1.118,-2.834, 2.196, 2.437, PHS=-1.216, 1.058,-0.284, RAW= 305.9,   4.5, CAL= 303.6,   1.9, ROT= 206.4,  -1.9

2025-08-22T17:04:39.870Z,1755882279.870 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T17:04:39.871Z,1755882279.871 [DAT](INFO): direction in FSK: [-0.895219,-0.444391,0.033155]
2025-08-22T17:04:39.872Z,1755882279.872 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:39.883Z,1755882279.883 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=16.969446
2025-08-22T17:04:40.039Z,1755882280.039 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=17.124695
2025-08-22T17:04:40.106Z,1755882280.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.530547 s,
      deltaX: -0.100000 m,
      approachRate: -0.188485 m/s,
      rangeRepo size: 4

2025-08-22T17:04:40.108Z,1755882280.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891287 m,
      bearing: 230.247869 deg,
      lat: 36.779470 deg,
      lon: -121.859640 deg,
      deltaT: 1.033076 s,
      deltaX: -0.099377 m,
      approachRate: -0.096195 m/s,
      posRepo size: 4

2025-08-22T17:04:40.109Z,1755882280.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:40.301Z,1755882280.301 [DAT](INFO): DAT read: Rx Time:17:04:41.0942 

2025-08-22T17:04:40.302Z,1755882280.302 [DAT](INFO): Rx dataTimestamp_ set to:1755882280.301391
2025-08-22T17:04:40.310Z,1755882280.310 [DAT](INFO): DAT read: Bearing 356.0, -28.6 (Local)

2025-08-22T17:04:40.310Z,1755882280.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0, -28.6 (Local)

2025-08-22T17:04:40.312Z,1755882280.312 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:40.316Z,1755882280.316 [DAT](INFO): DAT read: 17:04:41.0942 LVL= 29744, 17233, 21490, 30371, AGC= 58, IDX= 508, 0.47, 1.335,-2.619, 2.407, 2.646, PHS=-1.210, 1.063,-0.283, RAW= 306.1,   4.4, CAL= 303.7,   1.7, ROT= 206.3,  -1.7

2025-08-22T17:04:40.319Z,1755882280.319 [DAT](INFO): got valid direction response:
 17:04:41.0942 LVL= 29744, 17233, 21490, 30371, AGC= 58, IDX= 508, 0.47, 1.335,-2.619, 2.407, 2.646, PHS=-1.210, 1.063,-0.283, RAW= 306.1,   4.4, CAL= 303.7,   1.7, ROT= 206.3,  -1.7

2025-08-22T17:04:40.319Z,1755882280.319 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T17:04:40.320Z,1755882280.320 [DAT](INFO): direction in FSK: [-0.896092,-0.442876,0.029666]
2025-08-22T17:04:40.321Z,1755882280.321 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:40.324Z,1755882280.324 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=17.410198
2025-08-22T17:04:40.490Z,1755882280.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.483739 s,
      deltaX: 0.299999 m,
      approachRate: 0.620168 m/s,
      rangeRepo size: 4

2025-08-22T17:04:40.492Z,1755882280.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189367 m,
      bearing: 230.129885 deg,
      lat: 36.779470 deg,
      lon: -121.859641 deg,
      deltaT: 0.483739 s,
      deltaX: 0.298080 m,
      approachRate: 0.616201 m/s,
      posRepo size: 4

2025-08-22T17:04:40.493Z,1755882280.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:40.551Z,1755882280.551 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=17.637329
2025-08-22T17:04:40.822Z,1755882280.822 [DAT](INFO): DAT read: Rx Time:17:04:41.5941 

2025-08-22T17:04:40.824Z,1755882280.824 [DAT](INFO): Rx dataTimestamp_ set to:1755882280.822630
2025-08-22T17:04:40.828Z,1755882280.828 [DAT](INFO): DAT read: Bearing 357.0, -28.6 (Local)

2025-08-22T17:04:40.828Z,1755882280.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0, -28.6 (Local)

2025-08-22T17:04:40.845Z,1755882280.845 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:40.870Z,1755882280.870 [DAT](INFO): DAT read: 17:04:41.5941 LVL= 32752, 17329, 25714, 32755, AGC= 57, IDX= 508,-0.32,-1.512, 0.842,-0.436,-0.206, PHS=-1.204, 1.092,-0.274, RAW= 306.3,   3.9, CAL= 303.8,   0.8, ROT= 206.2,  -0.8

2025-08-22T17:04:40.871Z,1755882280.871 [DAT](INFO): got valid direction response:
 17:04:41.5941 LVL= 32752, 17329, 25714, 32755, AGC= 57, IDX= 508,-0.32,-1.512, 0.842,-0.436,-0.206, PHS=-1.204, 1.092,-0.274, RAW= 306.3,   3.9, CAL= 303.8,   0.8, ROT= 206.2,  -0.8

2025-08-22T17:04:40.872Z,1755882280.872 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T17:04:40.873Z,1755882280.873 [DAT](INFO): direction in FSK: [-0.897171,-0.441463,0.013962]
2025-08-22T17:04:40.873Z,1755882280.873 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:40.886Z,1755882280.886 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=17.972298
2025-08-22T17:04:41.024Z,1755882281.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.521239 s,
      deltaX: -0.199999 m,
      approachRate: -0.383699 m/s,
      rangeRepo size: 4

2025-08-22T17:04:41.031Z,1755882281.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990671 m,
      bearing: 229.929383 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.521239 s,
      deltaX: -0.198696 m,
      approachRate: -0.381200 m/s,
      posRepo size: 4

2025-08-22T17:04:41.031Z,1755882281.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:41.055Z,1755882281.055 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=18.140703
2025-08-22T17:04:41.308Z,1755882281.308 [DAT](INFO): DAT read: Rx Time:17:04:42.0942 

2025-08-22T17:04:41.309Z,1755882281.309 [DAT](INFO): Rx dataTimestamp_ set to:1755882281.308492
2025-08-22T17:04:41.310Z,1755882281.310 [DAT](INFO): DAT read: Bearing 356.4, -28.8 (Local)

2025-08-22T17:04:41.310Z,1755882281.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4, -28.8 (Local)

2025-08-22T17:04:41.312Z,1755882281.312 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:41.317Z,1755882281.317 [DAT](INFO): DAT read: 17:04:42.0942 LVL= 30064, 17281, 23058, 30547, AGC= 58, IDX= 509,-0.23,-0.548, 1.819, 0.544, 0.776, PHS=-1.223, 1.088,-0.277, RAW= 306.0,   4.1, CAL= 303.6,   1.2, ROT= 206.4,  -1.2

2025-08-22T17:04:41.318Z,1755882281.318 [DAT](INFO): got valid direction response:
 17:04:42.0942 LVL= 30064, 17281, 23058, 30547, AGC= 58, IDX= 509,-0.23,-0.548, 1.819, 0.544, 0.776, PHS=-1.223, 1.088,-0.277, RAW= 306.0,   4.1, CAL= 303.6,   1.2, ROT= 206.4,  -1.2

2025-08-22T17:04:41.318Z,1755882281.318 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T17:04:41.319Z,1755882281.319 [DAT](INFO): direction in FSK: [-0.895515,-0.444538,0.020942]
2025-08-22T17:04:41.319Z,1755882281.319 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:41.324Z,1755882281.324 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=18.409767
2025-08-22T17:04:41.440Z,1755882281.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.485862 s,
      deltaX: 0.199999 m,
      approachRate: 0.411637 m/s,
      rangeRepo size: 4

2025-08-22T17:04:41.447Z,1755882281.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189392 m,
      bearing: 230.124238 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.485862 s,
      deltaX: 0.198721 m,
      approachRate: 0.409007 m/s,
      posRepo size: 4

2025-08-22T17:04:41.447Z,1755882281.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:41.559Z,1755882281.559 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=18.644815
2025-08-22T17:04:41.815Z,1755882281.815 [DAT](INFO): DAT read: Rx Time:17:04:42.5941 

2025-08-22T17:04:41.816Z,1755882281.816 [DAT](INFO): Rx dataTimestamp_ set to:1755882281.815132
2025-08-22T17:04:41.822Z,1755882281.822 [DAT](INFO): DAT read: Bearing 356.1, -29.3 (Local)

2025-08-22T17:04:41.823Z,1755882281.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1, -29.3 (Local)

2025-08-22T17:04:41.829Z,1755882281.829 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:41.870Z,1755882281.870 [DAT](INFO): DAT read: 17:04:42.5941 LVL= 30784, 16001, 21906, 31107, AGC= 58, IDX= 508,-0.15,-1.443, 0.905,-0.345,-0.120, PHS=-1.221, 1.070,-0.269, RAW= 305.6,   4.3, CAL= 303.2,   1.4, ROT= 206.8,  -1.4

2025-08-22T17:04:41.874Z,1755882281.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:41.882Z,1755882281.882 [DAT](INFO): got valid direction response:
 17:04:42.5941 LVL= 30784, 16001, 21906, 31107, AGC= 58, IDX= 508,-0.15,-1.443, 0.905,-0.345,-0.120, PHS=-1.221, 1.070,-0.269, RAW= 305.6,   4.3, CAL= 303.2,   1.4, ROT= 206.8,  -1.4

2025-08-22T17:04:41.882Z,1755882281.882 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T17:04:41.883Z,1755882281.883 [DAT](INFO): direction in FSK: [-0.892319,-0.450743,0.024432]
2025-08-22T17:04:41.883Z,1755882281.883 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:41.903Z,1755882281.903 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=18.989281
2025-08-22T17:04:42.063Z,1755882282.063 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=19.148623
2025-08-22T17:04:42.227Z,1755882282.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.506640 s,
      deltaX: -0.199999 m,
      approachRate: -0.394755 m/s,
      rangeRepo size: 4

2025-08-22T17:04:42.234Z,1755882282.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990677 m,
      bearing: 230.484333 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.506640 s,
      deltaX: -0.198715 m,
      approachRate: -0.392222 m/s,
      posRepo size: 4

2025-08-22T17:04:42.234Z,1755882282.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:42.315Z,1755882282.315 [DAT](INFO): DAT read: Rx Time:17:04:43.0942 

2025-08-22T17:04:42.316Z,1755882282.316 [DAT](INFO): Rx dataTimestamp_ set to:1755882282.315599
2025-08-22T17:04:42.317Z,1755882282.317 [DAT](INFO): DAT read: Bearing 355.4, -29.8 (Local)

2025-08-22T17:04:42.318Z,1755882282.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4, -29.8 (Local)

2025-08-22T17:04:42.320Z,1755882282.320 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.0

2025-08-22T17:04:42.327Z,1755882282.327 [DAT](INFO): DAT read: 17:04:43.0942 LVL= 29936, 15649, 23138, 32755, AGC= 58, IDX= 509,-0.09,-0.094, 2.247, 1.020, 1.241, PHS=-1.233, 1.051,-0.265, RAW= 305.0,   4.6, CAL= 302.6,   1.9, ROT= 207.4,  -1.9

2025-08-22T17:04:42.329Z,1755882282.329 [DAT](INFO): got valid direction response:
 17:04:43.0942 LVL= 29936, 15649, 23138, 32755, AGC= 58, IDX= 509,-0.09,-0.094, 2.247, 1.020, 1.241, PHS=-1.233, 1.051,-0.265, RAW= 305.0,   4.6, CAL= 302.6,   1.9, ROT= 207.4,  -1.9

2025-08-22T17:04:42.329Z,1755882282.329 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T17:04:42.331Z,1755882282.331 [DAT](INFO): direction in FSK: [-0.887327,-0.459947,0.033155]
2025-08-22T17:04:42.331Z,1755882282.331 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:42.338Z,1755882282.338 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=19.423738
2025-08-22T17:04:42.563Z,1755882282.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.500467 s,
      deltaX: 0.199999 m,
      approachRate: 0.399624 m/s,
      rangeRepo size: 4

2025-08-22T17:04:42.565Z,1755882282.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.189398 m,
      bearing: 231.106547 deg,
      lat: 36.779469 deg,
      lon: -121.859642 deg,
      deltaT: 0.500467 s,
      deltaX: 0.198721 m,
      approachRate: 0.397071 m/s,
      posRepo size: 4

2025-08-22T17:04:42.567Z,1755882282.567 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=19.652718
2025-08-22T17:04:42.567Z,1755882282.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m.
2025-08-22T17:04:42.823Z,1755882282.823 [DAT](INFO): DAT read: Rx Time:17:04:43.5941 

2025-08-22T17:04:42.824Z,1755882282.824 [DAT](INFO): Rx dataTimestamp_ set to:1755882282.823131
2025-08-22T17:04:42.828Z,1755882282.828 [DAT](INFO): DAT read: Bearing 355.7, -29.2 (Local)

2025-08-22T17:04:42.829Z,1755882282.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7, -29.2 (Local)

2025-08-22T17:04:42.847Z,1755882282.847 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:42.879Z,1755882282.879 [DAT](INFO): DAT read: 17:04:43.5941 LVL= 30352, 18673, 22674, 31731, AGC= 57, IDX= 508,-0.02,-1.175, 1.180,-0.078, 0.154, PHS=-1.228, 1.071,-0.276, RAW= 305.7,   4.4, CAL= 303.3,   1.6, ROT= 206.7,  -1.6

2025-08-22T17:04:42.880Z,1755882282.880 [DAT](INFO): got valid direction response:
 17:04:43.5941 LVL= 30352, 18673, 22674, 31731, AGC= 57, IDX= 508,-0.02,-1.175, 1.180,-0.078, 0.154, PHS=-1.228, 1.071,-0.276, RAW= 305.7,   4.4, CAL= 303.3,   1.6, ROT= 206.7,  -1.6

2025-08-22T17:04:42.880Z,1755882282.880 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T17:04:42.886Z,1755882282.886 [DAT](INFO): direction in FSK: [-0.893023,-0.449144,0.027922]
2025-08-22T17:04:42.886Z,1755882282.886 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:42.897Z,1755882282.897 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=19.975328
2025-08-22T17:04:43.042Z,1755882283.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.507532 s,
      deltaX: -0.199999 m,
      approachRate: -0.394062 m/s,
      rangeRepo size: 4

2025-08-22T17:04:43.044Z,1755882283.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990648 m,
      bearing: 230.362484 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.507532 s,
      deltaX: -0.198750 m,
      approachRate: -0.391600 m/s,
      posRepo size: 4

2025-08-22T17:04:43.045Z,1755882283.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:43.074Z,1755882283.074 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=20.159491
2025-08-22T17:04:43.323Z,1755882283.323 [DAT](INFO): DAT read: Rx Time:17:04:44.0941 

2025-08-22T17:04:43.324Z,1755882283.324 [DAT](INFO): Rx dataTimestamp_ set to:1755882283.323242
2025-08-22T17:04:43.325Z,1755882283.325 [DAT](INFO): DAT read: Bearing 354.0, -29.9 (Local)

2025-08-22T17:04:43.325Z,1755882283.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.0, -29.9 (Local)

2025-08-22T17:04:43.327Z,1755882283.327 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:43.336Z,1755882283.336 [DAT](INFO): DAT read: 17:04:44.0941 LVL= 29728, 19089, 23794, 32755, AGC= 58, IDX= 508,-0.01,-0.589, 1.751, 0.535, 0.766, PHS=-1.253, 1.029,-0.276, RAW= 304.7,   5.1, CAL= 302.3,   2.9, ROT= 207.7,  -2.9

2025-08-22T17:04:43.337Z,1755882283.337 [DAT](INFO): got valid direction response:
 17:04:44.0941 LVL= 29728, 19089, 23794, 32755, AGC= 58, IDX= 508,-0.01,-0.589, 1.751, 0.535, 0.766, PHS=-1.253, 1.029,-0.276, RAW= 304.7,   5.1, CAL= 302.3,   2.9, ROT= 207.7,  -2.9

2025-08-22T17:04:43.337Z,1755882283.337 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T17:04:43.338Z,1755882283.338 [DAT](INFO): direction in FSK: [-0.884260,-0.464247,0.050593]
2025-08-22T17:04:43.339Z,1755882283.339 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:43.359Z,1755882283.359 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=20.445169
2025-08-22T17:04:43.455Z,1755882283.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.500111 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:43.457Z,1755882283.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990648 m,
      bearing: 231.430229 deg,
      lat: 36.779469 deg,
      lon: -121.859642 deg,
      deltaT: 0.500111 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:04:43.457Z,1755882283.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:43.575Z,1755882283.575 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=20.660732
2025-08-22T17:04:43.829Z,1755882283.829 [DAT](INFO): DAT read: Rx Time:17:04:44.5940 

2025-08-22T17:04:43.830Z,1755882283.830 [DAT](INFO): Rx dataTimestamp_ set to:1755882283.829391
2025-08-22T17:04:43.831Z,1755882283.831 [DAT](INFO): DAT read: Bearing 353.9, -30.1 (Local)

2025-08-22T17:04:43.831Z,1755882283.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9, -30.1 (Local)

2025-08-22T17:04:43.833Z,1755882283.833 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:43.910Z,1755882283.910 [DAT](INFO): DAT read: 17:04:44.5940 LVL= 30288, 18705, 22658, 32755, AGC= 58, IDX= 507, 0.02,-1.329, 1.016,-0.198, 0.032, PHS=-1.258, 1.029,-0.274, RAW= 304.6,   5.1, CAL= 302.2,   2.9, ROT= 207.8,  -2.9

2025-08-22T17:04:43.911Z,1755882283.911 [DAT](INFO): got valid direction response:
 17:04:44.5940 LVL= 30288, 18705, 22658, 32755, AGC= 58, IDX= 507, 0.02,-1.329, 1.016,-0.198, 0.032, PHS=-1.258, 1.029,-0.274, RAW= 304.6,   5.1, CAL= 302.2,   2.9, ROT= 207.8,  -2.9

2025-08-22T17:04:43.912Z,1755882283.912 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T17:04:43.913Z,1755882283.913 [DAT](INFO): direction in FSK: [-0.883448,-0.465790,0.050593]
2025-08-22T17:04:43.913Z,1755882283.913 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:43.929Z,1755882283.929 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=21.014660
2025-08-22T17:04:44.059Z,1755882284.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.506149 s,
      deltaX: -0.100000 m,
      approachRate: -0.197571 m/s,
      rangeRepo size: 4

2025-08-22T17:04:44.066Z,1755882284.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891281 m,
      bearing: 231.451430 deg,
      lat: 36.779470 deg,
      lon: -121.859642 deg,
      deltaT: 0.506149 s,
      deltaX: -0.099367 m,
      approachRate: -0.196320 m/s,
      posRepo size: 4

2025-08-22T17:04:44.066Z,1755882284.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:44.083Z,1755882284.083 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=21.168703
2025-08-22T17:04:44.335Z,1755882284.335 [DAT](INFO): DAT read: Rx Time:17:04:45.0941 

2025-08-22T17:04:44.336Z,1755882284.336 [DAT](INFO): Rx dataTimestamp_ set to:1755882284.335229
2025-08-22T17:04:44.337Z,1755882284.337 [DAT](INFO): DAT read: Bearing 353.0, -30.1 (Local)

2025-08-22T17:04:44.337Z,1755882284.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0, -30.1 (Local)

2025-08-22T17:04:44.339Z,1755882284.339 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:44.344Z,1755882284.344 [DAT](INFO): DAT read: 17:04:45.0941 LVL= 30000, 19297, 23922, 32723, AGC= 57, IDX= 508, 0.04, 0.117, 2.453, 1.248, 1.485, PHS=-1.267, 1.013,-0.282, RAW= 304.5,   5.5, CAL= 302.1,   3.6, ROT= 207.9,  -3.6

2025-08-22T17:04:44.345Z,1755882284.345 [DAT](INFO): got valid direction response:
 17:04:45.0941 LVL= 30000, 19297, 23922, 32723, AGC= 57, IDX= 508, 0.04, 0.117, 2.453, 1.248, 1.485, PHS=-1.267, 1.013,-0.282, RAW= 304.5,   5.5, CAL= 302.1,   3.6, ROT= 207.9,  -3.6

2025-08-22T17:04:44.345Z,1755882284.345 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T17:04:44.346Z,1755882284.346 [DAT](INFO): direction in FSK: [-0.882022,-0.467006,0.062791]
2025-08-22T17:04:44.346Z,1755882284.346 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:44.354Z,1755882284.354 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=21.439934
2025-08-22T17:04:44.446Z,1755882284.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.505838 s,
      deltaX: 0.100000 m,
      approachRate: 0.197692 m/s,
      rangeRepo size: 4

2025-08-22T17:04:44.448Z,1755882284.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990641 m,
      bearing: 231.609715 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.505838 s,
      deltaX: 0.099360 m,
      approachRate: 0.196426 m/s,
      posRepo size: 4

2025-08-22T17:04:44.449Z,1755882284.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:44.587Z,1755882284.587 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=21.672749
2025-08-22T17:04:44.771Z,1755882284.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:44.858Z,1755882284.858 [DAT](INFO): DAT read: Rx Time:17:04:45.5940 

2025-08-22T17:04:44.860Z,1755882284.860 [DAT](INFO): Rx dataTimestamp_ set to:1755882284.858818
2025-08-22T17:04:44.865Z,1755882284.865 [DAT](INFO): DAT read: Bearing 352.7, -30.2 (Local)

2025-08-22T17:04:44.883Z,1755882284.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7, -30.2 (Local)

2025-08-22T17:04:44.904Z,1755882284.904 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:44.918Z,1755882284.918 [DAT](INFO): DAT read: 17:04:45.5940 LVL= 29472, 18177, 23090, 32723, AGC= 57, IDX= 507, 0.04,-0.851, 1.491, 0.284, 0.525, PHS=-1.274, 1.011,-0.285, RAW= 304.4,   5.6, CAL= 302.0,   3.8, ROT= 208.0,  -3.8

2025-08-22T17:04:44.919Z,1755882284.919 [DAT](INFO): got valid direction response:
 17:04:45.5940 LVL= 29472, 18177, 23090, 32723, AGC= 57, IDX= 507, 0.04,-0.851, 1.491, 0.284, 0.525, PHS=-1.274, 1.011,-0.285, RAW= 304.4,   5.6, CAL= 302.0,   3.8, ROT= 208.0,  -3.8

2025-08-22T17:04:44.920Z,1755882284.920 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T17:04:44.921Z,1755882284.921 [DAT](INFO): direction in FSK: [-0.881006,-0.468439,0.066274]
2025-08-22T17:04:44.921Z,1755882284.921 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:44.929Z,1755882284.929 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=22.014668
2025-08-22T17:04:45.091Z,1755882285.091 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=22.176821
2025-08-22T17:04:45.220Z,1755882285.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.523589 s,
      deltaX: -0.100000 m,
      approachRate: -0.190990 m/s,
      rangeRepo size: 4

2025-08-22T17:04:45.222Z,1755882285.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891270 m,
      bearing: 231.623266 deg,
      lat: 36.779470 deg,
      lon: -121.859642 deg,
      deltaT: 0.523589 s,
      deltaX: -0.099371 m,
      approachRate: -0.189788 m/s,
      posRepo size: 4

2025-08-22T17:04:45.222Z,1755882285.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:45.344Z,1755882285.344 [DAT](INFO): DAT read: Rx Time:17:04:46.0941 

2025-08-22T17:04:45.344Z,1755882285.344 [DAT](INFO): Rx dataTimestamp_ set to:1755882285.343991
2025-08-22T17:04:45.346Z,1755882285.346 [DAT](INFO): DAT read: Bearing 352.1, -30.4 (Local)

2025-08-22T17:04:45.346Z,1755882285.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1, -30.4 (Local)

2025-08-22T17:04:45.348Z,1755882285.348 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.0

2025-08-22T17:04:45.353Z,1755882285.353 [DAT](INFO): DAT read: 17:04:46.0941 LVL= 32080, 17969, 22738, 32755, AGC= 56, IDX= 508, 0.04, 0.472, 2.813, 1.616, 1.857, PHS=-1.283, 1.001,-0.285, RAW= 304.2,   5.8, CAL= 301.8,   4.1, ROT= 208.2,  -4.1

2025-08-22T17:04:45.355Z,1755882285.355 [DAT](INFO): got valid direction response:
 17:04:46.0941 LVL= 32080, 17969, 22738, 32755, AGC= 56, IDX= 508, 0.04, 0.472, 2.813, 1.616, 1.857, PHS=-1.283, 1.001,-0.285, RAW= 304.2,   5.8, CAL= 301.8,   4.1, ROT= 208.2,  -4.1

2025-08-22T17:04:45.355Z,1755882285.355 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T17:04:45.356Z,1755882285.356 [DAT](INFO): direction in FSK: [-0.879048,-0.471341,0.071497]
2025-08-22T17:04:45.356Z,1755882285.356 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:45.360Z,1755882285.360 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=22.446272
2025-08-22T17:04:45.567Z,1755882285.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.485173 s,
      deltaX: 0.100000 m,
      approachRate: 0.206113 m/s,
      rangeRepo size: 4

2025-08-22T17:04:45.569Z,1755882285.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.990631 m,
      bearing: 231.835054 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.485173 s,
      deltaX: 0.099361 m,
      approachRate: 0.204796 m/s,
      posRepo size: 4

2025-08-22T17:04:45.570Z,1755882285.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m.
2025-08-22T17:04:45.594Z,1755882285.594 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=22.680496
2025-08-22T17:04:45.847Z,1755882285.847 [DAT](INFO): DAT read: Rx Time:17:04:46.5940 

2025-08-22T17:04:45.848Z,1755882285.848 [DAT](INFO): Rx dataTimestamp_ set to:1755882285.847248
2025-08-22T17:04:45.849Z,1755882285.849 [DAT](INFO): DAT read: Bearing 351.6, -30.7 (Local)

2025-08-22T17:04:45.849Z,1755882285.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6, -30.7 (Local)

2025-08-22T17:04:45.852Z,1755882285.852 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:45.859Z,1755882285.859 [DAT](INFO): DAT read: 17:04:46.5940 LVL= 32496, 19233, 23314, 32755, AGC= 56, IDX= 507, 0.03,-0.546, 1.792, 0.606, 0.845, PHS=-1.289, 0.993,-0.283, RAW= 303.9,   5.9, CAL= 301.5,   4.4, ROT= 208.5,  -4.4

2025-08-22T17:04:45.860Z,1755882285.860 [DAT](INFO): got valid direction response:
 17:04:46.5940 LVL= 32496, 19233, 23314, 32755, AGC= 56, IDX= 507, 0.03,-0.546, 1.792, 0.606, 0.845, PHS=-1.289, 0.993,-0.283, RAW= 303.9,   5.9, CAL= 301.5,   4.4, ROT= 208.5,  -4.4

2025-08-22T17:04:45.861Z,1755882285.861 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T17:04:45.862Z,1755882285.862 [DAT](INFO): direction in FSK: [-0.876227,-0.475752,0.076719]
2025-08-22T17:04:45.862Z,1755882285.862 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:45.884Z,1755882285.884 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=22.967398
2025-08-22T17:04:46.087Z,1755882286.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503257 s,
      deltaX: -0.100000 m,
      approachRate: -0.198706 m/s,
      rangeRepo size: 4

2025-08-22T17:04:46.089Z,1755882286.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891296 m,
      bearing: 232.134621 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.503257 s,
      deltaX: -0.099335 m,
      approachRate: -0.197384 m/s,
      posRepo size: 4

2025-08-22T17:04:46.089Z,1755882286.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:46.099Z,1755882286.099 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=23.184797
2025-08-22T17:04:46.351Z,1755882286.351 [DAT](INFO): DAT read: Rx Time:17:04:47.0940 

2025-08-22T17:04:46.352Z,1755882286.352 [DAT](INFO): Rx dataTimestamp_ set to:1755882286.351299
2025-08-22T17:04:46.353Z,1755882286.353 [DAT](INFO): DAT read: Bearing 349.7, -30.6 (Local)

2025-08-22T17:04:46.353Z,1755882286.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.7, -30.6 (Local)

2025-08-22T17:04:46.355Z,1755882286.355 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:46.360Z,1755882286.360 [DAT](INFO): DAT read: 17:04:47.0940 LVL= 32752, 28017, 27442, 32755, AGC= 56, IDX= 507, 0.02,-0.398, 1.925, 0.753, 1.012, PHS=-1.308, 0.958,-0.303, RAW= 303.7,   6.7, CAL= 301.3,   5.9, ROT= 208.7,  -5.9

2025-08-22T17:04:46.361Z,1755882286.361 [DAT](INFO): got valid direction response:
 17:04:47.0940 LVL= 32752, 28017, 27442, 32755, AGC= 56, IDX= 507, 0.02,-0.398, 1.925, 0.753, 1.012, PHS=-1.308, 0.958,-0.303, RAW= 303.7,   6.7, CAL= 301.3,   5.9, ROT= 208.7,  -5.9

2025-08-22T17:04:46.361Z,1755882286.361 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T17:04:46.362Z,1755882286.362 [DAT](INFO): direction in FSK: [-0.872500,-0.477680,0.102793]
2025-08-22T17:04:46.362Z,1755882286.362 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:46.375Z,1755882286.375 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=23.460871
2025-08-22T17:04:46.444Z,1755882286.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:46.455Z,1755882286.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891296 m,
      bearing: 232.455051 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.504051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:04:46.455Z,1755882286.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:46.603Z,1755882286.603 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=23.688709
2025-08-22T17:04:46.824Z,1755882286.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:46.857Z,1755882286.857 [DAT](INFO): DAT read: Rx Time:17:04:47.5939 

2025-08-22T17:04:46.857Z,1755882286.857 [DAT](INFO): Rx dataTimestamp_ set to:1755882286.857019
2025-08-22T17:04:46.859Z,1755882286.859 [DAT](INFO): DAT read: Bearing 350.7, -31.2 (Local)

2025-08-22T17:04:46.859Z,1755882286.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7, -31.2 (Local)

2025-08-22T17:04:46.861Z,1755882286.861 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:46.866Z,1755882286.866 [DAT](INFO): DAT read: 17:04:47.5939 LVL= 30144, 18625, 24706, 31603, AGC= 55, IDX= 506, 0.06,-1.336, 0.998,-0.168, 0.069, PHS=-1.303, 0.974,-0.282, RAW= 303.4,   6.2, CAL= 301.0,   5.0, ROT= 209.0,  -5.0

2025-08-22T17:04:46.869Z,1755882286.869 [DAT](INFO): got valid direction response:
 17:04:47.5939 LVL= 30144, 18625, 24706, 31603, AGC= 55, IDX= 506, 0.06,-1.336, 0.998,-0.168, 0.069, PHS=-1.303, 0.974,-0.282, RAW= 303.4,   6.2, CAL= 301.0,   5.0, ROT= 209.0,  -5.0

2025-08-22T17:04:46.886Z,1755882286.886 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T17:04:46.889Z,1755882286.889 [DAT](INFO): direction in FSK: [-0.871291,-0.482965,0.087156]
2025-08-22T17:04:46.898Z,1755882286.898 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:46.935Z,1755882286.935 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=24.020775
2025-08-22T17:04:47.107Z,1755882287.107 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=24.192614
2025-08-22T17:04:47.245Z,1755882287.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.505720 s,
      deltaX: -0.200001 m,
      approachRate: -0.395477 m/s,
      rangeRepo size: 4

2025-08-22T17:04:47.254Z,1755882287.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692577 m,
      bearing: 232.579351 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.505720 s,
      deltaX: -0.198719 m,
      approachRate: -0.392943 m/s,
      posRepo size: 4

2025-08-22T17:04:47.255Z,1755882287.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:47.360Z,1755882287.360 [DAT](INFO): DAT read: Rx Time:17:04:48.0940 

2025-08-22T17:04:47.361Z,1755882287.361 [DAT](INFO): Rx dataTimestamp_ set to:1755882287.360311
2025-08-22T17:04:47.363Z,1755882287.363 [DAT](INFO): DAT read: Bearing 350.1, -31.8 (Local)

2025-08-22T17:04:47.363Z,1755882287.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1, -31.8 (Local)

2025-08-22T17:04:47.366Z,1755882287.366 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:47.372Z,1755882287.372 [DAT](INFO): DAT read: 17:04:48.0940 LVL= 30048, 18705, 23298, 31027, AGC= 55, IDX= 507, 0.07,-0.542, 1.800, 0.650, 0.881, PHS=-1.321, 0.964,-0.275, RAW= 302.8,   6.4, CAL= 300.3,   5.4, ROT= 209.7,  -5.4

2025-08-22T17:04:47.374Z,1755882287.374 [DAT](INFO): got valid direction response:
 17:04:48.0940 LVL= 30048, 18705, 23298, 31027, AGC= 55, IDX= 507, 0.07,-0.542, 1.800, 0.650, 0.881, PHS=-1.321, 0.964,-0.275, RAW= 302.8,   6.4, CAL= 300.3,   5.4, ROT= 209.7,  -5.4

2025-08-22T17:04:47.375Z,1755882287.375 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T17:04:47.376Z,1755882287.376 [DAT](INFO): direction in FSK: [-0.864776,-0.493260,0.094108]
2025-08-22T17:04:47.376Z,1755882287.376 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:47.381Z,1755882287.381 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=24.467216
2025-08-22T17:04:47.586Z,1755882287.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503292 s,
      deltaX: 0.200001 m,
      approachRate: 0.397385 m/s,
      rangeRepo size: 4

2025-08-22T17:04:47.588Z,1755882287.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891298 m,
      bearing: 233.274731 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.503292 s,
      deltaX: 0.198721 m,
      approachRate: 0.394842 m/s,
      posRepo size: 4

2025-08-22T17:04:47.589Z,1755882287.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:47.611Z,1755882287.611 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=24.696659
2025-08-22T17:04:47.863Z,1755882287.863 [DAT](INFO): DAT read: Rx Time:17:04:48.5939 

2025-08-22T17:04:47.864Z,1755882287.864 [DAT](INFO): Rx dataTimestamp_ set to:1755882287.863280
2025-08-22T17:04:47.865Z,1755882287.865 [DAT](INFO): DAT read: Bearing 349.4, -32.2 (Local)

2025-08-22T17:04:47.865Z,1755882287.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.4, -32.2 (Local)

2025-08-22T17:04:47.867Z,1755882287.867 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:47.872Z,1755882287.872 [DAT](INFO): DAT read: 17:04:48.5939 LVL= 30128, 19425, 23314, 30691, AGC= 55, IDX= 506, 0.09,-1.299, 1.029,-0.096, 0.129, PHS=-1.327, 0.945,-0.269, RAW= 302.3,   6.7, CAL= 299.8,   5.8, ROT= 210.2,  -5.8

2025-08-22T17:04:47.873Z,1755882287.873 [DAT](INFO): got valid direction response:
 17:04:48.5939 LVL= 30128, 19425, 23314, 30691, AGC= 55, IDX= 506, 0.09,-1.299, 1.029,-0.096, 0.129, PHS=-1.327, 0.945,-0.269, RAW= 302.3,   6.7, CAL= 299.8,   5.8, ROT= 210.2,  -5.8

2025-08-22T17:04:47.873Z,1755882287.873 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T17:04:47.895Z,1755882287.895 [DAT](INFO): direction in FSK: [-0.859850,-0.500445,0.101056]
2025-08-22T17:04:47.895Z,1755882287.895 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:47.961Z,1755882287.961 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=25.046476
2025-08-22T17:04:48.091Z,1755882288.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.502969 s,
      deltaX: -0.200001 m,
      approachRate: -0.397640 m/s,
      rangeRepo size: 4

2025-08-22T17:04:48.098Z,1755882288.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692591 m,
      bearing: 233.747852 deg,
      lat: 36.779471 deg,
      lon: -121.859643 deg,
      deltaT: 0.502969 s,
      deltaX: -0.198708 m,
      approachRate: -0.395069 m/s,
      posRepo size: 4

2025-08-22T17:04:48.098Z,1755882288.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:48.115Z,1755882288.115 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=25.200655
2025-08-22T17:04:48.367Z,1755882288.367 [DAT](INFO): DAT read: Rx Time:17:04:49.0940 

2025-08-22T17:04:48.368Z,1755882288.368 [DAT](INFO): Rx dataTimestamp_ set to:1755882288.367503
2025-08-22T17:04:48.369Z,1755882288.369 [DAT](INFO): DAT read: Bearing 348.3, -32.8 (Local)

2025-08-22T17:04:48.369Z,1755882288.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3, -32.8 (Local)

2025-08-22T17:04:48.371Z,1755882288.371 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.0

2025-08-22T17:04:48.381Z,1755882288.381 [DAT](INFO): DAT read: 17:04:49.0940 LVL= 26960, 17457, 21234, 28227, AGC= 55, IDX= 507, 0.10, 0.414, 2.739, 1.640, 1.861, PHS=-1.344, 0.923,-0.265, RAW= 301.6,   7.0, CAL= 299.1,   6.5, ROT= 210.9,  -6.5

2025-08-22T17:04:48.387Z,1755882288.387 [DAT](INFO): got valid direction response:
 17:04:49.0940 LVL= 26960, 17457, 21234, 28227, AGC= 55, IDX= 507, 0.10, 0.414, 2.739, 1.640, 1.861, PHS=-1.344, 0.923,-0.265, RAW= 301.6,   7.0, CAL= 299.1,   6.5, ROT= 210.9,  -6.5

2025-08-22T17:04:48.387Z,1755882288.387 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T17:04:48.388Z,1755882288.388 [DAT](INFO): direction in FSK: [-0.852549,-0.510240,0.113203]
2025-08-22T17:04:48.389Z,1755882288.389 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:48.392Z,1755882288.392 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=25.478148
2025-08-22T17:04:48.470Z,1755882288.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504223 s,
      deltaX: 0.200001 m,
      approachRate: 0.396651 m/s,
      rangeRepo size: 4

2025-08-22T17:04:48.472Z,1755882288.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.891312 m,
      bearing: 234.469107 deg,
      lat: 36.779471 deg,
      lon: -121.859643 deg,
      deltaT: 0.504223 s,
      deltaX: 0.198721 m,
      approachRate: 0.394113 m/s,
      posRepo size: 4

2025-08-22T17:04:48.473Z,1755882288.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m.
2025-08-22T17:04:48.623Z,1755882288.623 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=25.708168
2025-08-22T17:04:48.871Z,1755882288.871 [DAT](INFO): DAT read: Rx Time:17:04:49.5938 

2025-08-22T17:04:48.872Z,1755882288.872 [DAT](INFO): Rx dataTimestamp_ set to:1755882288.871379
2025-08-22T17:04:48.873Z,1755882288.873 [DAT](INFO): DAT read: Bearing 348.5, -33.4 (Local)

2025-08-22T17:04:48.873Z,1755882288.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5, -33.4 (Local)

2025-08-22T17:04:48.875Z,1755882288.875 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:48.889Z,1755882288.889 [DAT](INFO): DAT read: 17:04:49.5938 LVL= 31280, 19185, 23330, 31523, AGC= 55, IDX= 506, 0.16,-0.783, 1.543, 0.462, 0.665, PHS=-1.347, 0.923,-0.247, RAW= 301.0,   6.9, CAL= 298.6,   6.1, ROT= 211.4,  -6.1

2025-08-22T17:04:48.890Z,1755882288.890 [DAT](INFO): got valid direction response:
 17:04:49.5938 LVL= 31280, 19185, 23330, 31523, AGC= 55, IDX= 506, 0.16,-0.783, 1.543, 0.462, 0.665, PHS=-1.347, 0.923,-0.247, RAW= 301.0,   6.9, CAL= 298.6,   6.1, ROT= 211.4,  -6.1

2025-08-22T17:04:48.890Z,1755882288.890 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T17:04:48.891Z,1755882288.891 [DAT](INFO): direction in FSK: [-0.848718,-0.518060,0.106264]
2025-08-22T17:04:48.891Z,1755882288.891 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:48.925Z,1755882288.925 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=26.010632
2025-08-22T17:04:48.976Z,1755882288.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503876 s,
      deltaX: -0.299999 m,
      approachRate: -0.595383 m/s,
      rangeRepo size: 4

2025-08-22T17:04:48.986Z,1755882288.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593210 m,
      bearing: 234.899294 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.503876 s,
      deltaX: -0.298101 m,
      approachRate: -0.591617 m/s,
      posRepo size: 4

2025-08-22T17:04:48.987Z,1755882288.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:49.123Z,1755882289.123 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=26.208965
2025-08-22T17:04:49.375Z,1755882289.375 [DAT](INFO): DAT read: Rx Time:17:04:50.0939 

2025-08-22T17:04:49.376Z,1755882289.376 [DAT](INFO): Rx dataTimestamp_ set to:1755882289.375307
2025-08-22T17:04:49.377Z,1755882289.377 [DAT](INFO): DAT read: Bearing 347.9, -34.0 (Local)

2025-08-22T17:04:49.377Z,1755882289.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9, -34.0 (Local)

2025-08-22T17:04:49.380Z,1755882289.380 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:49.384Z,1755882289.384 [DAT](INFO): DAT read: 17:04:50.0939 LVL= 30192, 18193, 21106, 28643, AGC= 55, IDX= 507, 0.23, 0.592, 2.912, 1.857, 2.050, PHS=-1.356, 0.907,-0.238, RAW= 300.4,   7.1, CAL= 298.0,   6.4, ROT= 212.0,  -6.4

2025-08-22T17:04:49.386Z,1755882289.386 [DAT](INFO): got valid direction response:
 17:04:50.0939 LVL= 30192, 18193, 21106, 28643, AGC= 55, IDX= 507, 0.23, 0.592, 2.912, 1.857, 2.050, PHS=-1.356, 0.907,-0.238, RAW= 300.4,   7.1, CAL= 298.0,   6.4, ROT= 212.0,  -6.4

2025-08-22T17:04:49.387Z,1755882289.387 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T17:04:49.388Z,1755882289.388 [DAT](INFO): direction in FSK: [-0.842763,-0.526617,0.111469]
2025-08-22T17:04:49.388Z,1755882289.388 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:49.392Z,1755882289.392 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=26.477720
2025-08-22T17:04:49.531Z,1755882289.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503928 s,
      deltaX: 0.099998 m,
      approachRate: 0.198438 m/s,
      rangeRepo size: 4

2025-08-22T17:04:49.533Z,1755882289.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692570 m,
      bearing: 235.470609 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.503928 s,
      deltaX: 0.099360 m,
      approachRate: 0.197170 m/s,
      posRepo size: 4

2025-08-22T17:04:49.538Z,1755882289.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:49.627Z,1755882289.627 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=26.713079
2025-08-22T17:04:49.832Z,1755882289.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:04:49.835Z,1755882289.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:49.880Z,1755882289.880 [DAT](INFO): DAT read: Rx Time:17:04:50.5938 

2025-08-22T17:04:49.881Z,1755882289.881 [DAT](INFO): Rx dataTimestamp_ set to:1755882289.880452
2025-08-22T17:04:49.888Z,1755882289.888 [DAT](INFO): DAT read: Bearing 348.4, -34.6 (Local)

2025-08-22T17:04:49.889Z,1755882289.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4, -34.6 (Local)

2025-08-22T17:04:49.892Z,1755882289.892 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:49.920Z,1755882289.920 [DAT](INFO): DAT read: 17:04:50.5938 LVL= 31200, 20401, 22770, 29283, AGC= 55, IDX= 506, 0.33,-1.017, 1.303, 0.266, 0.439, PHS=-1.353, 0.909,-0.217, RAW= 299.8,   6.8, CAL= 297.4,   5.8, ROT= 212.6,  -5.8

2025-08-22T17:04:49.943Z,1755882289.943 [DAT](INFO): got valid direction response:
 17:04:50.5938 LVL= 31200, 20401, 22770, 29283, AGC= 55, IDX= 506, 0.33,-1.017, 1.303, 0.266, 0.439, PHS=-1.353, 0.909,-0.217, RAW= 299.8,   6.8, CAL= 297.4,   5.8, ROT= 212.6,  -5.8

2025-08-22T17:04:49.944Z,1755882289.944 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T17:04:49.953Z,1755882289.953 [DAT](INFO): direction in FSK: [-0.838140,-0.536013,0.101056]
2025-08-22T17:04:49.958Z,1755882289.958 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:49.985Z,1755882289.985 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=27.069983
2025-08-22T17:04:50.131Z,1755882290.131 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=27.216602
2025-08-22T17:04:50.271Z,1755882290.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.505145 s,
      deltaX: -0.099998 m,
      approachRate: -0.197960 m/s,
      rangeRepo size: 4

2025-08-22T17:04:50.308Z,1755882290.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593229 m,
      bearing: 235.977719 deg,
      lat: 36.779475 deg,
      lon: -121.859646 deg,
      deltaT: 0.505145 s,
      deltaX: -0.099340 m,
      approachRate: -0.196657 m/s,
      posRepo size: 4

2025-08-22T17:04:50.309Z,1755882290.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:50.384Z,1755882290.384 [DAT](INFO): DAT read: Rx Time:17:04:51.0939 

2025-08-22T17:04:50.385Z,1755882290.385 [DAT](INFO): Rx dataTimestamp_ set to:1755882290.384475
2025-08-22T17:04:50.386Z,1755882290.386 [DAT](INFO): DAT read: Bearing 348.3, -35.0 (Local)

2025-08-22T17:04:50.387Z,1755882290.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3, -35.0 (Local)

2025-08-22T17:04:50.389Z,1755882290.389 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:50.394Z,1755882290.394 [DAT](INFO): DAT read: 17:04:51.0939 LVL= 29840, 18337, 21346, 28531, AGC= 55, IDX= 506, 0.44,-1.345, 0.974,-0.050, 0.114, PHS=-1.357, 0.905,-0.208, RAW= 299.5,   6.8, CAL= 297.1,   5.8, ROT= 212.9,  -5.8

2025-08-22T17:04:50.395Z,1755882290.395 [DAT](INFO): got valid direction response:
 17:04:51.0939 LVL= 29840, 18337, 21346, 28531, AGC= 55, IDX= 506, 0.44,-1.345, 0.974,-0.050, 0.114, PHS=-1.357, 0.905,-0.208, RAW= 299.5,   6.8, CAL= 297.1,   5.8, ROT= 212.9,  -5.8

2025-08-22T17:04:50.395Z,1755882290.395 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T17:04:50.396Z,1755882290.396 [DAT](INFO): direction in FSK: [-0.835322,-0.540394,0.101056]
2025-08-22T17:04:50.397Z,1755882290.397 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:50.401Z,1755882290.401 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=27.486589
2025-08-22T17:04:50.616Z,1755882290.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504023 s,
      deltaX: 0.099998 m,
      approachRate: 0.198401 m/s,
      rangeRepo size: 4

2025-08-22T17:04:50.618Z,1755882290.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692589 m,
      bearing: 236.250141 deg,
      lat: 36.779475 deg,
      lon: -121.859646 deg,
      deltaT: 0.504023 s,
      deltaX: 0.099360 m,
      approachRate: 0.197133 m/s,
      posRepo size: 4

2025-08-22T17:04:50.618Z,1755882290.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:50.635Z,1755882290.635 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=27.720757
2025-08-22T17:04:50.887Z,1755882290.887 [DAT](INFO): DAT read: Rx Time:17:04:51.5938 

2025-08-22T17:04:50.887Z,1755882290.887 [DAT](INFO): Rx dataTimestamp_ set to:1755882290.887207
2025-08-22T17:04:50.889Z,1755882290.889 [DAT](INFO): DAT read: Bearing 348.7, -35.6 (Local)

2025-08-22T17:04:50.889Z,1755882290.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7, -35.6 (Local)

2025-08-22T17:04:50.891Z,1755882290.891 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:50.896Z,1755882290.896 [DAT](INFO): DAT read: 17:04:51.5938 LVL= 32752, 19985, 20882, 28531, AGC= 56, IDX= 506,-0.39, 2.762,-1.220,-2.219,-2.074, PHS=-1.345, 0.899,-0.189, RAW= 299.0,   6.6, CAL= 296.6,   5.3, ROT= 213.4,  -5.3

2025-08-22T17:04:50.897Z,1755882290.897 [DAT](INFO): got valid direction response:
 17:04:51.5938 LVL= 32752, 19985, 20882, 28531, AGC= 56, IDX= 506,-0.39, 2.762,-1.220,-2.219,-2.074, PHS=-1.345, 0.899,-0.189, RAW= 299.0,   6.6, CAL= 296.6,   5.3, ROT= 213.4,  -5.3

2025-08-22T17:04:50.897Z,1755882290.897 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T17:04:50.898Z,1755882290.898 [DAT](INFO): direction in FSK: [-0.831279,-0.548127,0.092371]
2025-08-22T17:04:50.898Z,1755882290.898 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:50.902Z,1755882290.902 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=27.987923
2025-08-22T17:04:51.139Z,1755882291.139 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=28.224747
2025-08-22T17:04:51.135Z,1755882291.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.502732 s,
      deltaX: -0.099998 m,
      approachRate: -0.198910 m/s,
      rangeRepo size: 4

2025-08-22T17:04:51.141Z,1755882291.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593250 m,
      bearing: 236.676585 deg,
      lat: 36.779476 deg,
      lon: -121.859646 deg,
      deltaT: 0.502732 s,
      deltaX: -0.099339 m,
      approachRate: -0.197597 m/s,
      posRepo size: 4

2025-08-22T17:04:51.142Z,1755882291.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:51.391Z,1755882291.391 [DAT](INFO): DAT read: Rx Time:17:04:52.0939 

2025-08-22T17:04:51.391Z,1755882291.391 [DAT](INFO): Rx dataTimestamp_ set to:1755882291.391203
2025-08-22T17:04:51.393Z,1755882291.393 [DAT](INFO): DAT read: Bearing 349.1, -36.1 (Local)

2025-08-22T17:04:51.393Z,1755882291.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.1, -36.1 (Local)

2025-08-22T17:04:51.396Z,1755882291.396 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:51.401Z,1755882291.401 [DAT](INFO): DAT read: 17:04:52.0939 LVL= 28832, 18417, 19986, 26963, AGC= 56, IDX= 507,-0.26,-2.607,-0.300,-1.291,-1.160, PHS=-1.346, 0.905,-0.175, RAW= 298.7,   6.4, CAL= 296.3,   4.8, ROT= 213.7,  -4.8

2025-08-22T17:04:51.402Z,1755882291.402 [DAT](INFO): got valid direction response:
 17:04:52.0939 LVL= 28832, 18417, 19986, 26963, AGC= 56, IDX= 507,-0.26,-2.607,-0.300,-1.291,-1.160, PHS=-1.346, 0.905,-0.175, RAW= 298.7,   6.4, CAL= 296.3,   4.8, ROT= 213.7,  -4.8

2025-08-22T17:04:51.402Z,1755882291.402 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T17:04:51.403Z,1755882291.403 [DAT](INFO): direction in FSK: [-0.829036,-0.552898,0.083678]
2025-08-22T17:04:51.404Z,1755882291.404 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:51.407Z,1755882291.407 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=28.493402
2025-08-22T17:04:51.526Z,1755882291.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503996 s,
      deltaX: 0.099998 m,
      approachRate: 0.198411 m/s,
      rangeRepo size: 4

2025-08-22T17:04:51.528Z,1755882291.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692610 m,
      bearing: 236.877487 deg,
      lat: 36.779476 deg,
      lon: -121.859647 deg,
      deltaT: 0.503996 s,
      deltaX: 0.099360 m,
      approachRate: 0.197143 m/s,
      posRepo size: 4

2025-08-22T17:04:51.528Z,1755882291.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:51.643Z,1755882291.643 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=28.728836
2025-08-22T17:04:51.852Z,1755882291.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:51.896Z,1755882291.896 [DAT](INFO): DAT read: Rx Time:17:04:52.5938 

2025-08-22T17:04:51.896Z,1755882291.896 [DAT](INFO): Rx dataTimestamp_ set to:1755882291.895969
2025-08-22T17:04:51.898Z,1755882291.898 [DAT](INFO): DAT read: Bearing 349.2, -36.1 (Local)

2025-08-22T17:04:51.899Z,1755882291.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2, -36.1 (Local)

2025-08-22T17:04:51.905Z,1755882291.905 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:51.918Z,1755882291.918 [DAT](INFO): DAT read: 17:04:52.5938 LVL= 32080, 19633, 20578, 29155, AGC= 56, IDX= 506,-0.14, 2.035,-1.956,-2.938,-2.812, PHS=-1.335, 0.901,-0.171, RAW= 298.6,   6.3, CAL= 296.3,   4.7, ROT= 213.7,  -4.7

2025-08-22T17:04:51.919Z,1755882291.919 [DAT](INFO): got valid direction response:
 17:04:52.5938 LVL= 32080, 19633, 20578, 29155, AGC= 56, IDX= 506,-0.14, 2.035,-1.956,-2.938,-2.812, PHS=-1.335, 0.901,-0.171, RAW= 298.6,   6.3, CAL= 296.3,   4.7, ROT= 213.7,  -4.7

2025-08-22T17:04:51.919Z,1755882291.919 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T17:04:51.920Z,1755882291.920 [DAT](INFO): direction in FSK: [-0.829157,-0.552979,0.081939]
2025-08-22T17:04:51.921Z,1755882291.921 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:51.932Z,1755882291.932 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=29.018353
2025-08-22T17:04:52.147Z,1755882292.147 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=29.232676
2025-08-22T17:04:52.326Z,1755882292.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504766 s,
      deltaX: -0.099998 m,
      approachRate: -0.198109 m/s,
      rangeRepo size: 4

2025-08-22T17:04:52.328Z,1755882292.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593243 m,
      bearing: 236.762088 deg,
      lat: 36.779476 deg,
      lon: -121.859647 deg,
      deltaT: 0.504766 s,
      deltaX: -0.099367 m,
      approachRate: -0.196858 m/s,
      posRepo size: 4

2025-08-22T17:04:52.329Z,1755882292.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:52.399Z,1755882292.399 [DAT](INFO): DAT read: Rx Time:17:04:53.0939 

2025-08-22T17:04:52.400Z,1755882292.400 [DAT](INFO): Rx dataTimestamp_ set to:1755882292.399392
2025-08-22T17:04:52.401Z,1755882292.401 [DAT](INFO): DAT read: Bearing 348.5, -36.2 (Local)

2025-08-22T17:04:52.402Z,1755882292.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5, -36.2 (Local)

2025-08-22T17:04:52.404Z,1755882292.404 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:52.409Z,1755882292.409 [DAT](INFO): DAT read: 17:04:53.0939 LVL= 32752, 21041, 22466, 30963, AGC= 56, IDX= 507,-0.09,-2.921,-0.637,-1.611,-1.482, PHS=-1.338, 0.889,-0.173, RAW= 298.5,   6.5, CAL= 296.1,   5.1, ROT= 213.9,  -5.1

2025-08-22T17:04:52.411Z,1755882292.411 [DAT](INFO): got valid direction response:
 17:04:53.0939 LVL= 32752, 21041, 22466, 30963, AGC= 56, IDX= 507,-0.09,-2.921,-0.637,-1.611,-1.482, PHS=-1.338, 0.889,-0.173, RAW= 298.5,   6.5, CAL= 296.1,   5.1, ROT= 213.9,  -5.1

2025-08-22T17:04:52.411Z,1755882292.411 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T17:04:52.413Z,1755882292.413 [DAT](INFO): direction in FSK: [-0.826726,-0.555537,0.088894]
2025-08-22T17:04:52.413Z,1755882292.413 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:52.419Z,1755882292.419 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=29.504744
2025-08-22T17:04:52.650Z,1755882292.650 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=29.736563
2025-08-22T17:04:52.654Z,1755882292.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503423 s,
      deltaX: 0.099998 m,
      approachRate: 0.198637 m/s,
      rangeRepo size: 4

2025-08-22T17:04:52.656Z,1755882292.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692602 m,
      bearing: 236.947187 deg,
      lat: 36.779476 deg,
      lon: -121.859647 deg,
      deltaT: 0.503423 s,
      deltaX: 0.099360 m,
      approachRate: 0.197368 m/s,
      posRepo size: 4

2025-08-22T17:04:52.656Z,1755882292.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:52.903Z,1755882292.903 [DAT](INFO): DAT read: Rx Time:17:04:53.5938 

2025-08-22T17:04:52.904Z,1755882292.904 [DAT](INFO): Rx dataTimestamp_ set to:1755882292.903366
2025-08-22T17:04:52.905Z,1755882292.905 [DAT](INFO): DAT read: Bearing 348.6, -36.3 (Local)

2025-08-22T17:04:52.905Z,1755882292.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.6, -36.3 (Local)

2025-08-22T17:04:52.907Z,1755882292.907 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:52.924Z,1755882292.924 [DAT](INFO): DAT read: 17:04:53.5938 LVL= 30784, 16673, 20770, 29923, AGC= 56, IDX= 506,-0.04, 2.106,-1.893,-2.866,-2.739, PHS=-1.336, 0.891,-0.171, RAW= 298.5,   6.4, CAL= 296.1,   4.9, ROT= 213.9,  -4.9

2025-08-22T17:04:52.925Z,1755882292.925 [DAT](INFO): got valid direction response:
 17:04:53.5938 LVL= 30784, 16673, 20770, 29923, AGC= 56, IDX= 506,-0.04, 2.106,-1.893,-2.866,-2.739, PHS=-1.336, 0.891,-0.171, RAW= 298.5,   6.4, CAL= 296.1,   4.9, ROT= 213.9,  -4.9

2025-08-22T17:04:52.926Z,1755882292.926 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T17:04:52.927Z,1755882292.927 [DAT](INFO): direction in FSK: [-0.826979,-0.555707,0.085417]
2025-08-22T17:04:52.927Z,1755882292.927 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:52.931Z,1755882292.931 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=30.016956
2025-08-22T17:04:53.155Z,1755882293.155 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=30.241259
2025-08-22T17:04:53.228Z,1755882293.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503974 s,
      deltaX: -0.099998 m,
      approachRate: -0.198420 m/s,
      rangeRepo size: 4

2025-08-22T17:04:53.231Z,1755882293.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593231 m,
      bearing: 236.896739 deg,
      lat: 36.779476 deg,
      lon: -121.859647 deg,
      deltaT: 0.503974 s,
      deltaX: -0.099371 m,
      approachRate: -0.197175 m/s,
      posRepo size: 4

2025-08-22T17:04:53.231Z,1755882293.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:53.408Z,1755882293.408 [DAT](INFO): DAT read: Rx Time:17:04:54.0939 

2025-08-22T17:04:53.409Z,1755882293.409 [DAT](INFO): Rx dataTimestamp_ set to:1755882293.408388
2025-08-22T17:04:53.411Z,1755882293.411 [DAT](INFO): DAT read: Bearing 348.7, -35.9 (Local)

2025-08-22T17:04:53.411Z,1755882293.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7, -35.9 (Local)

2025-08-22T17:04:53.417Z,1755882293.417 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:04:53.421Z,1755882293.421 [DAT](INFO): DAT read: 17:04:54.0939 LVL= 32752, 20817, 20898, 29731, AGC= 55, IDX= 507, 0.01,-2.592,-0.318,-1.298,-1.166, PHS=-1.324, 0.893,-0.176, RAW= 298.8,   6.4, CAL= 296.4,   4.8, ROT= 213.6,  -4.8

2025-08-22T17:04:53.459Z,1755882293.459 [DAT](INFO): got valid direction response:
 17:04:54.0939 LVL= 32752, 20817, 20898, 29731, AGC= 55, IDX= 507, 0.01,-2.592,-0.318,-1.298,-1.166, PHS=-1.324, 0.893,-0.176, RAW= 298.8,   6.4, CAL= 296.4,   4.8, ROT= 213.6,  -4.8

2025-08-22T17:04:53.460Z,1755882293.460 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T17:04:53.461Z,1755882293.461 [DAT](INFO): direction in FSK: [-0.830000,-0.551451,0.083678]
2025-08-22T17:04:53.461Z,1755882293.461 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:53.487Z,1755882293.487 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=30.572639
2025-08-22T17:04:53.618Z,1755882293.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.505022 s,
      deltaX: 0.099998 m,
      approachRate: 0.198008 m/s,
      rangeRepo size: 4

2025-08-22T17:04:53.620Z,1755882293.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692591 m,
      bearing: 236.498893 deg,
      lat: 36.779475 deg,
      lon: -121.859646 deg,
      deltaT: 0.505022 s,
      deltaX: 0.099360 m,
      approachRate: 0.196743 m/s,
      posRepo size: 4

2025-08-22T17:04:53.620Z,1755882293.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:04:53.659Z,1755882293.659 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=30.744757
2025-08-22T17:04:53.911Z,1755882293.911 [DAT](INFO): DAT read: Rx Time:17:04:54.5938 

2025-08-22T17:04:53.912Z,1755882293.912 [DAT](INFO): Rx dataTimestamp_ set to:1755882293.911279
2025-08-22T17:04:53.913Z,1755882293.913 [DAT](INFO): DAT read: Bearing 347.6, -35.6 (Local)

2025-08-22T17:04:53.913Z,1755882293.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6, -35.6 (Local)

2025-08-22T17:04:53.920Z,1755882293.920 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:53.925Z,1755882293.925 [DAT](INFO): DAT read: 17:04:54.5938 LVL= 32544, 21729, 19538, 29027, AGC= 55, IDX= 506, 0.02, 2.732,-1.292,-2.269,-2.122, PHS=-1.327, 0.876,-0.190, RAW= 298.9,   6.8, CAL= 296.6,   5.7, ROT= 213.4,  -5.7

2025-08-22T17:04:53.926Z,1755882293.926 [DAT](INFO): got valid direction response:
 17:04:54.5938 LVL= 32544, 21729, 19538, 29027, AGC= 55, IDX= 506, 0.02, 2.732,-1.292,-2.269,-2.122, PHS=-1.327, 0.876,-0.190, RAW= 298.9,   6.8, CAL= 296.6,   5.7, ROT= 213.4,  -5.7

2025-08-22T17:04:53.926Z,1755882293.926 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T17:04:53.927Z,1755882293.927 [DAT](INFO): direction in FSK: [-0.830720,-0.547759,0.099320]
2025-08-22T17:04:53.928Z,1755882293.928 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:53.933Z,1755882293.933 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=31.019194
2025-08-22T17:04:54.165Z,1755882294.165 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=31.250528
2025-08-22T17:04:54.185Z,1755882294.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.502891 s,
      deltaX: -0.099998 m,
      approachRate: -0.198847 m/s,
      rangeRepo size: 4

2025-08-22T17:04:54.199Z,1755882294.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593264 m,
      bearing: 236.289064 deg,
      lat: 36.779475 deg,
      lon: -121.859646 deg,
      deltaT: 0.502891 s,
      deltaX: -0.099327 m,
      approachRate: -0.197512 m/s,
      posRepo size: 4

2025-08-22T17:04:54.199Z,1755882294.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:54.415Z,1755882294.415 [DAT](INFO): DAT read: Rx Time:17:04:55.0938 

2025-08-22T17:04:54.416Z,1755882294.416 [DAT](INFO): Rx dataTimestamp_ set to:1755882294.415289
2025-08-22T17:04:54.417Z,1755882294.417 [DAT](INFO): DAT read: Bearing 346.6, -34.9 (Local)

2025-08-22T17:04:54.417Z,1755882294.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6, -34.9 (Local)

2025-08-22T17:04:54.419Z,1755882294.419 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:54.424Z,1755882294.424 [DAT](INFO): DAT read: 17:04:55.0938 LVL= 32752, 19537, 19522, 30771, AGC= 56, IDX= 506, 0.00, 2.721,-1.313,-2.302,-2.133, PHS=-1.327, 0.866,-0.212, RAW= 299.4,   7.2, CAL= 297.0,   6.6, ROT= 213.0,  -6.6

2025-08-22T17:04:54.425Z,1755882294.425 [DAT](INFO): got valid direction response:
 17:04:55.0938 LVL= 32752, 19537, 19522, 30771, AGC= 56, IDX= 506, 0.00, 2.721,-1.313,-2.302,-2.133, PHS=-1.327, 0.866,-0.212, RAW= 299.4,   7.2, CAL= 297.0,   6.6, ROT= 213.0,  -6.6

2025-08-22T17:04:54.425Z,1755882294.425 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T17:04:54.427Z,1755882294.427 [DAT](INFO): direction in FSK: [-0.833113,-0.541030,0.114937]
2025-08-22T17:04:54.427Z,1755882294.427 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:54.431Z,1755882294.431 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=31.516663
2025-08-22T17:04:54.649Z,1755882294.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:54.651Z,1755882294.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593264 m,
      bearing: 235.906313 deg,
      lat: 36.779474 deg,
      lon: -121.859646 deg,
      deltaT: 0.504010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:04:54.652Z,1755882294.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:54.668Z,1755882294.668 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=31.753956
2025-08-22T17:04:54.919Z,1755882294.919 [DAT](INFO): DAT read: Rx Time:17:04:55.5937 

2025-08-22T17:04:54.919Z,1755882294.919 [DAT](INFO): Rx dataTimestamp_ set to:1755882294.919205
2025-08-22T17:04:54.921Z,1755882294.921 [DAT](INFO): DAT read: Bearing 346.1, -34.5 (Local)

2025-08-22T17:04:54.921Z,1755882294.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1, -34.5 (Local)

2025-08-22T17:04:54.923Z,1755882294.923 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:04:54.928Z,1755882294.928 [DAT](INFO): DAT read: 17:04:55.5937 LVL= 31936, 19905, 18674, 30691, AGC= 55, IDX= 505,-0.00, 1.376,-2.659, 2.626, 2.806, PHS=-1.328, 0.863,-0.224, RAW= 299.7,   7.3, CAL= 297.3,   6.9, ROT= 212.7,  -6.9

2025-08-22T17:04:54.929Z,1755882294.929 [DAT](INFO): got valid direction response:
 17:04:55.5937 LVL= 31936, 19905, 18674, 30691, AGC= 55, IDX= 505,-0.00, 1.376,-2.659, 2.626, 2.806, PHS=-1.328, 0.863,-0.224, RAW= 299.7,   7.3, CAL= 297.3,   6.9, ROT= 212.7,  -6.9

2025-08-22T17:04:54.929Z,1755882294.929 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T17:04:54.933Z,1755882294.933 [DAT](INFO): direction in FSK: [-0.835416,-0.536328,0.120137]
2025-08-22T17:04:54.934Z,1755882294.934 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:54.937Z,1755882294.937 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=32.023174
2025-08-22T17:04:55.172Z,1755882295.172 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=32.257519
2025-08-22T17:04:55.223Z,1755882295.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503916 s,
      deltaX: -0.200001 m,
      approachRate: -0.396893 m/s,
      rangeRepo size: 4

2025-08-22T17:04:55.225Z,1755882295.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394535 m,
      bearing: 235.566344 deg,
      lat: 36.779473 deg,
      lon: -121.859645 deg,
      deltaT: 0.503916 s,
      deltaX: -0.198729 m,
      approachRate: -0.394368 m/s,
      posRepo size: 4

2025-08-22T17:04:55.225Z,1755882295.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:55.423Z,1755882295.423 [DAT](INFO): DAT read: Rx Time:17:04:56.0938 

2025-08-22T17:04:55.424Z,1755882295.424 [DAT](INFO): Rx dataTimestamp_ set to:1755882295.423270
2025-08-22T17:04:55.425Z,1755882295.425 [DAT](INFO): DAT read: Bearing 345.6, -33.9 (Local)

2025-08-22T17:04:55.425Z,1755882295.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6, -33.9 (Local)

2025-08-22T17:04:55.427Z,1755882295.427 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:55.432Z,1755882295.432 [DAT](INFO): DAT read: 17:04:56.0938 LVL= 32752, 19889, 20578, 32755, AGC= 56, IDX= 506,-0.05, 2.352,-1.686,-2.700,-2.502, PHS=-1.327, 0.861,-0.242, RAW= 300.3,   7.5, CAL= 297.8,   7.4, ROT= 212.2,  -7.4

2025-08-22T17:04:55.436Z,1755882295.436 [DAT](INFO): got valid direction response:
 17:04:56.0938 LVL= 32752, 19889, 20578, 32755, AGC= 56, IDX= 506,-0.05, 2.352,-1.686,-2.700,-2.502, PHS=-1.327, 0.861,-0.242, RAW= 300.3,   7.5, CAL= 297.8,   7.4, ROT= 212.2,  -7.4

2025-08-22T17:04:55.438Z,1755882295.438 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T17:04:55.440Z,1755882295.440 [DAT](INFO): direction in FSK: [-0.839145,-0.528438,0.128796]
2025-08-22T17:04:55.441Z,1755882295.441 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:55.444Z,1755882295.444 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=32.530319
2025-08-22T17:04:55.676Z,1755882295.676 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=32.761913
2025-08-22T17:04:55.702Z,1755882295.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504065 s,
      deltaX: 0.200001 m,
      approachRate: 0.396776 m/s,
      rangeRepo size: 4

2025-08-22T17:04:55.704Z,1755882295.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593256 m,
      bearing: 235.015044 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.504065 s,
      deltaX: 0.198721 m,
      approachRate: 0.394237 m/s,
      posRepo size: 4

2025-08-22T17:04:55.705Z,1755882295.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:55.927Z,1755882295.927 [DAT](INFO): DAT read: Rx Time:17:04:56.5937 

2025-08-22T17:04:55.928Z,1755882295.928 [DAT](INFO): Rx dataTimestamp_ set to:1755882295.927323
2025-08-22T17:04:55.929Z,1755882295.929 [DAT](INFO): DAT read: Bearing 345.6, -33.5 (Local)

2025-08-22T17:04:55.929Z,1755882295.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6, -33.5 (Local)

2025-08-22T17:04:55.931Z,1755882295.931 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:04:55.936Z,1755882295.936 [DAT](INFO): DAT read: 17:04:56.5937 LVL= 32752, 19953, 19666, 31123, AGC= 55, IDX= 505,-0.06, 0.987,-3.046, 2.207, 2.417, PHS=-1.328, 0.866,-0.253, RAW= 300.7,   7.6, CAL= 298.2,   7.5, ROT= 211.8,  -7.5

2025-08-22T17:04:55.937Z,1755882295.937 [DAT](INFO): got valid direction response:
 17:04:56.5937 LVL= 32752, 19953, 19666, 31123, AGC= 55, IDX= 505,-0.06, 0.987,-3.046, 2.207, 2.417, PHS=-1.328, 0.866,-0.253, RAW= 300.7,   7.6, CAL= 298.2,   7.5, ROT= 211.8,  -7.5

2025-08-22T17:04:55.937Z,1755882295.937 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T17:04:55.938Z,1755882295.938 [DAT](INFO): direction in FSK: [-0.842622,-0.522448,0.130526]
2025-08-22T17:04:55.939Z,1755882295.939 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:55.942Z,1755882295.942 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=33.028290
2025-08-22T17:04:56.179Z,1755882296.179 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=33.264896
2025-08-22T17:04:56.219Z,1755882296.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504053 s,
      deltaX: -0.200001 m,
      approachRate: -0.396785 m/s,
      rangeRepo size: 4

2025-08-22T17:04:56.225Z,1755882296.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394533 m,
      bearing: 234.601783 deg,
      lat: 36.779472 deg,
      lon: -121.859642 deg,
      deltaT: 0.504053 s,
      deltaX: -0.198723 m,
      approachRate: -0.394250 m/s,
      posRepo size: 4

2025-08-22T17:04:56.226Z,1755882296.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:56.431Z,1755882296.431 [DAT](INFO): DAT read: Rx Time:17:04:57.0938 

2025-08-22T17:04:56.432Z,1755882296.432 [DAT](INFO): Rx dataTimestamp_ set to:1755882296.431272
2025-08-22T17:04:56.433Z,1755882296.433 [DAT](INFO): DAT read: Bearing 344.9, -33.2 (Local)

2025-08-22T17:04:56.433Z,1755882296.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9, -33.2 (Local)

2025-08-22T17:04:56.436Z,1755882296.436 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:56.441Z,1755882296.441 [DAT](INFO): DAT read: 17:04:57.0938 LVL= 32752, 22097, 18706, 31331, AGC= 54, IDX= 506,-0.08, 2.717,-1.328,-2.358,-2.138, PHS=-1.326, 0.856,-0.263, RAW= 300.8,   7.8, CAL= 298.4,   8.0, ROT= 211.6,  -8.0

2025-08-22T17:04:56.442Z,1755882296.442 [DAT](INFO): got valid direction response:
 17:04:57.0938 LVL= 32752, 22097, 18706, 31331, AGC= 54, IDX= 506,-0.08, 2.717,-1.328,-2.358,-2.138, PHS=-1.326, 0.856,-0.263, RAW= 300.8,   7.8, CAL= 298.4,   8.0, ROT= 211.6,  -8.0

2025-08-22T17:04:56.442Z,1755882296.442 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T17:04:56.443Z,1755882296.443 [DAT](INFO): direction in FSK: [-0.843438,-0.518887,0.139173]
2025-08-22T17:04:56.443Z,1755882296.443 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:56.447Z,1755882296.447 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=33.533115
2025-08-22T17:04:56.594Z,1755882296.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503949 s,
      deltaX: 0.200001 m,
      approachRate: 0.396867 m/s,
      rangeRepo size: 4

2025-08-22T17:04:56.596Z,1755882296.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593256 m,
      bearing: 234.427420 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 0.503949 s,
      deltaX: 0.198723 m,
      approachRate: 0.394331 m/s,
      posRepo size: 4

2025-08-22T17:04:56.597Z,1755882296.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:56.684Z,1755882296.684 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=33.769936
2025-08-22T17:04:56.935Z,1755882296.935 [DAT](INFO): DAT read: Rx Time:17:04:57.5937 

2025-08-22T17:04:56.936Z,1755882296.936 [DAT](INFO): Rx dataTimestamp_ set to:1755882296.935342
2025-08-22T17:04:56.937Z,1755882296.937 [DAT](INFO): DAT read: Bearing 344.0, -32.8 (Local)

2025-08-22T17:04:56.937Z,1755882296.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0, -32.8 (Local)

2025-08-22T17:04:56.940Z,1755882296.940 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:04:56.944Z,1755882296.944 [DAT](INFO): DAT read: 17:04:57.5937 LVL= 32752, 21793, 18162, 29939, AGC= 55, IDX= 505,-0.10, 1.570,-2.470, 2.774, 3.010, PHS=-1.338, 0.848,-0.281, RAW= 301.1,   8.2, CAL= 298.6,   8.8, ROT= 211.4,  -8.8

2025-08-22T17:04:56.945Z,1755882296.945 [DAT](INFO): got valid direction response:
 17:04:57.5937 LVL= 32752, 21793, 18162, 29939, AGC= 55, IDX= 505,-0.10, 1.570,-2.470, 2.774, 3.010, PHS=-1.338, 0.848,-0.281, RAW= 301.1,   8.2, CAL= 298.6,   8.8, ROT= 211.4,  -8.8

2025-08-22T17:04:56.945Z,1755882296.945 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T17:04:56.946Z,1755882296.946 [DAT](INFO): direction in FSK: [-0.843503,-0.514876,0.152986]
2025-08-22T17:04:56.947Z,1755882296.947 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:56.955Z,1755882296.955 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=34.040798
2025-08-22T17:04:56.964Z,1755882296.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504070 s,
      deltaX: -0.200001 m,
      approachRate: -0.396772 m/s,
      rangeRepo size: 4

2025-08-22T17:04:56.966Z,1755882296.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394527 m,
      bearing: 234.260501 deg,
      lat: 36.779469 deg,
      lon: -121.859640 deg,
      deltaT: 0.504070 s,
      deltaX: -0.198729 m,
      approachRate: -0.394248 m/s,
      posRepo size: 4

2025-08-22T17:04:56.967Z,1755882296.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:57.187Z,1755882297.187 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=34.273563
2025-08-22T17:04:57.382Z,1755882297.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:57.440Z,1755882297.440 [DAT](INFO): DAT read: Rx Time:17:04:58.0938 

2025-08-22T17:04:57.441Z,1755882297.441 [DAT](INFO): Rx dataTimestamp_ set to:1755882297.439958
2025-08-22T17:04:57.443Z,1755882297.443 [DAT](INFO): DAT read: Bearing 344.0, -32.7 (Local)

2025-08-22T17:04:57.444Z,1755882297.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0, -32.7 (Local)

2025-08-22T17:04:57.446Z,1755882297.446 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:57.451Z,1755882297.451 [DAT](INFO): DAT read: 17:04:58.0938 LVL= 32736, 22305, 19218, 29683, AGC= 54, IDX= 506,-0.04, 2.493,-1.554,-2.592,-2.356, PHS=-1.332, 0.847,-0.281, RAW= 301.2,   8.2, CAL= 298.7,   8.8, ROT= 211.3,  -8.8

2025-08-22T17:04:57.452Z,1755882297.452 [DAT](INFO): got valid direction response:
 17:04:58.0938 LVL= 32736, 22305, 19218, 29683, AGC= 54, IDX= 506,-0.04, 2.493,-1.554,-2.592,-2.356, PHS=-1.332, 0.847,-0.281, RAW= 301.2,   8.2, CAL= 298.7,   8.8, ROT= 211.3,  -8.8

2025-08-22T17:04:57.452Z,1755882297.452 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T17:04:57.454Z,1755882297.454 [DAT](INFO): direction in FSK: [-0.844400,-0.513404,0.152986]
2025-08-22T17:04:57.454Z,1755882297.454 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:57.457Z,1755882297.457 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:04:57.457Z,1755882297.457 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:04:57.460Z,1755882297.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:57.690Z,1755882297.690 [DAT](INFO): Reached modem response timeout
2025-08-22T17:04:57.690Z,1755882297.690 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:57.691Z,1755882297.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:57.824Z,1755882297.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504616 s,
      deltaX: 0.200001 m,
      approachRate: 0.396342 m/s,
      rangeRepo size: 4

2025-08-22T17:04:57.831Z,1755882297.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593250 m,
      bearing: 234.106123 deg,
      lat: 36.779467 deg,
      lon: -121.859639 deg,
      deltaT: 0.504616 s,
      deltaX: 0.198723 m,
      approachRate: 0.393810 m/s,
      posRepo size: 4

2025-08-22T17:04:57.831Z,1755882297.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:57.943Z,1755882297.943 [DAT](INFO): DAT read: Rx Time:17:04:58.5937 

2025-08-22T17:04:57.944Z,1755882297.944 [DAT](INFO): Rx dataTimestamp_ set to:1755882297.943248
2025-08-22T17:04:57.945Z,1755882297.945 [DAT](INFO): DAT read: Bearing 343.3, -32.7 (Local)

2025-08-22T17:04:57.945Z,1755882297.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.3, -32.7 (Local)

2025-08-22T17:04:57.947Z,1755882297.947 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:04:57.967Z,1755882297.967 [DAT](INFO): DAT read: 17:04:58.5937 LVL= 32752, 22449, 18098, 30195, AGC= 54, IDX= 505,-0.03, 1.902,-2.144, 3.103,-2.936, PHS=-1.343, 0.837,-0.288, RAW= 301.1,   8.4, CAL= 298.6,   9.4, ROT= 211.4,  -9.4

2025-08-22T17:04:57.968Z,1755882297.968 [DAT](INFO): got valid direction response:
 17:04:58.5937 LVL= 32752, 22449, 18098, 30195, AGC= 54, IDX= 505,-0.03, 1.902,-2.144, 3.103,-2.936, PHS=-1.343, 0.837,-0.288, RAW= 301.1,   8.4, CAL= 298.6,   9.4, ROT= 211.4,  -9.4

2025-08-22T17:04:57.969Z,1755882297.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:04:57.982Z,1755882297.982 [DAT](INFO): direction in FSK: [-0.842089,-0.514014,0.163326]
2025-08-22T17:04:57.982Z,1755882297.982 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:58.006Z,1755882298.006 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:58.006Z,1755882298.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:58.194Z,1755882298.194 [DAT](INFO): Reached modem response timeout
2025-08-22T17:04:58.194Z,1755882298.194 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:58.195Z,1755882298.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:58.352Z,1755882298.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503290 s,
      deltaX: -0.200001 m,
      approachRate: -0.397387 m/s,
      rangeRepo size: 4

2025-08-22T17:04:58.358Z,1755882298.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394506 m,
      bearing: 234.230075 deg,
      lat: 36.779467 deg,
      lon: -121.859639 deg,
      deltaT: 0.503290 s,
      deltaX: -0.198744 m,
      approachRate: -0.394889 m/s,
      posRepo size: 4

2025-08-22T17:04:58.359Z,1755882298.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:58.449Z,1755882298.449 [DAT](INFO): DAT read: Rx Time:17:04:59.0937 

2025-08-22T17:04:58.450Z,1755882298.450 [DAT](INFO): Rx dataTimestamp_ set to:1755882298.449210
2025-08-22T17:04:58.451Z,1755882298.451 [DAT](INFO): DAT read: Bearing 342.5, -33.2 (Local)

2025-08-22T17:04:58.451Z,1755882298.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.5, -33.2 (Local)

2025-08-22T17:04:58.453Z,1755882298.453 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:04:58.458Z,1755882298.458 [DAT](INFO): DAT read: 17:04:59.0937 LVL= 31904, 21793, 17362, 28195, AGC= 53, IDX= 505, 0.06, 2.850,-1.202,-2.216,-1.979, PHS=-1.352, 0.822,-0.281, RAW= 300.5,   8.7, CAL= 298.0,   9.8, ROT= 212.0,  -9.8

2025-08-22T17:04:58.460Z,1755882298.460 [DAT](INFO): got valid direction response:
 17:04:59.0937 LVL= 31904, 21793, 17362, 28195, AGC= 53, IDX= 505, 0.06, 2.850,-1.202,-2.216,-1.979, PHS=-1.352, 0.822,-0.281, RAW= 300.5,   8.7, CAL= 298.0,   9.8, ROT= 212.0,  -9.8

2025-08-22T17:04:58.460Z,1755882298.460 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:04:58.462Z,1755882298.462 [DAT](INFO): direction in FSK: [-0.835673,-0.522187,0.170209]
2025-08-22T17:04:58.462Z,1755882298.462 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:58.471Z,1755882298.471 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:58.471Z,1755882298.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:58.698Z,1755882298.698 [DAT](INFO): Reached modem response timeout
2025-08-22T17:04:58.698Z,1755882298.698 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:58.699Z,1755882298.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:58.847Z,1755882298.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.505962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:04:58.866Z,1755882298.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394506 m,
      bearing: 234.817989 deg,
      lat: 36.779467 deg,
      lon: -121.859638 deg,
      deltaT: 0.505962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:04:58.866Z,1755882298.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:04:58.952Z,1755882298.952 [DAT](INFO): DAT read: Rx Time:17:04:59.5936 

2025-08-22T17:04:58.953Z,1755882298.953 [DAT](INFO): Rx dataTimestamp_ set to:1755882298.952396
2025-08-22T17:04:58.955Z,1755882298.955 [DAT](INFO): DAT read: Bearing 342.5, -33.4 (Local)

2025-08-22T17:04:58.955Z,1755882298.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.5, -33.4 (Local)

2025-08-22T17:04:58.963Z,1755882298.963 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:04:58.968Z,1755882298.968 [DAT](INFO): DAT read: 17:04:59.5936 LVL= 32752, 22897, 18290, 30883, AGC= 53, IDX= 504, 0.16, 1.690,-2.359, 2.918,-3.135, PHS=-1.356, 0.821,-0.274, RAW= 300.2,   8.6, CAL= 297.7,   9.7, ROT= 212.3,  -9.7

2025-08-22T17:04:58.969Z,1755882298.969 [DAT](INFO): got valid direction response:
 17:04:59.5936 LVL= 32752, 22897, 18290, 30883, AGC= 53, IDX= 504, 0.16, 1.690,-2.359, 2.918,-3.135, PHS=-1.356, 0.821,-0.274, RAW= 300.2,   8.6, CAL= 297.7,   9.7, ROT= 212.3,  -9.7

2025-08-22T17:04:58.969Z,1755882298.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:04:58.970Z,1755882298.970 [DAT](INFO): direction in FSK: [-0.833178,-0.526713,0.168489]
2025-08-22T17:04:58.970Z,1755882298.970 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:58.982Z,1755882298.982 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:58.982Z,1755882298.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:59.202Z,1755882299.202 [DAT](INFO): Reached modem response timeout
2025-08-22T17:04:59.202Z,1755882299.202 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:59.203Z,1755882299.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:59.339Z,1755882299.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503186 s,
      deltaX: -0.100000 m,
      approachRate: -0.198734 m/s,
      rangeRepo size: 4

2025-08-22T17:04:59.350Z,1755882299.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295130 m,
      bearing: 235.096542 deg,
      lat: 36.779467 deg,
      lon: -121.859638 deg,
      deltaT: 0.503186 s,
      deltaX: -0.099377 m,
      approachRate: -0.197495 m/s,
      posRepo size: 4

2025-08-22T17:04:59.350Z,1755882299.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:04:59.456Z,1755882299.456 [DAT](INFO): DAT read: Rx Time:17:05:00.0938 

2025-08-22T17:04:59.456Z,1755882299.456 [DAT](INFO): Rx dataTimestamp_ set to:1755882299.456196
2025-08-22T17:04:59.458Z,1755882299.458 [DAT](INFO): DAT read: Bearing 342.7, -33.5 (Local)

2025-08-22T17:04:59.459Z,1755882299.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7, -33.5 (Local)

2025-08-22T17:04:59.461Z,1755882299.461 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:59.466Z,1755882299.466 [DAT](INFO): DAT read: 17:05:00.0938 LVL= 32752, 24001, 19474, 30339, AGC= 53, IDX= 506, 0.32,-2.654,-0.416,-1.422,-1.195, PHS=-1.357, 0.824,-0.271, RAW= 300.1,   8.6, CAL= 297.7,   9.6, ROT= 212.3,  -9.6

2025-08-22T17:04:59.467Z,1755882299.467 [DAT](INFO): got valid direction response:
 17:05:00.0938 LVL= 32752, 24001, 19474, 30339, AGC= 53, IDX= 506, 0.32,-2.654,-0.416,-1.422,-1.195, PHS=-1.357, 0.824,-0.271, RAW= 300.1,   8.6, CAL= 297.7,   9.6, ROT= 212.3,  -9.6

2025-08-22T17:04:59.467Z,1755882299.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:04:59.468Z,1755882299.468 [DAT](INFO): direction in FSK: [-0.833425,-0.526869,0.166769]
2025-08-22T17:04:59.468Z,1755882299.468 [DAT](INFO): publishing direction and range info
2025-08-22T17:04:59.470Z,1755882299.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:04:59.473Z,1755882299.473 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:59.473Z,1755882299.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:59.682Z,1755882299.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503800 s,
      deltaX: 0.300001 m,
      approachRate: 0.595477 m/s,
      rangeRepo size: 4

2025-08-22T17:04:59.684Z,1755882299.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593214 m,
      bearing: 235.089143 deg,
      lat: 36.779466 deg,
      lon: -121.859638 deg,
      deltaT: 0.503800 s,
      deltaX: 0.298084 m,
      approachRate: 0.591672 m/s,
      posRepo size: 4

2025-08-22T17:04:59.685Z,1755882299.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:04:59.706Z,1755882299.706 [DAT](INFO): Reached modem response timeout
2025-08-22T17:04:59.706Z,1755882299.706 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:04:59.707Z,1755882299.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:04:59.959Z,1755882299.959 [DAT](INFO): DAT read: Rx Time:17:05:00.5938 

2025-08-22T17:04:59.960Z,1755882299.960 [DAT](INFO): Rx dataTimestamp_ set to:1755882299.959254
2025-08-22T17:04:59.961Z,1755882299.961 [DAT](INFO): DAT read: Bearing 342.7, -33.5 (Local)

2025-08-22T17:04:59.961Z,1755882299.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7, -33.5 (Local)

2025-08-22T17:04:59.968Z,1755882299.968 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:04:59.972Z,1755882299.972 [DAT](INFO): DAT read: 17:05:00.5938 LVL= 31072, 22465, 19090, 28739, AGC= 53, IDX= 506,-0.45, 1.448,-2.585, 2.685, 2.913, PHS=-1.363, 0.831,-0.272, RAW= 300.2,   8.5, CAL= 297.7,   9.4, ROT= 212.3,  -9.4

2025-08-22T17:04:59.973Z,1755882299.973 [DAT](INFO): got valid direction response:
 17:05:00.5938 LVL= 31072, 22465, 19090, 28739, AGC= 53, IDX= 506,-0.45, 1.448,-2.585, 2.685, 2.913, PHS=-1.363, 0.831,-0.272, RAW= 300.2,   8.5, CAL= 297.7,   9.4, ROT= 212.3,  -9.4

2025-08-22T17:04:59.986Z,1755882299.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:04:59.987Z,1755882299.987 [DAT](INFO): direction in FSK: [-0.833912,-0.527177,0.163326]
2025-08-22T17:04:59.988Z,1755882299.988 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:00.007Z,1755882300.007 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:00.008Z,1755882300.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:00.142Z,1755882300.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503058 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:00.154Z,1755882300.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593204 m,
      bearing: 235.057823 deg,
      lat: 36.779466 deg,
      lon: -121.859638 deg,
      deltaT: 0.503058 s,
      deltaX: -0.000010 m,
      approachRate: -0.000019 m/s,
      posRepo size: 4

2025-08-22T17:05:00.155Z,1755882300.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:00.211Z,1755882300.211 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:00.212Z,1755882300.212 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:00.212Z,1755882300.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:00.463Z,1755882300.463 [DAT](INFO): DAT read: Rx Time:17:05:01.0939 

2025-08-22T17:05:00.464Z,1755882300.464 [DAT](INFO): Rx dataTimestamp_ set to:1755882300.463442
2025-08-22T17:05:00.465Z,1755882300.465 [DAT](INFO): DAT read: Bearing 342.8, -33.4 (Local)

2025-08-22T17:05:00.465Z,1755882300.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8, -33.4 (Local)

2025-08-22T17:05:00.467Z,1755882300.467 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.0

2025-08-22T17:05:00.472Z,1755882300.472 [DAT](INFO): DAT read: 17:05:01.0939 LVL= 31664, 22577, 18546, 27987, AGC= 53, IDX= 507,-0.23, 1.742,-2.290, 2.976,-3.080, PHS=-1.360, 0.834,-0.271, RAW= 300.3,   8.4, CAL= 297.8,   9.3, ROT= 212.2,  -9.3

2025-08-22T17:05:00.473Z,1755882300.473 [DAT](INFO): got valid direction response:
 17:05:01.0939 LVL= 31664, 22577, 18546, 27987, AGC= 53, IDX= 507,-0.23, 1.742,-2.290, 2.976,-3.080, PHS=-1.360, 0.834,-0.271, RAW= 300.3,   8.4, CAL= 297.8,   9.3, ROT= 212.2,  -9.3

2025-08-22T17:05:00.474Z,1755882300.474 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:05:00.475Z,1755882300.475 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:00.476Z,1755882300.476 [DAT](INFO): direction in FSK: [-0.835071,-0.525872,0.161604]
2025-08-22T17:05:00.476Z,1755882300.476 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:00.479Z,1755882300.479 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:00.480Z,1755882300.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:00.540Z,1755882300.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504188 s,
      deltaX: 0.099998 m,
      approachRate: 0.198336 m/s,
      rangeRepo size: 4

2025-08-22T17:05:00.547Z,1755882300.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.692562 m,
      bearing: 234.926394 deg,
      lat: 36.779466 deg,
      lon: -121.859640 deg,
      deltaT: 0.504188 s,
      deltaX: 0.099358 m,
      approachRate: 0.197065 m/s,
      posRepo size: 4

2025-08-22T17:05:00.547Z,1755882300.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:05:00.715Z,1755882300.715 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:00.715Z,1755882300.715 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:00.715Z,1755882300.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:00.854Z,1755882300.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m.
2025-08-22T17:05:00.967Z,1755882300.967 [DAT](INFO): DAT read: Rx Time:17:05:01.5938 

2025-08-22T17:05:00.967Z,1755882300.967 [DAT](INFO): Rx dataTimestamp_ set to:1755882300.967205
2025-08-22T17:05:00.969Z,1755882300.969 [DAT](INFO): DAT read: Bearing 342.3, -33.8 (Local)

2025-08-22T17:05:00.969Z,1755882300.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.3, -33.8 (Local)

2025-08-22T17:05:00.971Z,1755882300.971 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:05:00.976Z,1755882300.976 [DAT](INFO): DAT read: 17:05:01.5938 LVL= 31808, 21745, 18498, 28259, AGC= 52, IDX= 506,-0.07, 1.095,-2.939, 2.344, 2.567, PHS=-1.370, 0.822,-0.267, RAW= 299.8,   8.6, CAL= 297.3,   9.7, ROT= 212.7,  -9.7

2025-08-22T17:05:00.977Z,1755882300.977 [DAT](INFO): got valid direction response:
 17:05:01.5938 LVL= 31808, 21745, 18498, 28259, AGC= 52, IDX= 506,-0.07, 1.095,-2.939, 2.344, 2.567, PHS=-1.370, 0.822,-0.267, RAW= 299.8,   8.6, CAL= 297.3,   9.7, ROT= 212.7,  -9.7

2025-08-22T17:05:00.977Z,1755882300.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:00.978Z,1755882300.978 [DAT](INFO): direction in FSK: [-0.829480,-0.532517,0.168489]
2025-08-22T17:05:00.978Z,1755882300.978 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:00.986Z,1755882300.986 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:00.986Z,1755882300.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:01.218Z,1755882301.218 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:01.218Z,1755882301.218 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:01.219Z,1755882301.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:01.339Z,1755882301.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.503763 s,
      deltaX: -0.099998 m,
      approachRate: -0.198503 m/s,
      rangeRepo size: 4

2025-08-22T17:05:01.345Z,1755882301.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593204 m,
      bearing: 235.407617 deg,
      lat: 36.779465 deg,
      lon: -121.859640 deg,
      deltaT: 0.503763 s,
      deltaX: -0.099358 m,
      approachRate: -0.197231 m/s,
      posRepo size: 4

2025-08-22T17:05:01.346Z,1755882301.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:01.471Z,1755882301.471 [DAT](INFO): DAT read: Rx Time:17:05:02.0938 

2025-08-22T17:05:01.472Z,1755882301.472 [DAT](INFO): Rx dataTimestamp_ set to:1755882301.471239
2025-08-22T17:05:01.473Z,1755882301.473 [DAT](INFO): DAT read: Bearing 341.6, -34.2 (Local)

2025-08-22T17:05:01.473Z,1755882301.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6, -34.2 (Local)

2025-08-22T17:05:01.475Z,1755882301.475 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:05:01.480Z,1755882301.480 [DAT](INFO): DAT read: 17:05:02.0938 LVL= 31152, 21473, 18194, 28899, AGC= 52, IDX= 506, 0.04, 2.182,-1.870,-2.841,-2.628, PHS=-1.371, 0.803,-0.257, RAW= 299.2,   8.8, CAL= 296.7,  10.1, ROT= 213.3, -10.1

2025-08-22T17:05:01.482Z,1755882301.482 [DAT](INFO): got valid direction response:
 17:05:02.0938 LVL= 31152, 21473, 18194, 28899, AGC= 52, IDX= 506, 0.04, 2.182,-1.870,-2.841,-2.628, PHS=-1.371, 0.803,-0.257, RAW= 299.2,   8.8, CAL= 296.7,  10.1, ROT= 213.3, -10.1

2025-08-22T17:05:01.482Z,1755882301.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:01.483Z,1755882301.483 [DAT](INFO): direction in FSK: [-0.822855,-0.540515,0.175367]
2025-08-22T17:05:01.483Z,1755882301.483 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:01.487Z,1755882301.487 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:01.487Z,1755882301.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:01.651Z,1755882301.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:01.655Z,1755882301.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593204 m,
      bearing: 235.979737 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 0.504034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:05:01.656Z,1755882301.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:01.723Z,1755882301.723 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:01.723Z,1755882301.723 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:01.723Z,1755882301.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:01.975Z,1755882301.975 [DAT](INFO): DAT read: Rx Time:17:05:02.5937 

2025-08-22T17:05:01.976Z,1755882301.976 [DAT](INFO): Rx dataTimestamp_ set to:1755882301.975296
2025-08-22T17:05:01.977Z,1755882301.977 [DAT](INFO): DAT read: Bearing 341.3, -34.5 (Local)

2025-08-22T17:05:01.977Z,1755882301.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.3, -34.5 (Local)

2025-08-22T17:05:01.979Z,1755882301.979 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:01.984Z,1755882301.984 [DAT](INFO): DAT read: 17:05:02.5937 LVL= 31104, 22097, 19234, 30499, AGC= 53, IDX= 505, 0.14, 1.148,-2.898, 2.420, 2.629, PHS=-1.379, 0.802,-0.253, RAW= 298.9,   8.8, CAL= 296.4,  10.1, ROT= 213.6, -10.1

2025-08-22T17:05:01.985Z,1755882301.985 [DAT](INFO): got valid direction response:
 17:05:02.5937 LVL= 31104, 22097, 19234, 30499, AGC= 53, IDX= 505, 0.14, 1.148,-2.898, 2.420, 2.629, PHS=-1.379, 0.802,-0.253, RAW= 298.9,   8.8, CAL= 296.4,  10.1, ROT= 213.6, -10.1

2025-08-22T17:05:01.985Z,1755882301.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:01.987Z,1755882301.987 [DAT](INFO): direction in FSK: [-0.820014,-0.544816,0.175367]
2025-08-22T17:05:01.987Z,1755882301.987 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:01.999Z,1755882301.999 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:01.000Z,1755882302.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:02.106Z,1755882302.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504057 s,
      deltaX: -0.200001 m,
      approachRate: -0.396782 m/s,
      rangeRepo size: 4

2025-08-22T17:05:02.121Z,1755882302.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394468 m,
      bearing: 236.245969 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 0.504057 s,
      deltaX: -0.198736 m,
      approachRate: -0.394273 m/s,
      posRepo size: 4

2025-08-22T17:05:02.127Z,1755882302.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:02.227Z,1755882302.227 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:02.227Z,1755882302.227 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:02.227Z,1755882302.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:02.475Z,1755882302.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:02.479Z,1755882302.479 [DAT](INFO): DAT read: Rx Time:17:05:03.0938 

2025-08-22T17:05:02.480Z,1755882302.480 [DAT](INFO): Rx dataTimestamp_ set to:1755882302.479390
2025-08-22T17:05:02.481Z,1755882302.481 [DAT](INFO): DAT read: Bearing 341.4, -34.5 (Local)

2025-08-22T17:05:02.481Z,1755882302.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.4, -34.5 (Local)

2025-08-22T17:05:02.484Z,1755882302.484 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:05:02.489Z,1755882302.489 [DAT](INFO): DAT read: 17:05:03.0938 LVL= 31280, 21201, 18882, 29523, AGC= 54, IDX= 506, 0.25, 1.947,-2.106,-3.066,-2.862, PHS=-1.373, 0.801,-0.249, RAW= 298.9,   8.8, CAL= 296.4,  10.0, ROT= 213.6, -10.0

2025-08-22T17:05:02.490Z,1755882302.490 [DAT](INFO): got valid direction response:
 17:05:03.0938 LVL= 31280, 21201, 18882, 29523, AGC= 54, IDX= 506, 0.25, 1.947,-2.106,-3.066,-2.862, PHS=-1.373, 0.801,-0.249, RAW= 298.9,   8.8, CAL= 296.4,  10.0, ROT= 213.6, -10.0

2025-08-22T17:05:02.490Z,1755882302.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:02.491Z,1755882302.491 [DAT](INFO): direction in FSK: [-0.820267,-0.544984,0.173648]
2025-08-22T17:05:02.491Z,1755882302.491 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:02.511Z,1755882302.511 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:02.511Z,1755882302.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:02.731Z,1755882302.731 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:02.731Z,1755882302.731 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:02.732Z,1755882302.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:02.929Z,1755882302.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504094 s,
      deltaX: 0.200001 m,
      approachRate: 0.396753 m/s,
      rangeRepo size: 4

2025-08-22T17:05:02.935Z,1755882302.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593189 m,
      bearing: 236.206987 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 0.504094 s,
      deltaX: 0.198721 m,
      approachRate: 0.394214 m/s,
      posRepo size: 4

2025-08-22T17:05:02.936Z,1755882302.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:02.984Z,1755882302.984 [DAT](INFO): DAT read: Rx Time:17:05:03.5937 

2025-08-22T17:05:02.985Z,1755882302.985 [DAT](INFO): Rx dataTimestamp_ set to:1755882302.984007
2025-08-22T17:05:02.986Z,1755882302.986 [DAT](INFO): DAT read: Bearing 340.7, -34.7 (Local)

2025-08-22T17:05:02.987Z,1755882302.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.7, -34.7 (Local)

2025-08-22T17:05:02.989Z,1755882302.989 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:03.003Z,1755882303.003 [DAT](INFO): DAT read: 17:05:03.5937 LVL= 32752, 23233, 19954, 31971, AGC= 55, IDX= 505, 0.29, 1.202,-2.851, 2.480, 2.686, PHS=-1.382, 0.791,-0.250, RAW= 298.6,   9.0, CAL= 296.1,  10.4, ROT= 213.9, -10.4

2025-08-22T17:05:03.004Z,1755882303.004 [DAT](INFO): got valid direction response:
 17:05:03.5937 LVL= 32752, 23233, 19954, 31971, AGC= 55, IDX= 505, 0.29, 1.202,-2.851, 2.480, 2.686, PHS=-1.382, 0.791,-0.250, RAW= 298.6,   9.0, CAL= 296.1,  10.4, ROT= 213.9, -10.4

2025-08-22T17:05:03.004Z,1755882303.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:03.013Z,1755882303.013 [DAT](INFO): direction in FSK: [-0.816376,-0.548582,0.180519]
2025-08-22T17:05:03.014Z,1755882303.014 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:03.033Z,1755882303.033 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:03.033Z,1755882303.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:03.234Z,1755882303.234 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:03.235Z,1755882303.235 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:03.235Z,1755882303.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:03.365Z,1755882303.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504617 s,
      deltaX: -0.200001 m,
      approachRate: -0.396342 m/s,
      rangeRepo size: 4

2025-08-22T17:05:03.367Z,1755882303.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394455 m,
      bearing: 236.509199 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 0.504617 s,
      deltaX: -0.198734 m,
      approachRate: -0.393832 m/s,
      posRepo size: 4

2025-08-22T17:05:03.368Z,1755882303.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:03.488Z,1755882303.488 [DAT](INFO): DAT read: Rx Time:17:05:04.0938 

2025-08-22T17:05:03.489Z,1755882303.489 [DAT](INFO): Rx dataTimestamp_ set to:1755882303.488429
2025-08-22T17:05:03.491Z,1755882303.491 [DAT](INFO): DAT read: Bearing 340.6, -34.7 (Local)

2025-08-22T17:05:03.491Z,1755882303.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.6, -34.7 (Local)

2025-08-22T17:05:03.493Z,1755882303.493 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:05:03.497Z,1755882303.497 [DAT](INFO): DAT read: 17:05:04.0938 LVL= 29936, 21617, 19602, 29331, AGC= 55, IDX= 506, 0.31, 2.227,-1.830,-2.782,-2.574, PHS=-1.381, 0.788,-0.252, RAW= 298.7,   9.0, CAL= 296.2,  10.5, ROT= 213.8, -10.5

2025-08-22T17:05:03.498Z,1755882303.498 [DAT](INFO): got valid direction response:
 17:05:04.0938 LVL= 29936, 21617, 19602, 29331, AGC= 55, IDX= 506, 0.31, 2.227,-1.830,-2.782,-2.574, PHS=-1.381, 0.788,-0.252, RAW= 298.7,   9.0, CAL= 296.2,  10.5, ROT= 213.8, -10.5

2025-08-22T17:05:03.499Z,1755882303.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:03.500Z,1755882303.500 [DAT](INFO): direction in FSK: [-0.817070,-0.546980,0.182236]
2025-08-22T17:05:03.500Z,1755882303.500 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:03.504Z,1755882303.504 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:03.504Z,1755882303.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:03.738Z,1755882303.738 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:03.738Z,1755882303.739 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:03.739Z,1755882303.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:03.746Z,1755882303.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.504422 s,
      deltaX: 0.200001 m,
      approachRate: 0.396495 m/s,
      rangeRepo size: 4

2025-08-22T17:05:03.748Z,1755882303.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593176 m,
      bearing: 236.385093 deg,
      lat: 36.779465 deg,
      lon: -121.859642 deg,
      deltaT: 0.504422 s,
      deltaX: 0.198721 m,
      approachRate: 0.393958 m/s,
      posRepo size: 4

2025-08-22T17:05:03.749Z,1755882303.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:03.994Z,1755882303.994 [DAT](INFO): DAT read: Rx Time:17:05:04.5937 

2025-08-22T17:05:03.994Z,1755882303.994 [DAT](INFO): Rx dataTimestamp_ set to:1755882303.994175
2025-08-22T17:05:03.996Z,1755882303.996 [DAT](INFO): DAT read: Bearing 340.5, -34.4 (Local)

2025-08-22T17:05:03.996Z,1755882303.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5, -34.4 (Local)

2025-08-22T17:05:03.998Z,1755882303.998 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:04.028Z,1755882304.028 [DAT](INFO): DAT read: 17:05:04.5937 LVL= 30192, 21201, 19906, 28403, AGC= 56, IDX= 505, 0.26, 0.440, 2.674, 1.712, 1.927, PHS=-1.385, 0.792,-0.259, RAW= 298.9,   9.1, CAL= 296.4,  10.6, ROT= 213.6, -10.6

2025-08-22T17:05:04.029Z,1755882304.029 [DAT](INFO): got valid direction response:
 17:05:04.5937 LVL= 30192, 21201, 19906, 28403, AGC= 56, IDX= 505, 0.26, 0.440, 2.674, 1.712, 1.927, PHS=-1.385, 0.792,-0.259, RAW= 298.9,   9.1, CAL= 296.4,  10.6, ROT= 213.6, -10.6

2025-08-22T17:05:04.029Z,1755882304.029 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:04.034Z,1755882304.034 [DAT](INFO): direction in FSK: [-0.818708,-0.543948,0.183951]
2025-08-22T17:05:04.035Z,1755882304.035 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:04.047Z,1755882304.047 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:04.047Z,1755882304.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:04.222Z,1755882304.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.505746 s,
      deltaX: -0.200001 m,
      approachRate: -0.395457 m/s,
      rangeRepo size: 4

2025-08-22T17:05:04.224Z,1755882304.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394468 m,
      bearing: 236.174361 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 0.505746 s,
      deltaX: -0.198708 m,
      approachRate: -0.392900 m/s,
      posRepo size: 4

2025-08-22T17:05:04.225Z,1755882304.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:04.242Z,1755882304.242 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:04.243Z,1755882304.243 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:04.243Z,1755882304.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:04.495Z,1755882304.495 [DAT](INFO): DAT read: Rx Time:17:05:05.0938 

2025-08-22T17:05:04.496Z,1755882304.496 [DAT](INFO): Rx dataTimestamp_ set to:1755882304.495313
2025-08-22T17:05:04.497Z,1755882304.497 [DAT](INFO): DAT read: Bearing 339.9, -34.7 (Local)

2025-08-22T17:05:04.497Z,1755882304.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9, -34.7 (Local)

2025-08-22T17:05:04.499Z,1755882304.499 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.0

2025-08-22T17:05:04.504Z,1755882304.504 [DAT](INFO): DAT read: 17:05:05.0938 LVL= 29680, 22161, 19602, 28979, AGC= 56, IDX= 506, 0.17, 1.982,-2.078,-3.022,-2.812, PHS=-1.388, 0.779,-0.254, RAW= 298.5,   9.2, CAL= 296.0,  11.0, ROT= 214.0, -11.0

2025-08-22T17:05:04.505Z,1755882304.505 [DAT](INFO): got valid direction response:
 17:05:05.0938 LVL= 29680, 22161, 19602, 28979, AGC= 56, IDX= 506, 0.17, 1.982,-2.078,-3.022,-2.812, PHS=-1.388, 0.779,-0.254, RAW= 298.5,   9.2, CAL= 296.0,  11.0, ROT= 214.0, -11.0

2025-08-22T17:05:04.505Z,1755882304.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:04.507Z,1755882304.507 [DAT](INFO): direction in FSK: [-0.813806,-0.548919,0.190809]
2025-08-22T17:05:04.507Z,1755882304.507 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:04.511Z,1755882304.511 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:04.511Z,1755882304.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:04.670Z,1755882304.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.501138 s,
      deltaX: 0.200001 m,
      approachRate: 0.399093 m/s,
      rangeRepo size: 4

2025-08-22T17:05:04.673Z,1755882304.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593191 m,
      bearing: 236.571912 deg,
      lat: 36.779464 deg,
      lon: -121.859642 deg,
      deltaT: 0.501138 s,
      deltaX: 0.198723 m,
      approachRate: 0.396543 m/s,
      posRepo size: 4

2025-08-22T17:05:04.673Z,1755882304.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:04.747Z,1755882304.747 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:04.747Z,1755882304.747 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:04.748Z,1755882304.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:04.940Z,1755882304.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:05:05.000Z,1755882305.000 [DAT](INFO): DAT read: Rx Time:17:05:05.5937 

2025-08-22T17:05:05.001Z,1755882305.001 [DAT](INFO): Rx dataTimestamp_ set to:1755882305.000289
2025-08-22T17:05:05.004Z,1755882305.004 [DAT](INFO): DAT read: Bearing 339.9, -35.0 (Local)

2025-08-22T17:05:05.004Z,1755882305.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9, -35.0 (Local)

2025-08-22T17:05:05.013Z,1755882305.013 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:05.024Z,1755882305.024 [DAT](INFO): DAT read: 17:05:05.5937 LVL= 29664, 20241, 19682, 29075, AGC= 57, IDX= 505, 0.05, 0.920,-3.126, 2.214, 2.420, PHS=-1.398, 0.783,-0.250, RAW= 298.3,   9.2, CAL= 295.8,  10.9, ROT= 214.2, -10.9

2025-08-22T17:05:05.025Z,1755882305.025 [DAT](INFO): got valid direction response:
 17:05:05.5937 LVL= 29664, 20241, 19682, 29075, AGC= 57, IDX= 505, 0.05, 0.920,-3.126, 2.214, 2.420, PHS=-1.398, 0.783,-0.250, RAW= 298.3,   9.2, CAL= 295.8,  10.9, ROT= 214.2, -10.9

2025-08-22T17:05:05.041Z,1755882305.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:05.042Z,1755882305.042 [DAT](INFO): direction in FSK: [-0.812159,-0.551943,0.189095]
2025-08-22T17:05:05.043Z,1755882305.043 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:05.056Z,1755882305.056 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:05.056Z,1755882305.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:05.250Z,1755882305.250 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:05.250Z,1755882305.250 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:05.251Z,1755882305.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:05.379Z,1755882305.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504976 s,
      deltaX: -0.200001 m,
      approachRate: -0.396060 m/s,
      rangeRepo size: 4

2025-08-22T17:05:05.381Z,1755882305.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394463 m,
      bearing: 236.749853 deg,
      lat: 36.779464 deg,
      lon: -121.859641 deg,
      deltaT: 0.504976 s,
      deltaX: -0.198729 m,
      approachRate: -0.393541 m/s,
      posRepo size: 4

2025-08-22T17:05:05.381Z,1755882305.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:05.503Z,1755882305.503 [DAT](INFO): DAT read: R Tie:7:05:06.0937 

2025-08-22T17:05:05.503Z,1755882305.503 [DAT](INFO): unknown deviceResponse_: R Tie:7:05:06.0937 

2025-08-22T17:05:05.505Z,1755882305.505 [DAT](INFO): DAT read: Bearing 340.1, -34.6 (Local)

2025-08-22T17:05:05.505Z,1755882305.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1, -34.6 (Local)

2025-08-22T17:05:05.511Z,1755882305.511 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:05.535Z,1755882305.535 [DAT](INFO): DAT read: 17:05:06.0937 LVL= 30192, 21873, 19890, 28419, AGC= 56, IDX= 505,-0.06,-0.335, 1.903, 0.946, 1.159, PHS=-1.391, 0.789,-0.257, RAW= 298.7,   9.1, CAL= 296.2,  10.8, ROT= 213.8, -10.8

2025-08-22T17:05:05.536Z,1755882305.536 [DAT](INFO): got valid direction response:
 17:05:06.0937 LVL= 30192, 21873, 19890, 28419, AGC= 56, IDX= 505,-0.06,-0.335, 1.903, 0.946, 1.159, PHS=-1.391, 0.789,-0.257, RAW= 298.7,   9.1, CAL= 296.2,  10.8, ROT= 213.8, -10.8

2025-08-22T17:05:05.536Z,1755882305.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:05.542Z,1755882305.542 [DAT](INFO): direction in FSK: [-0.816265,-0.546442,0.187381]
2025-08-22T17:05:05.542Z,1755882305.542 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:05.545Z,1755882305.545 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:05.550Z,1755882305.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:05.753Z,1755882305.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.501703 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:05.756Z,1755882305.756 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:05.758Z,1755882305.758 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:05.758Z,1755882305.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:05.784Z,1755882305.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394463 m,
      bearing: 236.339507 deg,
      lat: 36.779464 deg,
      lon: -121.859641 deg,
      deltaT: 0.501703 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:05:05.790Z,1755882305.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:06.008Z,1755882306.008 [DAT](INFO): DAT read: Rx Time:17:05:06.5936 

2025-08-22T17:05:06.008Z,1755882306.008 [DAT](INFO): Rx dataTimestamp_ set to:1755882306.007727
2025-08-22T17:05:06.009Z,1755882306.009 [DAT](INFO): DAT read: Bearing 339.5,-4.9 (Local)

2025-08-22T17:05:06.014Z,1755882306.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.5,-4.9 (Local)

2025-08-22T17:05:06.017Z,1755882306.017 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:06.031Z,1755882306.031 [DAT](INFO): DAT read: 17:05:06.5936 LVL= 32704, 23009, 23458, 31731, AGC= 56, IDX= 504,-0.19,-0.720, 1.519, 0.573, 0.784, PHS=-1.402, 0.780,-0.255, RAW= 298.3,   9.3, CAL= 295.8,  11.2, ROT= 214.2, -11.2

2025-08-22T17:05:06.032Z,1755882306.032 [DAT](INFO): got valid direction response:
 17:05:06.5936 LVL= 32704, 23009, 23458, 31731, AGC= 56, IDX= 504,-0.19,-0.720, 1.519, 0.573, 0.784, PHS=-1.402, 0.780,-0.255, RAW= 298.3,   9.3, CAL= 295.8,  11.2, ROT= 214.2, -11.2

2025-08-22T17:05:06.032Z,1755882306.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:06.033Z,1755882306.033 [DAT](INFO): direction in FSK: [-0.811329,-0.551378,0.194234]
2025-08-22T17:05:06.034Z,1755882306.034 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:06.037Z,1755882306.037 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:06.037Z,1755882306.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:06.251Z,1755882306.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.505735 s,
      deltaX: -0.100000 m,
      approachRate: -0.197733 m/s,
      rangeRepo size: 4

2025-08-22T17:05:06.262Z,1755882306.262 [DAT](INFO): DAT read: Rx Time:17:05:07.0937 

2025-08-22T17:05:06.264Z,1755882306.264 [DAT](INFO): Rx dataTimestamp_ set to:1755882306.262702
2025-08-22T17:05:06.267Z,1755882306.267 [DAT](INFO): DAT read: Bearing 338.0, -35.0 (Local)

2025-08-22T17:05:06.268Z,1755882306.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.0, -35.0 (Local)

2025-08-22T17:05:06.269Z,1755882306.269 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:06.270Z,1755882306.270 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:06.270Z,1755882306.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:06.286Z,1755882306.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295103 m,
      bearing: 236.748299 deg,
      lat: 36.779464 deg,
      lon: -121.859640 deg,
      deltaT: 0.505735 s,
      deltaX: -0.099360 m,
      approachRate: -0.196466 m/s,
      posRepo size: 4

2025-08-22T17:05:06.288Z,1755882306.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:06.512Z,1755882306.512 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 110 s)speed 0.0

2025-08-22T17:05:06.517Z,1755882306.517 [DAT](INFO): DAT read: 17:05:07.0937 LVL= 30064, 21713, 20386, 30147, AGC= 53, IDX= 505,-0.30, 0.096, 2.318, 1.392, 1.609, PHS=-1.411, 0.754,-0.261, RAW= 297.9,   9.8, CAL= 295.4,  12.3, ROT= 214.6, -12.3

2025-08-22T17:05:06.521Z,1755882306.521 [DAT](INFO): got valid direction response:
 17:05:07.0937 LVL= 30064, 21713, 20386, 30147, AGC= 53, IDX= 505,-0.30, 0.096, 2.318, 1.392, 1.609, PHS=-1.411, 0.754,-0.261, RAW= 297.9,   9.8, CAL= 295.4,  12.3, ROT= 214.6, -12.3

2025-08-22T17:05:06.522Z,1755882306.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:06.523Z,1755882306.523 [DAT](INFO): direction in FSK: [-0.804242,-0.554809,0.213030]
2025-08-22T17:05:06.523Z,1755882306.523 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:06.543Z,1755882306.543 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:06.543Z,1755882306.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:06.733Z,1755882306.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.502251 s,
      deltaX: 0.100000 m,
      approachRate: 0.199104 m/s,
      rangeRepo size: 4

2025-08-22T17:05:06.766Z,1755882306.766 [DAT](INFO): DAT read: Rx Time:17:05:07.5936 

2025-08-22T17:05:06.767Z,1755882306.767 [DAT](INFO): Rx dataTimestamp_ set to:1755882306.766122
2025-08-22T17:05:06.772Z,1755882306.772 [DAT](INFO): DAT read: Bearing 337.1, -36.0 (Local)

2025-08-22T17:05:06.773Z,1755882306.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.1, -36.0 (Local)

2025-08-22T17:05:06.774Z,1755882306.774 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:06.774Z,1755882306.774 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:06.775Z,1755882306.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:06.814Z,1755882306.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394464 m,
      bearing: 237.203481 deg,
      lat: 36.779464 deg,
      lon: -121.859641 deg,
      deltaT: 0.502251 s,
      deltaX: 0.099361 m,
      approachRate: 0.197832 m/s,
      posRepo size: 4

2025-08-22T17:05:06.814Z,1755882306.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:07.016Z,1755882307.016 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:07.022Z,1755882307.022 [DAT](INFO): DAT read: 17:050.53 VL= 31472, 23281, 20914, 31283, AGC= 54, IDX= 504,-0.47, 0.268, 2.504, 1.609, 1.809, PHS=-1.438, 0.740,-0.243, RAW= 296.8,  10.0, CAL= 294.2,  12.7, ROT= 215.8, -12.7

2025-08-22T17:05:07.023Z,1755882307.023 [DAT](INFO): unknown deviceResponse_: 17:050.53 VL= 31472, 23281, 20914, 31283, AGC= 54, IDX= 504,-0.47, 0.268, 2.504, 1.609, 1.809, PHS=-1.438, 0.740,-0.243, RAW= 296.8,  10.0, CAL= 294.2,  12.7, ROT= 215.8, -12.7

2025-08-22T17:05:07.023Z,1755882307.023 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:05:07.024Z,1755882307.024 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:07.024Z,1755882307.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:07.150Z,1755882307.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503963 s,
      deltaX: -0.100000 m,
      approachRate: -0.198428 m/s,
      rangeRepo size: 4

2025-08-22T17:05:07.152Z,1755882307.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:07.271Z,1755882307.271 [DAT](INFO): DAT read: Rx Time:17:05:08.0937 

2025-08-22T17:05:07.272Z,1755882307.272 [DAT](INFO): Rx dataTimestamp_ set to:1755882307.271310
2025-08-22T17:05:07.276Z,1755882307.276 [DAT](INFO): DAT read: Bearing 336.4, -36.5 (Local)

2025-08-22T17:05:07.278Z,1755882307.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.4, -36.5 (Local)

2025-08-22T17:05:07.283Z,1755882307.283 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.0

2025-08-22T17:05:07.288Z,1755882307.288 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:05:07.295Z,1755882307.295 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:07.296Z,1755882307.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:07.525Z,1755882307.525 [DAT](INFO): DAT read: 17:05:08.0937 LVL= 29680, 22081, 20578, 29923, AGC= 54, IDX= 505,-0.45, 1.333,-2.720, 2.690, 2.881, PHS=-1.445, 0.727,-0.234, RAW= 296.2,  10.1, CAL= 293.6,  13.0, ROT= 216.4, -13.0

2025-08-22T17:05:07.526Z,1755882307.526 [DAT](INFO): got valid direction response:
 17:05:08.0937 LVL= 29680, 22081, 20578, 29923, AGC= 54, IDX= 505,-0.45, 1.333,-2.720, 2.690, 2.881, PHS=-1.445, 0.727,-0.234, RAW= 296.2,  10.1, CAL= 293.6,  13.0, ROT= 216.4, -13.0

2025-08-22T17:05:07.526Z,1755882307.526 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:05:07.527Z,1755882307.527 [DAT](INFO): direction in FSK: [-0.784264,-0.578210,0.224951]
2025-08-22T17:05:07.530Z,1755882307.530 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:07.530Z,1755882307.530 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:07.531Z,1755882307.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:07.591Z,1755882307.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.257369 s,
      deltaX: 0.100000 m,
      approachRate: 0.388549 m/s,
      rangeRepo size: 4

2025-08-22T17:05:07.593Z,1755882307.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394457 m,
      bearing: 238.984849 deg,
      lat: 36.779464 deg,
      lon: -121.859641 deg,
      deltaT: 0.761332 s,
      deltaX: -0.000008 m,
      approachRate: -0.000010 m/s,
      posRepo size: 4

2025-08-22T17:05:07.593Z,1755882307.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:07.774Z,1755882307.774 [DAT](INFO): DAT read: Rx Time:17:05:08.5935 

2025-08-22T17:05:07.776Z,1755882307.776 [DAT](INFO): Rx dataTimestamp_ set to:1755882307.774739
2025-08-22T17:05:07.779Z,1755882307.779 [DAT](INFO): DAT read: Bearing 336.5, -36.9 (Local)

2025-08-22T17:05:07.780Z,1755882307.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.5, -36.9 (Local)

2025-08-22T17:05:07.785Z,1755882307.785 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:07.788Z,1755882307.788 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:05:07.791Z,1755882307.791 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:07.792Z,1755882307.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:07.939Z,1755882307.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503429 s,
      deltaX: -0.299999 m,
      approachRate: -0.595912 m/s,
      rangeRepo size: 4

2025-08-22T17:05:07.939Z,1755882307.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:05:08.033Z,1755882308.033 [DAT](INFO): DAT read: 17:05:08.5935 LVL= 32304, 23025, 23490, 32691, AGC= 52, IDX= 504,-0.36,-0.831, 1.41, 0545, 0.726, PHS=-1.456, 0.730,-0.225, RAW= 295.9,  10.0, CAL= 293.3,  12.8, ROT= 216.7, -12.8

2025-08-22T17:05:08.034Z,1755882308.034 [DAT](INFO): got valid direction response:
 17:05:08.5935 LVL= 32304, 23025, 23490, 32691, AGC= 52, IDX= 504,-0.36,-0.831, 1.41, 0545, 0.726, PHS=-1.456, 0.730,-0.225, RAW= 295.9,  10.0, CAL= 293.3,  12.8, ROT= 216.7, -12.8

2025-08-22T17:05:08.034Z,1755882308.034 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:05:08.035Z,1755882308.035 [DAT](INFO): direction in FSK: [-0.781851,-0.582774,0.221548]
2025-08-22T17:05:08.038Z,1755882308.038 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:08.038Z,1755882308.038 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:08.038Z,1755882308.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:08.278Z,1755882308.278 [DAT](INFO): DAT read: Rx Time:17:05:09.0935 

2025-08-22T17:05:08.280Z,1755882308.280 [DAT](INFO): Rx dataTimestamp_ set to:1755882308.279054
2025-08-22T17:05:08.288Z,1755882308.288 [DAT](INFO): DAT read: Bearing 335.4, -37.6 (Local)

2025-08-22T17:05:08.289Z,1755882308.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4, -37.6 (Local)

2025-08-22T17:05:08.326Z,1755882308.326 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:08.346Z,1755882308.346 [DAT](INFO): DAT read: 17:05:09.0935 LVL= 27760, 18577, 19490, 29747, AGC= 51, IDX= 504,-0.23,-1.182, 1.058, 0.222, 0.391, PHS=-1.471, 0.712,-0.213, RAW= 295.0,  10.3, CAL= 292.4,  13.4, ROT= 217.6, -13.4

2025-08-22T17:05:08.347Z,1755882308.347 [DAT](INFO): got valid direction response:
 17:05:09.0935 LVL= 27760, 18577, 19490, 29747, AGC= 51, IDX= 504,-0.23,-1.182, 1.058, 0.222, 0.391, PHS=-1.471, 0.712,-0.213, RAW= 295.0,  10.3, CAL= 292.4,  13.4, ROT= 217.6, -13.4

2025-08-22T17:05:08.348Z,1755882308.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:08.349Z,1755882308.349 [DAT](INFO): direction in FSK: [-0.770720,-0.593535,0.231748]
2025-08-22T17:05:08.349Z,1755882308.349 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:08.368Z,1755882308.368 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:08.368Z,1755882308.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:08.484Z,1755882308.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.504315 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:08.490Z,1755882308.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096375 m,
      bearing: 240.188564 deg,
      lat: 36.779464 deg,
      lon: -121.859641 deg,
      deltaT: 1.007744 s,
      deltaX: -0.298082 m,
      approachRate: -0.295792 m/s,
      posRepo size: 4

2025-08-22T17:05:08.491Z,1755882308.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:08.526Z,1755882308.526 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:08.527Z,1755882308.527 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:08.527Z,1755882308.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:08.782Z,1755882308.782 [DAT](INFO): DAT read: Rx Time:17:05:09.5934 

2025-08-22T17:05:08.784Z,1755882308.784 [DAT](INFO): Rx dataTimestamp_ set to:1755882308.782843
2025-08-22T17:05:08.788Z,1755882308.788 [DAT](INFO): DAT read: Bearing 334.1, -37.9 (Local)

2025-08-22T17:05:08.789Z,1755882308.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1, -37.9 (Local)

2025-08-22T17:05:08.802Z,1755882308.802 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:08.804Z,1755882308.804 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:05:08.819Z,1755882308.819 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:08.819Z,1755882308.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:08.851Z,1755882308.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503789 s,
      deltaX: -0.100000 m,
      approachRate: -0.198497 m/s,
      rangeRepo size: 4

2025-08-22T17:05:08.851Z,1755882308.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:09.034Z,1755882309.034 [DAT](INFO): DAT read: 17:05:09.5934 LVL= 32752, 24849, 24562, 32755, AGC= 50, IDX= 503,-0.07,-2.107, 0.104,-0.703,-0.537, PHS=-1.468, 0.686,-0.210, RAW= 294.5,  10.6, CAL= 291.8,  14.2, ROT= 218.2, -14.2

2025-08-22T17:05:09.035Z,1755882309.035 [DAT](INFO): got valid direction response:
 17:05:09.5934 LVL= 32752, 24849, 24562, 32755, AGC= 50, IDX= 503,-0.07,-2.107, 0.104,-0.703,-0.537, PHS=-1.468, 0.686,-0.210, RAW= 294.5,  10.6, CAL= 291.8,  14.2, ROT= 218.2, -14.2

2025-08-22T17:05:09.036Z,1755882309.036 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:05:09.037Z,1755882309.037 [DAT](INFO): direction in FSK: [-0.761845,-0.599513,0.245307]
2025-08-22T17:05:09.041Z,1755882309.041 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:09.042Z,1755882309.042 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:09.042Z,1755882309.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:09.314Z,1755882309.314 [DAT](INFO): DAT read: Rx Time:17:05:10.0935 

2025-08-22T17:05:09.314Z,1755882309.314 [DAT](INFO): Rx dataTimestamp_ set to:1755882309.313876
2025-08-22T17:05:09.315Z,1755882309.315 [DAT](INFO): DAT read: Bearing 333.5, -38.7 (Local)

2025-08-22T17:05:09.316Z,1755882309.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.5, -38.7 (Local)

2025-08-22T17:05:09.318Z,1755882309.318 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:09.322Z,1755882309.322 [DAT](INFO): DAT read: 17:05:10.0935 LVL= 32560, 21137, 23026, 32755, AGC= 53, IDX= 504, 0.08,-0.157, 2.061, 1.280, 1.429, PHS=-1.484, 0.676,-0.193, RAW= 293.6,  10.7, CAL= 290.9,  14.4, ROT= 219.1, -14.4

2025-08-22T17:05:09.323Z,1755882309.323 [DAT](INFO): got valid direction response:
 17:05:10.0935 LVL= 32560, 21137, 23026, 32755, AGC= 53, IDX= 504, 0.08,-0.157, 2.061, 1.280, 1.429, PHS=-1.484, 0.676,-0.193, RAW= 293.6,  10.7, CAL= 290.9,  14.4, ROT= 219.1, -14.4

2025-08-22T17:05:09.324Z,1755882309.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:09.325Z,1755882309.325 [DAT](INFO): direction in FSK: [-0.751665,-0.610862,0.248690]
2025-08-22T17:05:09.325Z,1755882309.325 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:09.329Z,1755882309.329 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:09.329Z,1755882309.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:09.547Z,1755882309.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.531033 s,
      deltaX: 0.100000 m,
      approachRate: 0.188313 m/s,
      rangeRepo size: 4

2025-08-22T17:05:09.549Z,1755882309.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096399 m,
      bearing: 241.716746 deg,
      lat: 36.779467 deg,
      lon: -121.859642 deg,
      deltaT: 1.034822 s,
      deltaX: 0.000025 m,
      approachRate: 0.000024 m/s,
      posRepo size: 4

2025-08-22T17:05:09.558Z,1755882309.558 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:09.559Z,1755882309.559 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:09.559Z,1755882309.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:09.566Z,1755882309.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:09.814Z,1755882309.814 [DAT](INFO): DAT read: Rx Time:17:05:10.5934 

2025-08-22T17:05:09.814Z,1755882309.814 [DAT](INFO): Rx dataTimestamp_ set to:1755882309.814129
2025-08-22T17:05:09.816Z,1755882309.816 [DAT](INFO): DAT read: Bearing 332.8, -39.3 (Local)

2025-08-22T17:05:09.816Z,1755882309.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8, -39.3 (Local)

2025-08-22T17:05:09.818Z,1755882309.818 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:09.823Z,1755882309.823 [DAT](INFO): DAT read: 17:05:10.5934 LVL= 31472, 20817, 20978, 32403, AGC= 52, IDX= 503, 0.29,-0.551, 1.660, 0.905, 1.042, PHS=-1.491, 0.663,-0.181, RAW= 292.9,  10.7, CAL= 290.2,  14.7, ROT= 219.8, -14.7

2025-08-22T17:05:09.824Z,1755882309.824 [DAT](INFO): got valid direction response:
 17:05:10.5934 LVL= 31472, 20817, 20978, 32403, AGC= 52, IDX= 503, 0.29,-0.551, 1.660, 0.905, 1.042, PHS=-1.491, 0.663,-0.181, RAW= 292.9,  10.7, CAL= 290.2,  14.7, ROT= 219.8, -14.7

2025-08-22T17:05:09.824Z,1755882309.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:09.825Z,1755882309.825 [DAT](INFO): direction in FSK: [-0.743136,-0.619158,0.253758]
2025-08-22T17:05:09.825Z,1755882309.825 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:09.829Z,1755882309.829 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:09.829Z,1755882309.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:09.969Z,1755882309.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.500253 s,
      deltaX: -0.100000 m,
      approachRate: -0.199900 m/s,
      rangeRepo size: 4

2025-08-22T17:05:09.975Z,1755882309.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997038 m,
      bearing: 242.437820 deg,
      lat: 36.779470 deg,
      lon: -121.859643 deg,
      deltaT: 0.500253 s,
      deltaX: -0.099361 m,
      approachRate: -0.198622 m/s,
      posRepo size: 4

2025-08-22T17:05:09.975Z,1755882309.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:05:10.064Z,1755882310.064 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:10.064Z,1755882310.064 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:10.065Z,1755882310.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:10.324Z,1755882310.324 [DAT](INFO): DAT read: Rx Time:17:05:11.0936 

2025-08-22T17:05:10.324Z,1755882310.324 [DAT](INFO): Rx dataTimestamp_ set to:1755882310.323844
2025-08-22T17:05:10.326Z,1755882310.326 [DAT](INFO): DAT read: Bearing 333.4, -39.2 (Local)

2025-08-22T17:05:10.326Z,1755882310.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.4, -39.2 (Local)

2025-08-22T17:05:10.328Z,1755882310.328 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:10.337Z,1755882310.337 [DAT](INFO): DAT read: 17:05:11.0936 LVL= 29120, 19521, 20578, 30051, AGC= 52, IDX= 505,-0.30,-1.918, 0.280,-0.477,-0.343, PHS=-1.473, 0.667,-0.179, RAW= 293.1,  10.6, CAL= 290.5,  14.2, ROT= 219.5, -14.2

2025-08-22T17:05:10.338Z,1755882310.338 [DAT](INFO): got valid direction response:
 17:05:11.0936 LVL= 29120, 19521, 20578, 30051, AGC= 52, IDX= 505,-0.30,-1.918, 0.280,-0.477,-0.343, PHS=-1.473, 0.667,-0.179, RAW= 293.1,  10.6, CAL= 290.5,  14.2, ROT= 219.5, -14.2

2025-08-22T17:05:10.338Z,1755882310.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:10.339Z,1755882310.339 [DAT](INFO): direction in FSK: [-0.748048,-0.616643,0.245307]
2025-08-22T17:05:10.339Z,1755882310.339 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:10.392Z,1755882310.392 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:10.392Z,1755882310.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:10.482Z,1755882310.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.509715 s,
      deltaX: 0.299999 m,
      approachRate: 0.588563 m/s,
      rangeRepo size: 4

2025-08-22T17:05:10.484Z,1755882310.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295122 m,
      bearing: 242.115387 deg,
      lat: 36.779472 deg,
      lon: -121.859643 deg,
      deltaT: 0.509715 s,
      deltaX: 0.298084 m,
      approachRate: 0.584806 m/s,
      posRepo size: 4

2025-08-22T17:05:10.485Z,1755882310.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:10.570Z,1755882310.570 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:10.571Z,1755882310.571 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:10.571Z,1755882310.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:10.823Z,1755882310.823 [DAT](INFO): DAT read: Rx Time:17:05:11.5935 

2025-08-22T17:05:10.824Z,1755882310.824 [DAT](INFO): Rx dataTimestamp_ set to:1755882310.823628
2025-08-22T17:05:10.825Z,1755882310.825 [DAT](INFO): DAT read: Bearing 332.8, -39.4 (Local)

2025-08-22T17:05:10.826Z,1755882310.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8, -39.4 (Local)

2025-08-22T17:05:10.828Z,1755882310.828 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:10.833Z,1755882310.833 [DAT](INFO): DAT read: 17:05:11.5935 LVL= 29904, 21553, 23666, 31523, AGC= 51, IDX= 504,-0.06,-2.617,-0.439,-1.178,-1.047, PHS=-1.468, 0.653,-0.175, RAW= 292.8,  10.7, CAL= 290.1,  14.6, ROT= 219.9, -14.6

2025-08-22T17:05:10.834Z,1755882310.834 [DAT](INFO): got valid direction response:
 17:05:11.5935 LVL= 29904, 21553, 23666, 31523, AGC= 51, IDX= 504,-0.06,-2.617,-0.439,-1.178,-1.047, PHS=-1.468, 0.653,-0.175, RAW= 292.8,  10.7, CAL= 290.1,  14.6, ROT= 219.9, -14.6

2025-08-22T17:05:10.835Z,1755882310.835 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:10.836Z,1755882310.836 [DAT](INFO): direction in FSK: [-0.742393,-0.620737,0.252069]
2025-08-22T17:05:10.836Z,1755882310.836 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:10.839Z,1755882310.839 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:10.839Z,1755882310.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:10.860Z,1755882310.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.499784 s,
      deltaX: -0.199999 m,
      approachRate: -0.400171 m/s,
      rangeRepo size: 4

2025-08-22T17:05:10.867Z,1755882310.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096403 m,
      bearing: 242.559100 deg,
      lat: 36.779473 deg,
      lon: -121.859643 deg,
      deltaT: 0.499784 s,
      deltaX: -0.198719 m,
      approachRate: -0.397610 m/s,
      posRepo size: 4

2025-08-22T17:05:10.867Z,1755882310.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:11.074Z,1755882311.074 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:11.074Z,1755882311.074 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:11.075Z,1755882311.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:11.191Z,1755882311.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:11.327Z,1755882311.327 [DAT](INFO): DAT read: Rx Time:17:05:12.0936 

2025-08-22T17:05:11.328Z,1755882311.328 [DAT](INFO): Rx dataTimestamp_ set to:1755882311.327242
2025-08-22T17:05:11.329Z,1755882311.329 [DAT](INFO): DAT read: Bearing 331.2, -39.4 (Local)

2025-08-22T17:05:11.329Z,1755882311.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.2, -39.4 (Local)

2025-08-22T17:05:11.331Z,1755882311.332 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:11.338Z,1755882311.338 [DAT](INFO): DAT read: 17:05:12.0936 LVL= 30112, 20465, 22802, 30707, AGC= 51, IDX= 505, 0.14, 0.289, 2.453, 1.733, 1.870, PHS=-1.478, 0.628,-0.180, RAW= 292.4,  11.2, CAL= 289.7,  15.8, ROT= 220.3, -15.8

2025-08-22T17:05:11.339Z,1755882311.339 [DAT](INFO): got valid direction response:
 17:05:12.0936 LVL= 30112, 20465, 22802, 30707, AGC= 51, IDX= 505, 0.14, 0.289, 2.453, 1.733, 1.870, PHS=-1.478, 0.628,-0.180, RAW= 292.4,  11.2, CAL= 289.7,  15.8, ROT= 220.3, -15.8

2025-08-22T17:05:11.340Z,1755882311.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:11.341Z,1755882311.341 [DAT](INFO): direction in FSK: [-0.733853,-0.622353,0.272280]
2025-08-22T17:05:11.342Z,1755882311.342 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:11.345Z,1755882311.345 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:11.345Z,1755882311.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:11.578Z,1755882311.578 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:11.579Z,1755882311.579 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:11.579Z,1755882311.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:11.596Z,1755882311.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503614 s,
      deltaX: 0.199999 m,
      approachRate: 0.397127 m/s,
      rangeRepo size: 4

2025-08-22T17:05:11.598Z,1755882311.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295118 m,
      bearing: 243.010088 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.503614 s,
      deltaX: 0.198715 m,
      approachRate: 0.394578 m/s,
      posRepo size: 4

2025-08-22T17:05:11.599Z,1755882311.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:11.832Z,1755882311.832 [DAT](INFO): DAT read: Rx Time:17:05:12.5935 

2025-08-22T17:05:11.833Z,1755882311.833 [DAT](INFO): Rx dataTimestamp_ set to:1755882311.832304
2025-08-22T17:05:11.834Z,1755882311.834 [DAT](INFO): DAT read: Bearing 331.5, -39.7 (Local)

2025-08-22T17:05:11.834Z,1755882311.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.5, -39.7 (Local)

2025-08-22T17:05:11.836Z,1755882311.836 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:11.847Z,1755882311.847 [DAT](INFO): DAT read: 17:05:12.5935 LVL= 29520, 19441, 20706, 30003, AGC= 53, IDX= 504, 0.39,-0.812, 1.353, 0.639, 0.767, PHS=-1.477, 0.631,-0.172, RAW= 292.2,  11.1, CAL= 289.5,  15.4, ROT= 220.5, -15.4

2025-08-22T17:05:11.848Z,1755882311.848 [DAT](INFO): got valid direction response:
 17:05:12.5935 LVL= 29520, 19441, 20706, 30003, AGC= 53, IDX= 504, 0.39,-0.812, 1.353, 0.639, 0.767, PHS=-1.477, 0.631,-0.172, RAW= 292.2,  11.1, CAL= 289.5,  15.4, ROT= 220.5, -15.4

2025-08-22T17:05:11.849Z,1755882311.849 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:11.850Z,1755882311.850 [DAT](INFO): direction in FSK: [-0.733104,-0.626130,0.265556]
2025-08-22T17:05:11.850Z,1755882311.850 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:11.857Z,1755882311.857 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:11.859Z,1755882311.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:11.991Z,1755882311.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.505062 s,
      deltaX: -0.199999 m,
      approachRate: -0.395989 m/s,
      rangeRepo size: 4

2025-08-22T17:05:11.993Z,1755882311.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096399 m,
      bearing: 243.174214 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.505062 s,
      deltaX: -0.198719 m,
      approachRate: -0.393455 m/s,
      posRepo size: 4

2025-08-22T17:05:11.993Z,1755882311.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:12.082Z,1755882312.082 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:12.082Z,1755882312.082 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:12.083Z,1755882312.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:12.335Z,1755882312.335 [DAT](INFO): DAT read: Rx Time:17:05:13.0936 

2025-08-22T17:05:12.336Z,1755882312.336 [DAT](INFO): Rx dataTimestamp_ set to:1755882312.335532
2025-08-22T17:05:12.337Z,1755882312.337 [DAT](INFO): DAT read: Bearing 332.1, -39.8 (Local)

2025-08-22T17:05:12.344Z,1755882312.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.1, -39.8 (Local)

2025-08-22T17:05:12.346Z,1755882312.346 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:12.362Z,1755882312.362 [DAT](INFO): DAT read: 17:05:13.0936 LVL= 29408, 20769, 21810, 29171, AGC= 54, IDX= 505,-0.31,-1.992, 0.158,-0.552,-0.431, PHS=-1.459, 0.634,-0.165, RAW= 292.2,  10.8, CAL= 289.6,  14.9, ROT= 220.4, -14.9

2025-08-22T17:05:12.364Z,1755882312.364 [DAT](INFO): got valid direction response:
 17:05:13.0936 LVL= 29408, 20769, 21810, 29171, AGC= 54, IDX= 505,-0.31,-1.992, 0.158,-0.552,-0.431, PHS=-1.459, 0.634,-0.165, RAW= 292.2,  10.8, CAL= 289.6,  14.9, ROT= 220.4, -14.9

2025-08-22T17:05:12.364Z,1755882312.364 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:12.365Z,1755882312.365 [DAT](INFO): direction in FSK: [-0.735932,-0.626328,0.257133]
2025-08-22T17:05:12.365Z,1755882312.365 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:12.377Z,1755882312.377 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:12.377Z,1755882312.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:12.509Z,1755882312.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503228 s,
      deltaX: 0.199999 m,
      approachRate: 0.397432 m/s,
      rangeRepo size: 4

2025-08-22T17:05:12.515Z,1755882312.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295099 m,
      bearing: 243.043779 deg,
      lat: 36.779473 deg,
      lon: -121.859646 deg,
      deltaT: 0.503228 s,
      deltaX: 0.198700 m,
      approachRate: 0.394851 m/s,
      posRepo size: 4

2025-08-22T17:05:12.515Z,1755882312.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:12.587Z,1755882312.587 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:12.587Z,1755882312.587 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:12.588Z,1755882312.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:12.831Z,1755882312.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:12.839Z,1755882312.839 [DAT](INFO): DAT read: Rx Time:17:05:13.5935 

2025-08-22T17:05:12.840Z,1755882312.840 [DAT](INFO): Rx dataTimestamp_ set to:1755882312.839356
2025-08-22T17:05:12.841Z,1755882312.841 [DAT](INFO): DAT read: Bearing 331.7, -39.8 (Local)

2025-08-22T17:05:12.841Z,1755882312.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.7, -39.8 (Local)

2025-08-22T17:05:12.843Z,1755882312.843 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:12.848Z,1755882312.848 [DAT](INFO): DAT read: 17:05:13.5935 LVL= 31392, 20561, 23218, 32499, AGC= 53, IDX= 504,-0.16, 2.646,-1.501,-2.202,-2.081, PHS=-1.455, 0.625,-0.166, RAW= 292.1,  10.9, CAL= 289.5,  15.2, ROT= 220.5, -15.2

2025-08-22T17:05:12.849Z,1755882312.849 [DAT](INFO): got valid direction response:
 17:05:13.5935 LVL= 31392, 20561, 23218, 32499, AGC= 53, IDX= 504,-0.16, 2.646,-1.501,-2.202,-2.081, PHS=-1.455, 0.625,-0.166, RAW= 292.1,  10.9, CAL= 289.5,  15.2, ROT= 220.5, -15.2

2025-08-22T17:05:12.849Z,1755882312.849 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:12.850Z,1755882312.850 [DAT](INFO): direction in FSK: [-0.733804,-0.626728,0.262189]
2025-08-22T17:05:12.851Z,1755882312.851 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:12.866Z,1755882312.866 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:12.866Z,1755882312.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:13.090Z,1755882313.090 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:13.090Z,1755882313.090 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:13.091Z,1755882313.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:13.227Z,1755882313.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503824 s,
      deltaX: -0.199999 m,
      approachRate: -0.396962 m/s,
      rangeRepo size: 4

2025-08-22T17:05:13.229Z,1755882313.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096382 m,
      bearing: 243.146161 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.503824 s,
      deltaX: -0.198717 m,
      approachRate: -0.394418 m/s,
      posRepo size: 4

2025-08-22T17:05:13.230Z,1755882313.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:13.343Z,1755882313.343 [DAT](INFO): DAT read: Rx Time:17:05:14.0936 

2025-08-22T17:05:13.344Z,1755882313.344 [DAT](INFO): Rx dataTimestamp_ set to:1755882313.343302
2025-08-22T17:05:13.346Z,1755882313.346 [DAT](INFO): DAT read: Bearing 331.9, -40.1 (Local)

2025-08-22T17:05:13.346Z,1755882313.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.9, -40.1 (Local)

2025-08-22T17:05:13.349Z,1755882313.349 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:13.355Z,1755882313.355 [DAT](INFO): DAT read: 17:05:14.0936 LVL= 32752, 21809, 21106, 31219, AGC= 55, IDX= 505,-0.08,-2.045, 0.088,-0.606,-0.492, PHS=-1.451, 0.625,-0.158, RAW= 291.9,  10.8, CAL= 289.3,  14.9, ROT= 220.7, -14.9

2025-08-22T17:05:13.356Z,1755882313.356 [DAT](INFO): got valid direction response:
 17:05:14.0936 LVL= 32752, 21809, 21106, 31219, AGC= 55, IDX= 505,-0.08,-2.045, 0.088,-0.606,-0.492, PHS=-1.451, 0.625,-0.158, RAW= 291.9,  10.8, CAL= 289.3,  14.9, ROT= 220.7, -14.9

2025-08-22T17:05:13.356Z,1755882313.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:13.357Z,1755882313.357 [DAT](INFO): direction in FSK: [-0.732643,-0.630172,0.257133]
2025-08-22T17:05:13.358Z,1755882313.358 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:13.361Z,1755882313.361 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:13.362Z,1755882313.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:13.594Z,1755882313.594 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:13.594Z,1755882313.594 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:13.595Z,1755882313.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:13.658Z,1755882313.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.503946 s,
      deltaX: 0.199999 m,
      approachRate: 0.396866 m/s,
      rangeRepo size: 4

2025-08-22T17:05:13.660Z,1755882313.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295103 m,
      bearing: 243.316163 deg,
      lat: 36.779472 deg,
      lon: -121.859646 deg,
      deltaT: 0.503946 s,
      deltaX: 0.198721 m,
      approachRate: 0.394330 m/s,
      posRepo size: 4

2025-08-22T17:05:13.660Z,1755882313.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:13.847Z,1755882313.847 [DAT](INFO): DAT read: Rx Time:17:05:14.5935 

2025-08-22T17:05:13.847Z,1755882313.847 [DAT](INFO): Rx dataTimestamp_ set to:1755882313.847218
2025-08-22T17:05:13.849Z,1755882313.849 [DAT](INFO): DAT read: Bearing 330.7, -39.9 (Local)

2025-08-22T17:05:13.849Z,1755882313.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.7, -39.9 (Local)

2025-08-22T17:05:13.851Z,1755882313.851 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:13.856Z,1755882313.856 [DAT](INFO): DAT read: 17:05:14.5935 LVL= 32688, 22385, 25234, 32755, AGC= 54, IDX= 504,-0.05, 2.762,-1.402,-2.086,-1.964, PHS=-1.455, 0.607,-0.166, RAW= 291.8,  11.2, CAL= 289.1,  15.9, ROT= 220.9, -15.9

2025-08-22T17:05:13.857Z,1755882313.857 [DAT](INFO): got valid direction response:
 17:05:14.5935 LVL= 32688, 22385, 25234, 32755, AGC= 54, IDX= 504,-0.05, 2.762,-1.402,-2.086,-1.964, PHS=-1.455, 0.607,-0.166, RAW= 291.8,  11.2, CAL= 289.1,  15.9, ROT= 220.9, -15.9

2025-08-22T17:05:13.857Z,1755882313.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:13.861Z,1755882313.861 [DAT](INFO): direction in FSK: [-0.726936,-0.629691,0.273959]
2025-08-22T17:05:13.861Z,1755882313.861 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:13.864Z,1755882313.864 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:13.865Z,1755882313.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:14.020Z,1755882314.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503916 s,
      deltaX: -0.199999 m,
      approachRate: -0.396889 m/s,
      rangeRepo size: 4

2025-08-22T17:05:14.026Z,1755882314.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096382 m,
      bearing: 243.569036 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.503916 s,
      deltaX: -0.198721 m,
      approachRate: -0.394353 m/s,
      posRepo size: 4

2025-08-22T17:05:14.027Z,1755882314.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:14.098Z,1755882314.098 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:14.099Z,1755882314.099 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:14.099Z,1755882314.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:14.354Z,1755882314.354 [DAT](INFO): DAT read: Rx Time:17:05:15.0936 

2025-08-22T17:05:14.354Z,1755882314.354 [DAT](INFO): Rx dataTimestamp_ set to:1755882314.353827
2025-08-22T17:05:14.355Z,1755882314.355 [DAT](INFO): DAT read: Bearing 331.3, -40.4 (Local)

2025-08-22T17:05:14.356Z,1755882314.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.3, -40.4 (Local)

2025-08-22T17:05:14.358Z,1755882314.358 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:14.377Z,1755882314.377 [DAT](INFO): DAT read: 17:05:15.0936 LVL= 32752, 23089, 22258, 31731, AGC= 53, IDX= 505,-0.06,-2.528,-0.408,-1.083,-0.976, PHS=-1.450, 0.612,-0.152, RAW= 291.5,  11.0, CAL= 288.9,  15.2, ROT= 221.1, -15.2

2025-08-22T17:05:14.383Z,1755882314.383 [DAT](INFO): got valid direction response:
 17:05:15.0936 LVL= 32752, 23089, 22258, 31731, AGC= 53, IDX= 505,-0.06,-2.528,-0.408,-1.083,-0.976, PHS=-1.450, 0.612,-0.152, RAW= 291.5,  11.0, CAL= 288.9,  15.2, ROT= 221.1, -15.2

2025-08-22T17:05:14.383Z,1755882314.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:14.385Z,1755882314.385 [DAT](INFO): direction in FSK: [-0.727201,-0.634378,0.262189]
2025-08-22T17:05:14.405Z,1755882314.405 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:14.409Z,1755882314.409 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:14.409Z,1755882314.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:14.543Z,1755882314.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.506609 s,
      deltaX: 0.199999 m,
      approachRate: 0.394780 m/s,
      rangeRepo size: 4

2025-08-22T17:05:14.549Z,1755882314.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.295109 m,
      bearing: 243.732678 deg,
      lat: 36.779472 deg,
      lon: -121.859646 deg,
      deltaT: 0.506609 s,
      deltaX: 0.198727 m,
      approachRate: 0.392268 m/s,
      posRepo size: 4

2025-08-22T17:05:14.550Z,1755882314.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:14.603Z,1755882314.603 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:14.603Z,1755882314.603 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:14.604Z,1755882314.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:14.846Z,1755882314.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T17:05:14.855Z,1755882314.855 [DAT](INFO): DAT read: Rx Time:17:05:15.5935 

2025-08-22T17:05:14.856Z,1755882314.856 [DAT](INFO): Rx dataTimestamp_ set to:1755882314.855431
2025-08-22T17:05:14.857Z,1755882314.857 [DAT](INFO): DAT read: Bearing 330.4, -40.3 (Local)

2025-08-22T17:05:14.858Z,1755882314.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.4, -40.3 (Local)

2025-08-22T17:05:14.860Z,1755882314.860 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:14.864Z,1755882314.864 [DAT](INFO): DAT read: 17:05:15.5935 LVL= 32480, 21441, 23730, 32563, AGC= 54, IDX= 504,-0.11, 2.628,-1.545,-2.213,-2.100, PHS=-1.453, 0.601,-0.156, RAW= 291.4,  11.2, CAL= 288.8,  15.8, ROT= 221.2, -15.8

2025-08-22T17:05:14.874Z,1755882314.874 [DAT](INFO): got valid direction response:
 17:05:15.5935 LVL= 32480, 21441, 23730, 32563, AGC= 54, IDX= 504,-0.11, 2.628,-1.545,-2.213,-2.100, PHS=-1.453, 0.601,-0.156, RAW= 291.4,  11.2, CAL= 288.8,  15.8, ROT= 221.2, -15.8

2025-08-22T17:05:14.874Z,1755882314.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:14.875Z,1755882314.875 [DAT](INFO): direction in FSK: [-0.723987,-0.633803,0.272280]
2025-08-22T17:05:14.875Z,1755882314.875 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:14.887Z,1755882314.887 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:14.887Z,1755882314.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:15.106Z,1755882315.106 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:15.106Z,1755882315.106 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:15.107Z,1755882315.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:15.359Z,1755882315.359 [DAT](INFO): DAT read: Rx Time:17:05:16.0936 

2025-08-22T17:05:15.360Z,1755882315.360 [DAT](INFO): Rx dataTimestamp_ set to:1755882315.359622
2025-08-22T17:05:15.361Z,1755882315.361 [DAT](INFO): DAT read: Bearing 330.5, -40.4 (Local)

2025-08-22T17:05:15.362Z,1755882315.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.5, -40.4 (Local)

2025-08-22T17:05:15.364Z,1755882315.364 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.0

2025-08-22T17:05:15.368Z,1755882315.368 [DAT](INFO): DAT read: 17:05:16.0936 LVL= 32752, 20785, 21170, 32499, AGC= 53, IDX= 505,-0.17,-2.653,-0.545,-1.210,-1.100, PHS=-1.451, 0.600,-0.154, RAW= 291.3,  11.2, CAL= 288.7,  15.8, ROT= 221.3, -15.8

2025-08-22T17:05:15.369Z,1755882315.369 [DAT](INFO): got valid direction response:
 17:05:16.0936 LVL= 32752, 20785, 21170, 32499, AGC= 53, IDX= 505,-0.17,-2.653,-0.545,-1.210,-1.100, PHS=-1.451, 0.600,-0.154, RAW= 291.3,  11.2, CAL= 288.7,  15.8, ROT= 221.3, -15.8

2025-08-22T17:05:15.370Z,1755882315.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:15.371Z,1755882315.371 [DAT](INFO): direction in FSK: [-0.722880,-0.635065,0.272280]
2025-08-22T17:05:15.371Z,1755882315.371 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:15.374Z,1755882315.374 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:15.375Z,1755882315.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:15.388Z,1755882315.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 1.005795 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:15.394Z,1755882315.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096384 m,
      bearing: 243.864728 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.501604 s,
      deltaX: -0.198725 m,
      approachRate: -0.396179 m/s,
      posRepo size: 4

2025-08-22T17:05:15.394Z,1755882315.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:15.610Z,1755882315.610 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:15.610Z,1755882315.610 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:15.611Z,1755882315.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:15.711Z,1755882315.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:15.863Z,1755882315.863 [DAT](INFO): DAT read: Rx Time:17:05:16.5935 

2025-08-22T17:05:15.864Z,1755882315.864 [DAT](INFO): Rx dataTimestamp_ set to:1755882315.863271
2025-08-22T17:05:15.865Z,1755882315.865 [DAT](INFO): DAT read: Bearing 329.6, -40.4 (Local)

2025-08-22T17:05:15.865Z,1755882315.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.6, -40.4 (Local)

2025-08-22T17:05:15.867Z,1755882315.867 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.0

2025-08-22T17:05:15.872Z,1755882315.872 [DAT](INFO): DAT read: 17:05:16.5935 LVL= 32752, 23185, 21810, 31987, AGC= 53, IDX= 504,-0.28, 2.683,-1.510,-2.160,-2.049, PHS=-1.449, 0.585,-0.155, RAW= 291.0,  11.4, CAL= 288.4,  16.4, ROT= 221.6, -16.4

2025-08-22T17:05:15.873Z,1755882315.873 [DAT](INFO): got valid direction response:
 17:05:16.5935 LVL= 32752, 23185, 21810, 31987, AGC= 53, IDX= 504,-0.28, 2.683,-1.510,-2.160,-2.049, PHS=-1.449, 0.585,-0.155, RAW= 291.0,  11.4, CAL= 288.4,  16.4, ROT= 221.6, -16.4

2025-08-22T17:05:15.873Z,1755882315.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:15.889Z,1755882315.889 [DAT](INFO): direction in FSK: [-0.717373,-0.636914,0.282341]
2025-08-22T17:05:15.889Z,1755882315.889 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:15.907Z,1755882315.907 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:15.908Z,1755882315.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:16.076Z,1755882316.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503649 s,
      deltaX: -0.199999 m,
      approachRate: -0.397100 m/s,
      rangeRepo size: 4

2025-08-22T17:05:16.078Z,1755882316.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096384 m,
      bearing: 244.274889 deg,
      lat: 36.779472 deg,
      lon: -121.859645 deg,
      deltaT: 1.007840 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:05:16.079Z,1755882316.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:05:16.116Z,1755882316.116 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:16.116Z,1755882316.116 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:16.117Z,1755882316.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:16.371Z,1755882316.371 [DAT](INFO): DAT read: Rx Time:17:05:17.0934 

2025-08-22T17:05:16.372Z,1755882316.372 [DAT](INFO): Rx dataTimestamp_ set to:1755882316.371290
2025-08-22T17:05:16.376Z,1755882316.376 [DAT](INFO): DAT read: Bearing 328.9, -40.5 (Local)

2025-08-22T17:05:16.377Z,1755882316.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.9, -40.5 (Local)

2025-08-22T17:05:16.384Z,1755882316.384 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:16.389Z,1755882316.389 [DAT](INFO): DAT read: 17:05:17.0934 LVL= 32752, 23969, 22322, 32755, AGC= 53, IDX= 504,-0.42, 2.798,-1.401,-2.038,-1.930, PHS=-1.453, 0.573,-0.152, RAW= 290.7,  11.6, CAL= 288.1,  16.8, ROT= 221.9, -16.8

2025-08-22T17:05:16.391Z,1755882316.391 [DAT](INFO): got valid direction response:
 17:05:17.0934 LVL= 32752, 23969, 22322, 32755, AGC= 53, IDX= 504,-0.42, 2.798,-1.401,-2.038,-1.930, PHS=-1.453, 0.573,-0.152, RAW= 290.7,  11.6, CAL= 288.1,  16.8, ROT= 221.9, -16.8

2025-08-22T17:05:16.391Z,1755882316.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:16.392Z,1755882316.392 [DAT](INFO): direction in FSK: [-0.712544,-0.639329,0.289032]
2025-08-22T17:05:16.392Z,1755882316.392 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:16.396Z,1755882316.396 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:16.396Z,1755882316.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:16.544Z,1755882316.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508019 s,
      deltaX: -0.100000 m,
      approachRate: -0.196844 m/s,
      rangeRepo size: 4

2025-08-22T17:05:16.550Z,1755882316.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997051 m,
      bearing: 244.594961 deg,
      lat: 36.779472 deg,
      lon: -121.859645 deg,
      deltaT: 0.508019 s,
      deltaX: -0.099333 m,
      approachRate: -0.195530 m/s,
      posRepo size: 4

2025-08-22T17:05:16.551Z,1755882316.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:05:16.619Z,1755882316.619 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:16.620Z,1755882316.620 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:16.621Z,1755882316.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:16.871Z,1755882316.871 [DAT](INFO): DAT read: Rx Time:17:05:17.5933 

2025-08-22T17:05:16.872Z,1755882316.872 [DAT](INFO): Rx dataTimestamp_ set to:1755882316.871641
2025-08-22T17:05:16.873Z,1755882316.873 [DAT](INFO): DAT read: Bearing 328.3, -40.6 (Local)

2025-08-22T17:05:16.874Z,1755882316.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.3, -40.6 (Local)

2025-08-22T17:05:16.876Z,1755882316.876 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:16.880Z,1755882316.880 [DAT](INFO): DAT read: 17:05:17.5933 LVL= 32752, 22385, 21266, 32499, AGC= 53, IDX= 502, 0.39, 3.057,-1.144,-1.767,-1.663, PHS=-1.461, 0.564,-0.148, RAW= 290.3,  11.7, CAL= 287.7,  17.1, ROT= 222.3, -17.1

2025-08-22T17:05:16.881Z,1755882316.881 [DAT](INFO): got valid direction response:
 17:05:17.5933 LVL= 32752, 22385, 21266, 32499, AGC= 53, IDX= 502, 0.39, 3.057,-1.144,-1.767,-1.663, PHS=-1.461, 0.564,-0.148, RAW= 290.3,  11.7, CAL= 287.7,  17.1, ROT= 222.3, -17.1

2025-08-22T17:05:16.882Z,1755882316.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:16.883Z,1755882316.883 [DAT](INFO): direction in FSK: [-0.706934,-0.643261,0.294040]
2025-08-22T17:05:16.883Z,1755882316.883 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:16.890Z,1755882316.890 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:16.891Z,1755882316.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:16.897Z,1755882316.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.500351 s,
      deltaX: -0.200001 m,
      approachRate: -0.399721 m/s,
      rangeRepo size: 4

2025-08-22T17:05:16.900Z,1755882316.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798329 m,
      bearing: 244.996053 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.500351 s,
      deltaX: -0.198722 m,
      approachRate: -0.397165 m/s,
      posRepo size: 4

2025-08-22T17:05:16.900Z,1755882316.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:17.123Z,1755882317.123 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:17.123Z,1755882317.123 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:17.123Z,1755882317.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:17.357Z,1755882317.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:17.380Z,1755882317.380 [DAT](INFO): DAT read: Rx Time:17:05:18.0934 

2025-08-22T17:05:17.382Z,1755882317.382 [DAT](INFO): Rx dataTimestamp_ set to:1755882317.380628
2025-08-22T17:05:17.384Z,1755882317.384 [DAT](INFO): DAT read: Bearing 326.9, -40.6 (Local)

2025-08-22T17:05:17.385Z,1755882317.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9, -40.6 (Local)

2025-08-22T17:05:17.387Z,1755882317.387 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:17.391Z,1755882317.391 [DAT](INFO): DAT read: 17:05:18.0934 LVL= 32752, 23793, 21602, 32755, AGC= 53, IDX= 503, 0.24,-1.138, 0.950, 0.340, 0.447, PHS=-1.483, 0.549,-0.151, RAW= 289.8,  12.1, CAL= 287.3,  18.1, ROT= 222.7, -18.1

2025-08-22T17:05:17.392Z,1755882317.392 [DAT](INFO): got valid direction response:
 17:05:18.0934 LVL= 32752, 23793, 21602, 32755, AGC= 53, IDX= 503, 0.24,-1.138, 0.950, 0.340, 0.447, PHS=-1.483, 0.549,-0.151, RAW= 289.8,  12.1, CAL= 287.3,  18.1, ROT= 222.7, -18.1

2025-08-22T17:05:17.392Z,1755882317.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:17.393Z,1755882317.393 [DAT](INFO): direction in FSK: [-0.698548,-0.644601,0.310676]
2025-08-22T17:05:17.394Z,1755882317.394 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:17.397Z,1755882317.397 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:17.397Z,1755882317.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:17.627Z,1755882317.627 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:17.628Z,1755882317.628 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:17.628Z,1755882317.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:17.718Z,1755882317.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508987 s,
      deltaX: 0.200001 m,
      approachRate: 0.392939 m/s,
      rangeRepo size: 4

2025-08-22T17:05:17.720Z,1755882317.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997042 m,
      bearing: 245.435885 deg,
      lat: 36.779472 deg,
      lon: -121.859644 deg,
      deltaT: 0.508987 s,
      deltaX: 0.198712 m,
      approachRate: 0.390408 m/s,
      posRepo size: 4

2025-08-22T17:05:17.721Z,1755882317.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:05:17.879Z,1755882317.879 [DAT](INFO): DAT read: Rx Time:17:05:18.5933 

2025-08-22T17:05:17.880Z,1755882317.880 [DAT](INFO): Rx dataTimestamp_ set to:1755882317.879401
2025-08-22T17:05:17.881Z,1755882317.881 [DAT](INFO): DAT read: Bearing 326.7, -40.6 (Local)

2025-08-22T17:05:17.881Z,1755882317.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.7, -40.6 (Local)

2025-08-22T17:05:17.883Z,1755882317.883 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:17.888Z,1755882317.888 [DAT](INFO): DAT read: 17:05:18.5933 LVL= 32368, 22337, 21362, 31827, AGC= 53, IDX= 502, 0.16,-2.506,-0.425,-1.031,-0.924, PHS=-1.479, 0.544,-0.150, RAW= 289.7,  12.2, CAL= 287.2,  18.2, ROT= 222.8, -18.2

2025-08-22T17:05:17.889Z,1755882317.889 [DAT](INFO): got valid direction response:
 17:05:18.5933 LVL= 32368, 22337, 21362, 31827, AGC= 53, IDX= 502, 0.16,-2.506,-0.425,-1.031,-0.924, PHS=-1.479, 0.544,-0.150, RAW= 289.7,  12.2, CAL= 287.2,  18.2, ROT= 222.8, -18.2

2025-08-22T17:05:17.889Z,1755882317.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:17.890Z,1755882317.890 [DAT](INFO): direction in FSK: [-0.697023,-0.645450,0.312335]
2025-08-22T17:05:17.891Z,1755882317.891 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:17.899Z,1755882317.899 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:17.899Z,1755882317.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:18.091Z,1755882318.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.498773 s,
      deltaX: -0.200001 m,
      approachRate: -0.400986 m/s,
      rangeRepo size: 4

2025-08-22T17:05:18.093Z,1755882318.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798318 m,
      bearing: 245.522280 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.498773 s,
      deltaX: -0.198724 m,
      approachRate: -0.398425 m/s,
      posRepo size: 4

2025-08-22T17:05:18.094Z,1755882318.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:18.131Z,1755882318.131 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:18.131Z,1755882318.131 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:18.132Z,1755882318.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:18.387Z,1755882318.387 [DAT](INFO): DAT read: Rx Time:17:05:19.0934 

2025-08-22T17:05:18.389Z,1755882318.389 [DAT](INFO): Rx dataTimestamp_ set to:1755882318.387732
2025-08-22T17:05:18.392Z,1755882318.392 [DAT](INFO): DAT read: Bearing 325.9, -40.7 (Local)

2025-08-22T17:05:18.393Z,1755882318.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.9, -40.7 (Local)

2025-08-22T17:05:18.404Z,1755882318.404 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:18.437Z,1755882318.437 [DAT](INFO): DAT read: 17:05:19.0934 LVL= 32752, 22593, 24130, 32755, AGC= 52, IDX= 503, 0.12,-1.207, 0.875, 0.281, 0.386, PHS=-1.491, 0.534,-0.150, RAW= 289.4,  12.4, CAL= 286.9,  18.7, ROT= 223.1, -18.7

2025-08-22T17:05:18.446Z,1755882318.446 [DAT](INFO): got valid direction response:
 17:05:19.0934 LVL= 32752, 22593, 24130, 32755, AGC= 52, IDX= 503, 0.12,-1.207, 0.875, 0.281, 0.386, PHS=-1.491, 0.534,-0.150, RAW= 289.4,  12.4, CAL= 286.9,  18.7, ROT= 223.1, -18.7

2025-08-22T17:05:18.446Z,1755882318.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:18.447Z,1755882318.447 [DAT](INFO): direction in FSK: [-0.691617,-0.647204,0.320613]
2025-08-22T17:05:18.448Z,1755882318.448 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:18.467Z,1755882318.467 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:18.468Z,1755882318.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:18.580Z,1755882318.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508331 s,
      deltaX: 0.200001 m,
      approachRate: 0.393446 m/s,
      rangeRepo size: 4

2025-08-22T17:05:18.587Z,1755882318.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997039 m,
      bearing: 245.824913 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.508331 s,
      deltaX: 0.198721 m,
      approachRate: 0.390928 m/s,
      posRepo size: 4

2025-08-22T17:05:18.587Z,1755882318.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:05:18.635Z,1755882318.635 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:18.636Z,1755882318.636 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:18.636Z,1755882318.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:18.887Z,1755882318.887 [DAT](INFO): DAT read: Rx Time:17:05:19.5933 

2025-08-22T17:05:18.887Z,1755882318.887 [DAT](INFO): Rx dataTimestamp_ set to:1755882318.887128
2025-08-22T17:05:18.889Z,1755882318.889 [DAT](INFO): DAT read: Bearing 325.9, -40.7 (Local)

2025-08-22T17:05:18.889Z,1755882318.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.9, -40.7 (Local)

2025-08-22T17:05:18.892Z,1755882318.892 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:18.896Z,1755882318.896 [DAT](INFO): DAT read: 17:05:19.5933 LVL= 31648, 21729, 21122, 31987, AGC= 52, IDX= 502, 0.11,-2.610,-0.532,-1.124,-1.019, PHS=-1.488, 0.533,-0.149, RAW= 289.4,  12.4, CAL= 286.8,  18.7, ROT= 223.2, -18.7

2025-08-22T17:05:18.897Z,1755882318.897 [DAT](INFO): got valid direction response:
 17:05:19.5933 LVL= 31648, 21729, 21122, 31987, AGC= 52, IDX= 502, 0.11,-2.610,-0.532,-1.124,-1.019, PHS=-1.488, 0.533,-0.149, RAW= 289.4,  12.4, CAL= 286.8,  18.7, ROT= 223.2, -18.7

2025-08-22T17:05:18.898Z,1755882318.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:18.899Z,1755882318.899 [DAT](INFO): direction in FSK: [-0.690487,-0.648410,0.320613]
2025-08-22T17:05:18.899Z,1755882318.899 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:18.902Z,1755882318.902 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:18.902Z,1755882318.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:18.996Z,1755882318.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.499396 s,
      deltaX: -0.200001 m,
      approachRate: -0.400485 m/s,
      rangeRepo size: 4

2025-08-22T17:05:19.003Z,1755882319.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798318 m,
      bearing: 245.921368 deg,
      lat: 36.779474 deg,
      lon: -121.859642 deg,
      deltaT: 0.499396 s,
      deltaX: -0.198721 m,
      approachRate: -0.397923 m/s,
      posRepo size: 4

2025-08-22T17:05:19.003Z,1755882319.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:19.139Z,1755882319.139 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:19.139Z,1755882319.139 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:19.140Z,1755882319.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:19.327Z,1755882319.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:19.396Z,1755882319.396 [DAT](INFO): DAT read: Rx Time:17:05:20.0934 

2025-08-22T17:05:19.397Z,1755882319.397 [DAT](INFO): Rx dataTimestamp_ set to:1755882319.395965
2025-08-22T17:05:19.401Z,1755882319.401 [DAT](INFO): DAT read: Bearing 325.3, -40.6 (Local)

2025-08-22T17:05:19.402Z,1755882319.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.3, -40.6 (Local)

2025-08-22T17:05:19.409Z,1755882319.409 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.0

2025-08-22T17:05:19.418Z,1755882319.418 [DAT](INFO): DAT read: 17:05:20.0934 LVL= 32752, 22001, 22610, 32755, AGC= 51, IDX= 503, 0.14,-1.951, 0.118,-0.467,-0.360, PHS=-1.489, 0.523,-0.150, RAW= 289.2,  12.5, CAL= 286.7,  19.2, ROT= 223.3, -19.2

2025-08-22T17:05:19.419Z,1755882319.419 [DAT](INFO): got valid direction response:
 17:05:20.0934 LVL= 32752, 22001, 22610, 32755, AGC= 51, IDX= 503, 0.14,-1.951, 0.118,-0.467,-0.360, PHS=-1.489, 0.523,-0.150, RAW= 289.2,  12.5, CAL= 286.7,  19.2, ROT= 223.3, -19.2

2025-08-22T17:05:19.420Z,1755882319.420 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:19.421Z,1755882319.421 [DAT](INFO): direction in FSK: [-0.687291,-0.647671,0.328867]
2025-08-22T17:05:19.421Z,1755882319.421 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:19.425Z,1755882319.425 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:19.425Z,1755882319.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:19.642Z,1755882319.642 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:19.642Z,1755882319.642 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:19.643Z,1755882319.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:19.835Z,1755882319.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.508837 s,
      deltaX: 0.200001 m,
      approachRate: 0.393055 m/s,
      rangeRepo size: 4

2025-08-22T17:05:19.837Z,1755882319.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997026 m,
      bearing: 246.041168 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 0.508837 s,
      deltaX: 0.198709 m,
      approachRate: 0.390515 m/s,
      posRepo size: 4

2025-08-22T17:05:19.838Z,1755882319.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:05:19.897Z,1755882319.897 [DAT](INFO): DAT read: Rx Time:17:05:20.5932 

2025-08-22T17:05:19.897Z,1755882319.897 [DAT](INFO): Rx dataTimestamp_ set to:1755882319.896692
2025-08-22T17:05:19.899Z,1755882319.899 [DAT](INFO): DAT read: Bearing 324.6, -40.5 (Local)

2025-08-22T17:05:19.900Z,1755882319.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.6, -40.5 (Local)

2025-08-22T17:05:19.903Z,1755882319.903 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:19.909Z,1755882319.909 [DAT](INFO): DAT read: 17:05:20.5932 LVL= 31152, 20689, 21938, 32755, AGC= 50, IDX= 502, 0.20, 3.026,-1.201,-1.775,-1.667, PHS=-1.488, 0.511,-0.151, RAW= 289.0,  12.7, CAL= 286.5,  19.7, ROT= 223.5, -19.7

2025-08-22T17:05:19.911Z,1755882319.911 [DAT](INFO): got valid direction response:
 17:05:20.5932 LVL= 31152, 20689, 21938, 32755, AGC= 50, IDX= 502, 0.20, 3.026,-1.201,-1.775,-1.667, PHS=-1.488, 0.511,-0.151, RAW= 289.0,  12.7, CAL= 286.5,  19.7, ROT= 223.5, -19.7

2025-08-22T17:05:19.911Z,1755882319.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:19.913Z,1755882319.913 [DAT](INFO): direction in FSK: [-0.682919,-0.648066,0.337095]
2025-08-22T17:05:19.913Z,1755882319.913 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:19.937Z,1755882319.937 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:19.937Z,1755882319.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:20.146Z,1755882320.146 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:20.147Z,1755882320.147 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:20.147Z,1755882320.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:20.186Z,1755882320.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.500727 s,
      deltaX: -0.300000 m,
      approachRate: -0.599129 m/s,
      rangeRepo size: 4

2025-08-22T17:05:20.189Z,1755882320.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698935 m,
      bearing: 246.294019 deg,
      lat: 36.779474 deg,
      lon: -121.859642 deg,
      deltaT: 0.500727 s,
      deltaX: -0.298092 m,
      approachRate: -0.595318 m/s,
      posRepo size: 4

2025-08-22T17:05:20.189Z,1755882320.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:20.403Z,1755882320.403 [DAT](INFO): DAT read: Rx Time:17:05:21.0932 

2025-08-22T17:05:20.404Z,1755882320.404 [DAT](INFO): Rx dataTimestamp_ set to:1755882320.403185
2025-08-22T17:05:20.412Z,1755882320.412 [DAT](INFO): DAT read: Bearing 324.3, -40.6 (Local)

2025-08-22T17:05:20.413Z,1755882320.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.3, -40.6 (Local)

2025-08-22T17:05:20.446Z,1755882320.446 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:20.459Z,1755882320.459 [DAT](INFO): DAT read: 17:05:21.0932 LVL= 31408, 19921, 21154, 31715, AGC= 51, IDX= 502, 0.29,-2.944,-0.881,-1.451,-1.346, PHS=-1.496, 0.510,-0.149, RAW= 288.8,  12.8, CAL= 286.3,  19.8, ROT= 223.7, -19.8

2025-08-22T17:05:20.460Z,1755882320.460 [DAT](INFO): got valid direction response:
 17:05:21.0932 LVL= 31408, 19921, 21154, 31715, AGC= 51, IDX= 502, 0.29,-2.944,-0.881,-1.451,-1.346, PHS=-1.496, 0.510,-0.149, RAW= 288.8,  12.8, CAL= 286.3,  19.8, ROT= 223.7, -19.8

2025-08-22T17:05:20.461Z,1755882320.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:20.462Z,1755882320.462 [DAT](INFO): direction in FSK: [-0.680226,-0.650038,0.338738]
2025-08-22T17:05:20.462Z,1755882320.462 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:20.490Z,1755882320.490 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:20.490Z,1755882320.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:20.602Z,1755882320.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.506493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:20.604Z,1755882320.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698935 m,
      bearing: 246.499377 deg,
      lat: 36.779474 deg,
      lon: -121.859642 deg,
      deltaT: 0.506493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:05:20.605Z,1755882320.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:20.650Z,1755882320.650 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:20.650Z,1755882320.650 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:20.651Z,1755882320.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:20.903Z,1755882320.903 [DAT](INFO): DAT read: Rx Time:17:05:21.5931 

2025-08-22T17:05:20.903Z,1755882320.903 [DAT](INFO): Rx dataTimestamp_ set to:1755882320.903178
2025-08-22T17:05:20.905Z,1755882320.905 [DAT](INFO): DAT read: Bearing 324.5, -40.2 (Local)

2025-08-22T17:05:20.905Z,1755882320.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.5, -40.2 (Local)

2025-08-22T17:05:20.907Z,1755882320.907 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-08-22T17:05:20.912Z,1755882320.912 [DAT](INFO): DAT read: 17:05:21.5931 LVL= 31216, 19633, 20466, 31459, AGC= 51, IDX= 502,-0.50, 0.162, 2.236, 1.647, 1.764, PHS=-1.500, 0.517,-0.161, RAW= 289.3,  12.8, CAL= 286.8,  19.9, ROT= 223.2, -19.9

2025-08-22T17:05:20.913Z,1755882320.913 [DAT](INFO): got valid direction response:
 17:05:21.5931 LVL= 31216, 19633, 20466, 31459, AGC= 51, IDX= 502,-0.50, 0.162, 2.236, 1.647, 1.764, PHS=-1.500, 0.517,-0.161, RAW= 289.3,  12.8, CAL= 286.8,  19.9, ROT= 223.2, -19.9

2025-08-22T17:05:20.913Z,1755882320.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:20.914Z,1755882320.914 [DAT](INFO): direction in FSK: [-0.685441,-0.643671,0.340380]
2025-08-22T17:05:20.914Z,1755882320.914 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:20.921Z,1755882320.921 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:20.922Z,1755882320.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:21.006Z,1755882321.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.499993 s,
      deltaX: -0.200000 m,
      approachRate: -0.400005 m/s,
      rangeRepo size: 4

2025-08-22T17:05:21.008Z,1755882321.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500214 m,
      bearing: 246.022347 deg,
      lat: 36.779474 deg,
      lon: -121.859641 deg,
      deltaT: 0.499993 s,
      deltaX: -0.198721 m,
      approachRate: -0.397447 m/s,
      posRepo size: 4

2025-08-22T17:05:21.008Z,1755882321.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:21.155Z,1755882321.155 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:21.155Z,1755882321.155 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:21.155Z,1755882321.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:21.335Z,1755882321.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:21.412Z,1755882321.412 [DAT](INFO): DAT read: Rx Time:17:05:22.0933 

2025-08-22T17:05:21.414Z,1755882321.414 [DAT](INFO): Rx dataTimestamp_ set to:1755882321.412387
2025-08-22T17:05:21.418Z,1755882321.418 [DAT](INFO): DAT read: Bearing 324.4, -40.2 (Local)

2025-08-22T17:05:21.419Z,1755882321.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4, -40.2 (Local)

2025-08-22T17:05:21.433Z,1755882321.433 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:21.454Z,1755882321.454 [DAT](INFO): DAT read: 17:05:22.0933 LVL= 32304, 20721, 22162, 32419, AGC= 51, IDX= 503,-0.24, 0.319, 2.387, 1.798, 1.917, PHS=-1.496, 0.515,-0.162, RAW= 289.3,  12.8, CAL= 286.8,  19.9, ROT= 223.2, -19.9

2025-08-22T17:05:21.455Z,1755882321.455 [DAT](INFO): got valid direction response:
 17:05:22.0933 LVL= 32304, 20721, 22162, 32419, AGC= 51, IDX= 503,-0.24, 0.319, 2.387, 1.798, 1.917, PHS=-1.496, 0.515,-0.162, RAW= 289.3,  12.8, CAL= 286.8,  19.9, ROT= 223.2, -19.9

2025-08-22T17:05:21.455Z,1755882321.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:21.456Z,1755882321.456 [DAT](INFO): direction in FSK: [-0.685441,-0.643671,0.340380]
2025-08-22T17:05:21.456Z,1755882321.456 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:21.468Z,1755882321.468 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:21.468Z,1755882321.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:21.658Z,1755882321.658 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:21.658Z,1755882321.658 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:21.659Z,1755882321.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:21.748Z,1755882321.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.509209 s,
      deltaX: 0.299999 m,
      approachRate: 0.589148 m/s,
      rangeRepo size: 4

2025-08-22T17:05:21.811Z,1755882321.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798289 m,
      bearing: 246.008541 deg,
      lat: 36.779473 deg,
      lon: -121.859641 deg,
      deltaT: 0.509209 s,
      deltaX: 0.298076 m,
      approachRate: 0.585370 m/s,
      posRepo size: 4

2025-08-22T17:05:21.812Z,1755882321.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:21.914Z,1755882321.914 [DAT](INFO): DAT read: Rx Time:17:05:22.5932 

2025-08-22T17:05:21.914Z,1755882321.914 [DAT](INFO): Rx dataTimestamp_ set to:1755882321.913786
2025-08-22T17:05:21.915Z,1755882321.915 [DAT](INFO): DAT read: Bearing 324.0, -40.4 (Local)

2025-08-22T17:05:21.916Z,1755882321.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.0, -40.4 (Local)

2025-08-22T17:05:21.918Z,1755882321.918 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:21.923Z,1755882321.923 [DAT](INFO): DAT read: 17:05:22.5932 LVL= 32752, 20081, 21618, 32563, AGC= 51, IDX= 502,-0.07,-0.404, 1.662, 1.092, 1S=-1.505, 0.504,-0.156, RAW= 288.8,  13.0, CAL= 286.3,  20.1, ROT= 223.7, -20.1

2025-08-22T17:05:21.924Z,1755882321.924 [DAT](INFO): unknown deviceResponse_: 17:05:22.5932 LVL= 32752, 20081, 21618, 32563, AGC= 51, IDX= 502,-0.07,-0.404, 1.662, 1.092, 1S=-1.505, 0.504,-0.156, RAW= 288.8,  13.0, CAL= 286.3,  20.1, ROT= 223.7, -20.1

2025-08-22T17:05:21.925Z,1755882321.925 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:05:21.935Z,1755882321.935 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:21.935Z,1755882321.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:22.142Z,1755882322.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.501399 s,
      deltaX: -0.099999 m,
      approachRate: -0.199441 m/s,
      rangeRepo size: 4

2025-08-22T17:05:22.142Z,1755882322.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:22.167Z,1755882322.167 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:22.167Z,1755882322.167 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:22.167Z,1755882322.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:22.423Z,1755882322.423 [DAT](INFO): DAT read: Rx Time:17:05:23.0933 

2025-08-22T17:05:22.425Z,1755882322.425 [DAT](INFO): Rx dataTimestamp_ set to:1755882322.423649
2025-08-22T17:05:22.428Z,1755882322.428 [DAT](INFO): DAT read: Bearing 323.4, -40.9 (Local)

2025-08-22T17:05:22.435Z,1755882322.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4, -40.9 (Local)

2025-08-22T17:05:22.451Z,1755882322.451 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:22.488Z,1755882322.488 [DAT](INFO): DAT read: 17:05:23.0933 LVL= 32752, 21873, 23330, 32755, AGC= 52, IDX= 503, 0.04, 2.057,-2.159,-2.705,-2.604, PHS=-1.521, 0.490,-0.146, RAW= 288.0,  13.2, CAL= 285.7,  20.3, ROT= 224.3, -20.3

2025-08-22T17:05:22.498Z,1755882322.498 [DAT](INFO): got valid direction response:
 17:05:23.0933 LVL= 32752, 21873, 23330, 32755, AGC= 52, IDX= 503, 0.04, 2.057,-2.159,-2.705,-2.604, PHS=-1.521, 0.490,-0.146, RAW= 288.0,  13.2, CAL= 285.7,  20.3, ROT= 224.3, -20.3

2025-08-22T17:05:22.498Z,1755882322.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:22.500Z,1755882322.500 [DAT](INFO): direction in FSK: [-0.671240,-0.655036,0.346936]
2025-08-22T17:05:22.500Z,1755882322.500 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:22.528Z,1755882322.528 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:22.528Z,1755882322.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:22.652Z,1755882322.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.509863 s,
      deltaX: 0.099999 m,
      approachRate: 0.196130 m/s,
      rangeRepo size: 4

2025-08-22T17:05:22.658Z,1755882322.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798280 m,
      bearing: 247.066155 deg,
      lat: 36.779473 deg,
      lon: -121.859641 deg,
      deltaT: 1.011262 s,
      deltaX: -0.000010 m,
      approachRate: -0.000009 m/s,
      posRepo size: 4

2025-08-22T17:05:22.659Z,1755882322.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:22.670Z,1755882322.670 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:22.671Z,1755882322.671 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:22.671Z,1755882322.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:22.923Z,1755882322.923 [DAT](INFO): DAT read: Rx Time:17:05:23.5932 

2025-08-22T17:05:22.923Z,1755882322.923 [DAT](INFO): Rx dataTimestamp_ set to:1755882322.923182
2025-08-22T17:05:22.925Z,1755882322.925 [DAT](INFO): DAT read: Bearing 323.0, -41.2 (Local)

2025-08-22T17:05:22.925Z,1755882322.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.0, -41.2 (Local)

2025-08-22T17:05:22.927Z,1755882322.927 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:22.931Z,1755882322.931 [DAT](INFO): DAT read: 17:05:23.5932 LVL= 32752, 21185, 20338, 32243, AGC= 52, IDX= 502, 0.16, 1.232,-2.971, 2.778, 2.872, PHS=-1.537, 0.485,-0.137, RAW= 287.5,  13.2, CAL= 285.2,  20.3, ROT= 224.8, -20.3

2025-08-22T17:05:22.933Z,1755882322.933 [DAT](INFO): got valid direction response:
 17:05:23.5932 LVL= 32752, 21185, 20338, 32243, AGC= 52, IDX= 502, 0.16, 1.232,-2.971, 2.778, 2.872, PHS=-1.537, 0.485,-0.137, RAW= 287.5,  13.2, CAL= 285.2,  20.3, ROT= 224.8, -20.3

2025-08-22T17:05:22.933Z,1755882322.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:22.934Z,1755882322.934 [DAT](INFO): direction in FSK: [-0.665498,-0.660869,0.346936]
2025-08-22T17:05:22.934Z,1755882322.934 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:22.937Z,1755882322.937 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:22.938Z,1755882322.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:23.012Z,1755882323.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.499533 s,
      deltaX: -0.099999 m,
      approachRate: -0.200186 m/s,
      rangeRepo size: 4

2025-08-22T17:05:23.022Z,1755882323.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698920 m,
      bearing: 247.546532 deg,
      lat: 36.779473 deg,
      lon: -121.859641 deg,
      deltaT: 0.499533 s,
      deltaX: -0.099360 m,
      approachRate: -0.198905 m/s,
      posRepo size: 4

2025-08-22T17:05:23.022Z,1755882323.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:23.175Z,1755882323.175 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:23.175Z,1755882323.175 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:23.176Z,1755882323.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:23.350Z,1755882323.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:23.431Z,1755882323.431 [DAT](INFO): DAT read: Rx Time:17:05:24.0933 

2025-08-22T17:05:23.432Z,1755882323.432 [DAT](INFO): Rx dataTimestamp_ set to:1755882323.431248
2025-08-22T17:05:23.436Z,1755882323.436 [DAT](INFO): DAT read: Bearing 322.6, -41.7 (Local)

2025-08-22T17:05:23.438Z,1755882323.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6, -41.7 (Local)

2025-08-22T17:05:23.462Z,1755882323.462 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-08-22T17:05:23.475Z,1755882323.475 [DAT](INFO): DAT read: 17:05:24.0933 LVL= 32752, 22961, 23154, 32755, AGC= 52, IDX= 503, 0.30, 2.702,-1.506,-2.018,-1.938, PHS=-1.541, 0.477,-0.124, RAW= 286.9,  13.2, CAL= 284.7,  20.3, ROT= 225.3, -20.3

2025-08-22T17:05:23.476Z,1755882323.476 [DAT](INFO): got valid direction response:
 17:05:24.0933 LVL= 32752, 22961, 23154, 32755, AGC= 52, IDX= 503, 0.30, 2.702,-1.506,-2.018,-1.938, PHS=-1.541, 0.477,-0.124, RAW= 286.9,  13.2, CAL= 284.7,  20.3, ROT= 225.3, -20.3

2025-08-22T17:05:23.476Z,1755882323.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:23.478Z,1755882323.478 [DAT](INFO): direction in FSK: [-0.659706,-0.666651,0.346936]
2025-08-22T17:05:23.479Z,1755882323.479 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:23.486Z,1755882323.486 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:23.486Z,1755882323.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:23.678Z,1755882323.678 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:23.678Z,1755882323.678 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:23.679Z,1755882323.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:23.933Z,1755882323.933 [DAT](INFO): DAT read: Rx Time:17:05:24.5932 

2025-08-22T17:05:23.935Z,1755882323.935 [DAT](INFO): Rx dataTimestamp_ set to:1755882323.933559
2025-08-22T17:05:23.938Z,1755882323.938 [DAT](INFO): DAT read: Bearing 322.6, -41.8 (Local)

2025-08-22T17:05:23.938Z,1755882323.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6, -41.8 (Local)

2025-08-22T17:05:23.940Z,1755882323.940 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:23.944Z,1755882323.944 [DAT](INFO): DAT read: 17:05:24.5932 LVL= 31584, 21233, 20706, 32755, AGC= 53, IDX= 502, 0.45, 0.930, 3.027, 2.513, 2.590, PHS=-1.558, 0.482,-0.121, RAW= 286.7,  13.1, CAL= 284.5,  20.3, ROT= 225.5, -20.3

2025-08-22T17:05:23.950Z,1755882323.950 [DAT](INFO): got valid direction response:
 17:05:24.5932 LVL= 31584, 21233, 20706, 32755, AGC= 53, IDX= 502, 0.45, 0.930, 3.027, 2.513, 2.590, PHS=-1.558, 0.482,-0.121, RAW= 286.7,  13.1, CAL= 284.5,  20.3, ROT= 225.5, -20.3

2025-08-22T17:05:23.950Z,1755882323.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:23.951Z,1755882323.951 [DAT](INFO): direction in FSK: [-0.657375,-0.668950,0.346936]
2025-08-22T17:05:23.951Z,1755882323.951 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:23.995Z,1755882323.995 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:23.995Z,1755882323.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:24.049Z,1755882324.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 1.010377 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:24.052Z,1755882324.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698916 m,
      bearing: 248.255805 deg,
      lat: 36.779473 deg,
      lon: -121.859642 deg,
      deltaT: 1.010377 s,
      deltaX: -0.000004 m,
      approachRate: -0.000004 m/s,
      posRepo size: 4

2025-08-22T17:05:24.052Z,1755882324.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:24.183Z,1755882324.183 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:24.183Z,1755882324.183 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:24.184Z,1755882324.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:24.291Z,1755882324.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:24.435Z,1755882324.435 [DAT](INFO): DAT read: Rx Time:17:05:25.0932 

2025-08-22T17:05:24.436Z,1755882324.436 [DAT](INFO): Rx dataTimestamp_ set to:1755882324.435823
2025-08-22T17:05:24.440Z,1755882324.440 [DAT](INFO): DAT read: Bearing 322.8, -41.7 (Local)

2025-08-22T17:05:24.442Z,1755882324.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.8, -41.7 (Local)

2025-08-22T17:05:24.448Z,1755882324.448 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:24.495Z,1755882324.495 [DAT](INFO): DAT read: 17:05:25.0932 LVL= 32688, 19137, 19602, 32195, AGC= 52, IDX= 503,-0.36,-0.500, 1.608, 1.083, 1.165, PHS=-1.563, 0.488,-0.126, RAW= 287.0,  13.1, CAL= 284.7,  20.3, ROT= 225.3, -20.3

2025-08-22T17:05:24.511Z,1755882324.511 [DAT](INFO): got valid direction response:
 17:05:25.0932 LVL= 32688, 19137, 19602, 32195, AGC= 52, IDX= 503,-0.36,-0.500, 1.608, 1.083, 1.165, PHS=-1.563, 0.488,-0.126, RAW= 287.0,  13.1, CAL= 284.7,  20.3, ROT= 225.3, -20.3

2025-08-22T17:05:24.511Z,1755882324.511 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:24.512Z,1755882324.512 [DAT](INFO): direction in FSK: [-0.659706,-0.666651,0.346936]
2025-08-22T17:05:24.512Z,1755882324.512 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:24.521Z,1755882324.521 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:24.521Z,1755882324.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:24.686Z,1755882324.686 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:24.687Z,1755882324.687 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:24.687Z,1755882324.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:24.699Z,1755882324.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.502264 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:24.701Z,1755882324.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698924 m,
      bearing: 248.079564 deg,
      lat: 36.779473 deg,
      lon: -121.859642 deg,
      deltaT: 0.502264 s,
      deltaX: 0.000008 m,
      approachRate: 0.000015 m/s,
      posRepo size: 4

2025-08-22T17:05:24.706Z,1755882324.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:24.939Z,1755882324.939 [DAT](INFO): DAT read: Rx Time:17:05:25.5932 

2025-08-22T17:05:24.940Z,1755882324.940 [DAT](INFO): Rx dataTimestamp_ set to:1755882324.939284
2025-08-22T17:05:24.941Z,1755882324.941 [DAT](INFO): DAT read: Bearing 322.7, -41.9 (Local)

2025-08-22T17:05:24.941Z,1755882324.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.7, -41.9 (Local)

2025-08-22T17:05:24.948Z,1755882324.948 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-08-22T17:05:24.952Z,1755882324.952 [DAT](INFO): DAT read: 17:05:25.5932 LVL= 32752, 21409, 21490, 32755, AGC= 49, IDX= 502,-0.23,-1.849, 0.243,-0.267,-0.192, PHS=-1.556, 0.480,-0.119, RAW= 286.6,  13.1, CAL= 284.5,  20.3, ROT= 225.5, -20.3

2025-08-22T17:05:24.958Z,1755882324.958 [DAT](INFO): got valid direction response:
 17:05:25.5932 LVL= 32752, 21409, 21490, 32755, AGC= 49, IDX= 502,-0.23,-1.849, 0.243,-0.267,-0.192, PHS=-1.556, 0.480,-0.119, RAW= 286.6,  13.1, CAL= 284.5,  20.3, ROT= 225.5, -20.3

2025-08-22T17:05:24.959Z,1755882324.959 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:24.960Z,1755882324.960 [DAT](INFO): direction in FSK: [-0.657375,-0.668950,0.346936]
2025-08-22T17:05:24.960Z,1755882324.960 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:24.963Z,1755882324.963 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:24.963Z,1755882324.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:25.068Z,1755882325.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503461 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:25.074Z,1755882325.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698924 m,
      bearing: 248.238120 deg,
      lat: 36.779473 deg,
      lon: -121.859642 deg,
      deltaT: 0.503461 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:05:25.074Z,1755882325.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:25.190Z,1755882325.190 [DAT](INFO): Reached modem response timeout
2025-08-22T17:05:25.191Z,1755882325.191 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:05:25.191Z,1755882325.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:25.386Z,1755882325.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:25.445Z,1755882325.445 [DAT](INFO): DAT read: user:442>

2025-08-22T17:05:25.448Z,1755882325.448 [DAT](INFO): DAT read: Command 'r50' not found

2025-08-22T17:05:25.449Z,1755882325.449 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found

2025-08-22T17:05:25.452Z,1755882325.452 [DAT](INFO): DAT read: Error

2025-08-22T17:05:25.453Z,1755882325.453 [DAT](INFO): unknown deviceResponse_: Error

2025-08-22T17:05:25.454Z,1755882325.454 [DAT](INFO): DAT read: user:443>

2025-08-22T17:05:25.456Z,1755882325.456 [DAT](INFO): DAT read: Tx time:17:05:26.5913

2025-08-22T17:05:25.457Z,1755882325.457 [DAT](INFO): Ping request sent.
2025-08-22T17:05:25.482Z,1755882325.482 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:25.483Z,1755882325.483 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:25.485Z,1755882325.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.027463
2025-08-22T17:05:25.694Z,1755882325.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.237348
2025-08-22T17:05:25.815Z,1755882325.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:25.947Z,1755882325.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489378
2025-08-22T17:05:26.199Z,1755882326.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741526
2025-08-22T17:05:26.215Z,1755882326.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:26.450Z,1755882326.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993297
2025-08-22T17:05:26.642Z,1755882326.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:26.703Z,1755882326.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246266
2025-08-22T17:05:26.955Z,1755882326.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497422
2025-08-22T17:05:27.008Z,1755882327.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:27.207Z,1755882327.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749463
2025-08-22T17:05:27.416Z,1755882327.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:27.459Z,1755882327.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001612
2025-08-22T17:05:27.711Z,1755882327.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253562
2025-08-22T17:05:27.854Z,1755882327.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:27.963Z,1755882327.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505426
2025-08-22T17:05:28.214Z,1755882328.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757265
2025-08-22T17:05:28.228Z,1755882328.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:28.467Z,1755882328.467 [DAT](INFO): DAT read: Rx Time:17:05:29.0167

2025-08-22T17:05:28.467Z,1755882328.467 [DAT](INFO): Rx dataTimestamp_ set to:1755882328.466738
2025-08-22T17:05:28.468Z,1755882328.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010467
2025-08-22T17:05:28.650Z,1755882328.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:28.719Z,1755882328.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261532
2025-08-22T17:05:28.976Z,1755882328.976 [DAT](INFO): DAT read: 17:05:29.0167 LVL= 32752, 20017, 23170, 32755, AGC= 51, IDX= 455, 0.41, 1.462,-2.730, 3.130,-3.132, PHS=-1.588, 0.447,-0.066, RAW= 284.0,  13.1, CAL= 282.1,  20.3, ROT= 227.9, -20.3

2025-08-22T17:05:28.977Z,1755882328.977 [DAT](INFO): got valid direction response:
 17:05:29.0167 LVL= 32752, 20017, 23170, 32755, AGC= 51, IDX= 455, 0.41, 1.462,-2.730, 3.130,-3.132, PHS=-1.588, 0.447,-0.066, RAW= 284.0,  13.1, CAL= 282.1,  20.3, ROT= 227.9, -20.3

2025-08-22T17:05:28.979Z,1755882328.979 [DAT](INFO): DAT read: Bearing 321.3, -43.5 (Local)

2025-08-22T17:05:28.979Z,1755882328.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3, -43.5 (Local)

2025-08-22T17:05:28.980Z,1755882328.980 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.3 ms) speed  0.0 m/s

2025-08-22T17:05:28.981Z,1755882328.981 [DAT](INFO): DAT read: user:444>

2025-08-22T17:05:28.989Z,1755882328.989 [DAT](INFO): DAT read: Tx time:17:05:30.1413

2025-08-22T17:05:28.989Z,1755882328.989 [DAT](INFO): Ping request sent.
2025-08-22T17:05:28.989Z,1755882328.989 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:28.996Z,1755882328.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:29.022Z,1755882329.022 [DAT](INFO): direction in FSK: [-0.628786,-0.695891,0.346936]
2025-08-22T17:05:29.022Z,1755882329.022 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:29.022Z,1755882329.022 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:29.025Z,1755882329.025 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:29.051Z,1755882329.051 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:29.158Z,1755882329.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 4.030678 s,
      deltaX: 0.099999 m,
      approachRate: 0.024810 m/s,
      rangeRepo size: 4

2025-08-22T17:05:29.161Z,1755882329.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798253 m,
      bearing: 250.613011 deg,
      lat: 36.779474 deg,
      lon: -121.859642 deg,
      deltaT: 4.030678 s,
      deltaX: 0.099329 m,
      approachRate: 0.024643 m/s,
      posRepo size: 4

2025-08-22T17:05:29.170Z,1755882329.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:29.597Z,1755882329.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:29.927Z,1755882329.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:30.326Z,1755882330.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:30.626Z,1755882330.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:05:30.754Z,1755882330.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:31.120Z,1755882331.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:31.517Z,1755882331.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:31.630Z,1755882331.630 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:05:31.988Z,1755882331.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:31.995Z,1755882331.995 [DAT](INFO): DAT read: Rx Time:17:05:32.5666

2025-08-22T17:05:31.995Z,1755882331.995 [DAT](INFO): Rx dataTimestamp_ set to:1755882331.994828
2025-08-22T17:05:32.371Z,1755882332.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:32.504Z,1755882332.504 [DAT](INFO): DAT read: 17:05:32.5666 LVL= 32752, 21201, 25490, 32755, AGC= 52, IDX= 438,-0.03,-2.075,-0.043,-0.394,-0.404, PHS=-1.568, 0.406,-0.033, RAW= 282.2,  13.2, CAL= 280.6,  20.5, ROT= 229.4, -20.5

2025-08-22T17:05:32.505Z,1755882332.505 [DAT](INFO): got valid direction response:
 17:05:32.5666 LVL= 32752, 21201, 25490, 32755, AGC= 52, IDX= 438,-0.03,-2.075,-0.043,-0.394,-0.404, PHS=-1.568, 0.406,-0.033, RAW= 282.2,  13.2, CAL= 280.6,  20.5, ROT= 229.4, -20.5

2025-08-22T17:05:32.506Z,1755882332.506 [DAT](INFO): DAT read: Bearing 319.8, -44.2 (Local)

2025-08-22T17:05:32.506Z,1755882332.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.8, -44.2 (Local)

2025-08-22T17:05:32.508Z,1755882332.508 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.0 m/s

2025-08-22T17:05:32.508Z,1755882332.508 [DAT](INFO): DAT read: user:445>

2025-08-22T17:05:32.509Z,1755882332.509 [DAT](INFO): DAT read: Tx time:17:05:33.6913

2025-08-22T17:05:32.512Z,1755882332.512 [DAT](INFO): Ping request sent.
2025-08-22T17:05:32.512Z,1755882332.512 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:32.513Z,1755882332.513 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:05:32.514Z,1755882332.514 [DAT](INFO): direction in FSK: [-0.609562,-0.711188,0.350207]
2025-08-22T17:05:32.514Z,1755882332.514 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:32.515Z,1755882332.515 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:32.518Z,1755882332.518 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:32.518Z,1755882332.518 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:32.868Z,1755882332.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.528002 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:32.870Z,1755882332.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798222 m,
      bearing: 251.867285 deg,
      lat: 36.779473 deg,
      lon: -121.859642 deg,
      deltaT: 3.528002 s,
      deltaX: -0.000031 m,
      approachRate: -0.000009 m/s,
      posRepo size: 4

2025-08-22T17:05:32.871Z,1755882332.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:33.218Z,1755882333.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:33.643Z,1755882333.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:34.016Z,1755882334.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:34.389Z,1755882334.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:34.807Z,1755882334.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:35.216Z,1755882335.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:35.523Z,1755882335.523 [DAT](INFO): DAT read: Rx Time:17:05:36.1164

2025-08-22T17:05:35.523Z,1755882335.523 [DAT](INFO): Rx dataTimestamp_ set to:1755882335.522687
2025-08-22T17:05:35.665Z,1755882335.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:05:36.045Z,1755882336.045 [DAT](INFO): DAT read: 17:05:36.1164 LVL= 32752, 21281, 25922, 32755, AGC= 50, IDX= 436, 0.26, 2.085,-2.192,-2.431,-2.500, PHS=-1.596, 0.353, 0.025, RAW= 279.0,  13.4, CAL= 277.9,  20.4, ROT= 232.1, -20.4

2025-08-22T17:05:36.046Z,1755882336.046 [DAT](INFO): got valid direction response:
 17:05:36.1164 LVL= 32752, 21281, 25922, 32755, AGC= 50, IDX= 436, 0.26, 2.085,-2.192,-2.431,-2.500, PHS=-1.596, 0.353, 0.025, RAW= 279.0,  13.4, CAL= 277.9,  20.4, ROT= 232.1, -20.4

2025-08-22T17:05:36.047Z,1755882336.047 [DAT](INFO): DAT read: Bearing 317.8, -46.4 (Local)

2025-08-22T17:05:36.047Z,1755882336.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.8, -46.4 (Local)

2025-08-22T17:05:36.048Z,1755882336.048 [DAT](INFO): DAT read: Range 11 to 50 : 15.7 m  (Round-trip  21.0 ms) speed  0.0 m/s

2025-08-22T17:05:36.049Z,1755882336.049 [DAT](INFO): DAT read: user:446>

2025-08-22T17:05:36.070Z,1755882336.070 [DAT](INFO): DAT read: Tx time:17:05:37.2412

2025-08-22T17:05:36.070Z,1755882336.070 [DAT](INFO): Ping request sent.
2025-08-22T17:05:36.070Z,1755882336.070 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:36.071Z,1755882336.071 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T17:05:36.072Z,1755882336.072 [DAT](INFO): direction in FSK: [-0.575758,-0.739594,0.348572]
2025-08-22T17:05:36.072Z,1755882336.072 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:36.072Z,1755882336.072 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:36.103Z,1755882336.103 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:36.104Z,1755882336.104 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:36.195Z,1755882336.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.700000 m,
      deltaT: 3.532108 s,
      deltaX: -0.200000 m,
      approachRate: -0.056623 m/s,
      rangeRepo size: 4

2025-08-22T17:05:36.197Z,1755882336.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.599538 m,
      bearing: 254.237559 deg,
      lat: 36.779473 deg,
      lon: -121.859644 deg,
      deltaT: 3.532108 s,
      deltaX: -0.198684 m,
      approachRate: -0.056251 m/s,
      posRepo size: 4

2025-08-22T17:05:36.202Z,1755882336.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:36.449Z,1755882336.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:36.903Z,1755882336.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:37.264Z,1755882337.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:37.725Z,1755882337.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:38.086Z,1755882338.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:38.551Z,1755882338.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:38.925Z,1755882338.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:39.059Z,1755882339.059 [DAT](INFO): DAT read: Rx Time:17:05:39.6663

2025-08-22T17:05:39.059Z,1755882339.059 [DAT](INFO): Rx dataTimestamp_ set to:1755882339.058707
2025-08-22T17:05:39.297Z,1755882339.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:05:39.576Z,1755882339.576 [DAT](INFO): DAT read: 17:05:39.6663 LVL= 32208, 20529, 23026, 32755, AGC= 49, IDX= 436,-0.35,-1.856, 0.166, 0.072,-0.085, PHS=-1.669, 0.296, 0.113, RAW= 274.8,  13.3, CAL= 274.3,  20.0, ROT= 235.7, -20.0

2025-08-22T17:05:39.578Z,1755882339.578 [DAT](INFO): got valid direction response:
 17:05:39.6663 LVL= 32208, 20529, 23026, 32755, AGC= 49, IDX= 436,-0.35,-1.856, 0.166, 0.072,-0.085, PHS=-1.669, 0.296, 0.113, RAW= 274.8,  13.3, CAL= 274.3,  20.0, ROT= 235.7, -20.0

2025-08-22T17:05:39.579Z,1755882339.579 [DAT](INFO): DAT read: Bearing 315.5, -49.3 (Local)

2025-08-22T17:05:39.580Z,1755882339.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5, -49.3 (Local)

2025-08-22T17:05:39.603Z,1755882339.603 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed  0.0 m/s

2025-08-22T17:05:39.604Z,1755882339.604 [DAT](INFO): DAT read: user:447>

2025-08-22T17:05:39.605Z,1755882339.605 [DAT](INFO): DAT read: Tx time:17:05:40.7912

2025-08-22T17:05:39.605Z,1755882339.605 [DAT](INFO): Ping request sent.
2025-08-22T17:05:39.605Z,1755882339.605 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:39.622Z,1755882339.622 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T17:05:39.623Z,1755882339.623 [DAT](INFO): direction in FSK: [-0.529541,-0.776278,0.342020]
2025-08-22T17:05:39.623Z,1755882339.623 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:39.623Z,1755882339.623 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:39.636Z,1755882339.636 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:39.636Z,1755882339.636 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:39.847Z,1755882339.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.533966 s,
      deltaX: -0.099999 m,
      approachRate: -0.028297 m/s,
      rangeRepo size: 4

2025-08-22T17:05:39.849Z,1755882339.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500159 m,
      bearing: 257.326891 deg,
      lat: 36.779474 deg,
      lon: -121.859644 deg,
      deltaT: 3.533966 s,
      deltaX: -0.099379 m,
      approachRate: -0.028121 m/s,
      posRepo size: 4

2025-08-22T17:05:39.849Z,1755882339.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:40.120Z,1755882340.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:40.516Z,1755882340.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:40.953Z,1755882340.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:41.327Z,1755882341.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:41.825Z,1755882341.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:42.146Z,1755882342.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:42.555Z,1755882342.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:42.600Z,1755882342.600 [DAT](INFO): DAT read: Rx Time:17:05:43.2165

2025-08-22T17:05:42.600Z,1755882342.600 [DAT](INFO): Rx dataTimestamp_ set to:1755882342.599975
2025-08-22T17:05:42.980Z,1755882342.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:43.121Z,1755882343.121 [DAT](INFO): DAT read: 17:05:43.2165 LVL= 31536, 19361, 20386, 32755, AGC= 50, IDX= 437, 0.01,-0.568, 1.401, 1.395, 1.195, PHS=-1.661, 0.251, 0.156, RAW= 272.5,  13.4, CAL= 272.4,  19.6, ROT= 237.6, -19.6

2025-08-22T17:05:43.122Z,1755882343.122 [DAT](INFO): got valid direction response:
 17:05:43.2165 LVL= 31536, 19361, 20386, 32755, AGC= 50, IDX= 437, 0.01,-0.568, 1.401, 1.395, 1.195, PHS=-1.661, 0.251, 0.156, RAW= 272.5,  13.4, CAL= 272.4,  19.6, ROT= 237.6, -19.6

2025-08-22T17:05:43.123Z,1755882343.123 [DAT](INFO): DAT read: Bearing 313.7, -50.6 (Local)

2025-08-22T17:05:43.123Z,1755882343.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7, -50.6 (Local)

2025-08-22T17:05:43.124Z,1755882343.124 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m  (Round-trip  21.1 ms) speed  0.0 m/s

2025-08-22T17:05:43.125Z,1755882343.125 [DAT](INFO): DAT read: user:448>

2025-08-22T17:05:43.126Z,1755882343.126 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:05:43.127Z,1755882343.127 [DAT](INFO): direction in FSK: [-0.504779,-0.795406,0.335452]
2025-08-22T17:05:43.127Z,1755882343.127 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:43.355Z,1755882343.355 [DAT](INFO): DAT read: Tx time:17:05:44.3412

2025-08-22T17:05:43.355Z,1755882343.355 [DAT](INFO): Ping request sent.
2025-08-22T17:05:43.355Z,1755882343.355 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:43.355Z,1755882343.355 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:43.362Z,1755882343.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 3.539356 s,
      deltaX: 0.200000 m,
      approachRate: 0.056507 m/s,
      rangeRepo size: 4

2025-08-22T17:05:43.364Z,1755882343.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698840 m,
      bearing: 258.742439 deg,
      lat: 36.779474 deg,
      lon: -121.859644 deg,
      deltaT: 3.539356 s,
      deltaX: 0.198681 m,
      approachRate: 0.056135 m/s,
      posRepo size: 4

2025-08-22T17:05:43.365Z,1755882343.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:43.812Z,1755882343.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:44.155Z,1755882344.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:44.580Z,1755882344.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:44.990Z,1755882344.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:45.362Z,1755882345.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:45.888Z,1755882345.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:46.127Z,1755882346.127 [DAT](INFO): DAT read: Rx Time:17:05:46.7663

2025-08-22T17:05:46.127Z,1755882346.127 [DAT](INFO): Rx dataTimestamp_ set to:1755882346.126702
2025-08-22T17:05:46.219Z,1755882346.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:46.613Z,1755882346.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:05:46.890Z,1755882346.890 [DAT](INFO): DAT read: 17:05:46.7663 LVL= 32752, 23345, 26386, 32755, AGC= 50, IDX= 435, 0.30,-2.114,-0.227,-0.089,-0.336, PHS=-1.676, 0.154, 0.203, RAW= 268.7,  14.1, CAL= 269.2,  20.3, ROT= 240.8, -20.3

2025-08-22T17:05:46.891Z,1755882346.891 [DAT](INFO): got valid direction response:
 17:05:46.7663 LVL= 32752, 23345, 26386, 32755, AGC= 50, IDX= 435, 0.30,-2.114,-0.227,-0.089,-0.336, PHS=-1.676, 0.154, 0.203, RAW= 268.7,  14.1, CAL= 269.2,  20.3, ROT= 240.8, -20.3

2025-08-22T17:05:46.892Z,1755882346.892 [DAT](INFO): DAT read: Bearing 309.7, -52.2 (Local)

2025-08-22T17:05:46.892Z,1755882346.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.7, -52.2 (Local)

2025-08-22T17:05:46.894Z,1755882346.894 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed  0.0 m/s

2025-08-22T17:05:46.894Z,1755882346.894 [DAT](INFO): DAT read: user:449>

2025-08-22T17:05:46.895Z,1755882346.895 [DAT](INFO): DAT read: Tx time:17:05:47.8912

2025-08-22T17:05:46.895Z,1755882346.895 [DAT](INFO): Ping request sent.
2025-08-22T17:05:46.895Z,1755882346.895 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:46.896Z,1755882346.896 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T17:05:46.897Z,1755882346.897 [DAT](INFO): direction in FSK: [-0.457558,-0.818704,0.346936]
2025-08-22T17:05:46.897Z,1755882346.897 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:46.897Z,1755882346.897 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:46.942Z,1755882346.942 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:46.942Z,1755882346.942 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:47.031Z,1755882347.031 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  74.00,  84.87,  77.06
2025-08-22T17:05:47.106Z,1755882347.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.778539 s,
      deltaX: -0.200000 m,
      approachRate: -0.052930 m/s,
      rangeRepo size: 4

2025-08-22T17:05:47.108Z,1755882347.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500130 m,
      bearing: 261.181464 deg,
      lat: 36.779477 deg,
      lon: -121.859644 deg,
      deltaT: 3.778539 s,
      deltaX: -0.198710 m,
      approachRate: -0.052589 m/s,
      posRepo size: 4

2025-08-22T17:05:47.109Z,1755882347.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:47.407Z,1755882347.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:47.849Z,1755882347.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:48.231Z,1755882348.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:48.623Z,1755882348.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:49.044Z,1755882349.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:49.423Z,1755882349.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:49.659Z,1755882349.659 [DAT](INFO): DAT read: Rx Time:17:05:50.3162

2025-08-22T17:05:49.659Z,1755882349.659 [DAT](INFO): Rx dataTimestamp_ set to:1755882349.658777
2025-08-22T17:05:49.878Z,1755882349.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:05:49.880Z,1755882349.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:49.913Z,1755882349.913 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:05:49.913Z,1755882349.913 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:05:49.913Z,1755882349.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:05:50.166Z,1755882350.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270027
2025-08-22T17:05:50.280Z,1755882350.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:50.420Z,1755882350.420 [DAT](INFO): DAT read: 17:05:50.3162 LVL= 28656, 17457, 16482, 29171, AGC= 47, IDX= 434,-0.35,-0.056, 1.797, 2.153, 1.765, PHS=-1.720, 0.077, 0.344, RAW= 263.2,  13.3, CAL= 264.1,  17.4, ROT= 245.9, -17.4

2025-08-22T17:05:50.421Z,1755882350.421 [DAT](INFO): got valid direction response:
 17:05:50.3162 LVL= 28656, 17457, 16482, 29171, AGC= 47, IDX= 434,-0.35,-0.056, 1.797, 2.153, 1.765, PHS=-1.720, 0.077, 0.344, RAW= 263.2,  13.3, CAL= 264.1,  17.4, ROT= 245.9, -17.4

2025-08-22T17:05:50.422Z,1755882350.422 [DAT](INFO): DAT read: Bearing 306.5, -57.9 (Local)

2025-08-22T17:05:50.422Z,1755882350.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.5, -57.9 (Local)

2025-08-22T17:05:50.424Z,1755882350.424 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed  0.0 m/s

2025-08-22T17:05:50.425Z,1755882350.425 [DAT](INFO): DAT read: user:450>

2025-08-22T17:05:50.425Z,1755882350.425 [DAT](INFO): DAT read: Tx time:17:05:51.4412

2025-08-22T17:05:50.426Z,1755882350.426 [DAT](INFO): Ping request sent.
2025-08-22T17:05:50.426Z,1755882350.426 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:50.426Z,1755882350.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:05:50.427Z,1755882350.427 [DAT](INFO): direction in FSK: [-0.389645,-0.871063,0.299041]
2025-08-22T17:05:50.428Z,1755882350.428 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:50.428Z,1755882350.428 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:50.431Z,1755882350.431 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:50.431Z,1755882350.431 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:50.644Z,1755882350.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.532071 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:50.646Z,1755882350.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500153 m,
      bearing: 265.265215 deg,
      lat: 36.779478 deg,
      lon: -121.859645 deg,
      deltaT: 3.532071 s,
      deltaX: 0.000023 m,
      approachRate: 0.000006 m/s,
      posRepo size: 4

2025-08-22T17:05:50.647Z,1755882350.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:51.061Z,1755882351.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:51.429Z,1755882351.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:51.900Z,1755882351.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:52.267Z,1755882352.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:52.643Z,1755882352.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:53.146Z,1755882353.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:53.187Z,1755882353.187 [DAT](INFO): DAT read: Rx Time:17:05:53.8661

2025-08-22T17:05:53.188Z,1755882353.188 [DAT](INFO): Rx dataTimestamp_ set to:1755882353.187977
2025-08-22T17:05:53.468Z,1755882353.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:53.934Z,1755882353.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:53.948Z,1755882353.948 [DAT](INFO): DAT read: 17:05:53.8661 LVL= 23744, 14833, 14946, 24307, AGC= 48, IDX= 434, 0.12, 0.659, 2.445, 2.816, 2.417, PHS=-1.657, 0.073, 0.355, RAW= 262.6,  13.0, CAL= 263.4,  16.6, ROT= 246.6, -16.6

2025-08-22T17:05:53.949Z,1755882353.949 [DAT](INFO): got valid direction response:
 17:05:53.8661 LVL= 23744, 14833, 14946, 24307, AGC= 48, IDX= 434, 0.12, 0.659, 2.445, 2.816, 2.417, PHS=-1.657, 0.073, 0.355, RAW= 262.6,  13.0, CAL= 263.4,  16.6, ROT= 246.6, -16.6

2025-08-22T17:05:53.950Z,1755882353.950 [DAT](INFO): DAT read: Bearing 305.6, -59.0 (Local)

2025-08-22T17:05:53.951Z,1755882353.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6, -59.0 (Local)

2025-08-22T17:05:53.952Z,1755882353.952 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed  0.0 m/s

2025-08-22T17:05:53.953Z,1755882353.953 [DAT](INFO): DAT read: user:451>

2025-08-22T17:05:53.963Z,1755882353.963 [DAT](INFO): DAT read: Tx time:17:05:54.9911

2025-08-22T17:05:53.964Z,1755882353.964 [DAT](INFO): Ping request sent.
2025-08-22T17:05:53.965Z,1755882353.965 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:53.966Z,1755882353.966 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:05:53.967Z,1755882353.967 [DAT](INFO): direction in FSK: [-0.380596,-0.879505,0.285688]
2025-08-22T17:05:53.967Z,1755882353.967 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:53.968Z,1755882353.968 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:53.979Z,1755882353.979 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:53.979Z,1755882353.979 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:54.313Z,1755882354.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.528100 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:54.315Z,1755882354.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500159 m,
      bearing: 265.319191 deg,
      lat: 36.779478 deg,
      lon: -121.859647 deg,
      deltaT: 3.528100 s,
      deltaX: 0.000007 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T17:05:54.315Z,1755882354.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:54.672Z,1755882354.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:55.097Z,1755882355.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:55.465Z,1755882355.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:55.876Z,1755882355.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:56.308Z,1755882356.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:56.707Z,1755882356.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:56.969Z,1755882356.969 [DAT](INFO): DAT read: Rx Time:17:05:57.4162

2025-08-22T17:05:56.971Z,1755882356.971 [DAT](INFO): Rx dataTimestamp_ set to:1755882356.970345
2025-08-22T17:05:57.112Z,1755882357.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:57.480Z,1755882357.480 [DAT](INFO): DAT read: 17:05:57.4162 LVL= 28544, 16625, 15010, 28547, AGC= 48, IDX= 435,-0.20,-1.336, 0.381, 0.906, 0.409, PHS=-1.643, 0.017, 0.454, RAW= 258.6,  12.2, CAL= 259.3,  14.6, ROT= 250.7, -14.6

2025-08-22T17:05:57.481Z,1755882357.481 [DAT](INFO): got valid direction response:
 17:05:57.4162 LVL= 28544, 16625, 15010, 28547, AGC= 48, IDX= 435,-0.20,-1.336, 0.381, 0.906, 0.409, PHS=-1.643, 0.017, 0.454, RAW= 258.6,  12.2, CAL= 259.3,  14.6, ROT= 250.7, -14.6

2025-08-22T17:05:57.490Z,1755882357.490 [DAT](INFO): DAT read: Bearing 301.7, -63.2 (Local)

2025-08-22T17:05:57.491Z,1755882357.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.7, -63.2 (Local)

2025-08-22T17:05:57.492Z,1755882357.492 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed  0.0 m/s

2025-08-22T17:05:57.493Z,1755882357.493 [DAT](INFO): DAT read: user:452>

2025-08-22T17:05:57.493Z,1755882357.493 [DAT](INFO): DAT read: Tx time:17:05:58.5411

2025-08-22T17:05:57.494Z,1755882357.494 [DAT](INFO): Ping request sent.
2025-08-22T17:05:57.494Z,1755882357.494 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:05:57.494Z,1755882357.494 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T17:05:57.495Z,1755882357.495 [DAT](INFO): direction in FSK: [-0.319842,-0.913325,0.252069]
2025-08-22T17:05:57.495Z,1755882357.495 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:57.496Z,1755882357.496 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:57.515Z,1755882357.515 [DAT](INFO): publishing transmit ping time
2025-08-22T17:05:57.515Z,1755882357.515 [DAT](INFO): publishing direction and range info
2025-08-22T17:05:57.562Z,1755882357.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.531947 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:05:57.571Z,1755882357.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500117 m,
      bearing: 268.741609 deg,
      lat: 36.779480 deg,
      lon: -121.859648 deg,
      deltaT: 3.531947 s,
      deltaX: -0.000042 m,
      approachRate: -0.000012 m/s,
      posRepo size: 4

2025-08-22T17:05:57.571Z,1755882357.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:57.890Z,1755882357.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:58.328Z,1755882358.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:58.772Z,1755882358.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:59.170Z,1755882359.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:05:59.605Z,1755882359.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:00.072Z,1755882360.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:00.400Z,1755882360.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:00.499Z,1755882360.499 [DAT](INFO): DAT read: Rx Time:17:06:00.9662

2025-08-22T17:06:00.499Z,1755882360.499 [DAT](INFO): Rx dataTimestamp_ set to:1755882360.499091
2025-08-22T17:06:00.774Z,1755882360.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:01.047Z,1755882361.047 [DAT](INFO): DAT read: 17:06:00.9662 LVL= 23136, 15809, 14466, 26323, AGC= 47, IDX= 434, 0.49,-0.671, 1.023, 1.687, 1.045, PHS=-1.613, 0.023, 0.598, RAW= 255.5,  10.0, CAL= 255.1,  10.6, ROT= 254.9, -10.6

2025-08-22T17:06:01.049Z,1755882361.049 [DAT](INFO): got valid direction response:
 17:06:00.9662 LVL= 23136, 15809, 14466, 26323, AGC= 47, IDX= 434, 0.49,-0.671, 1.023, 1.687, 1.045, PHS=-1.613, 0.023, 0.598, RAW= 255.5,  10.0, CAL= 255.1,  10.6, ROT= 254.9, -10.6

2025-08-22T17:06:01.076Z,1755882361.076 [DAT](INFO): DAT read: Bearing 298.4, -69.1 (Local)

2025-08-22T17:06:01.076Z,1755882361.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4, -69.1 (Local)

2025-08-22T17:06:01.078Z,1755882361.078 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed  0.0 m/s

2025-08-22T17:06:01.079Z,1755882361.079 [DAT](INFO): DAT read: user:453>

2025-08-22T17:06:01.079Z,1755882361.079 [DAT](INFO): DAT read: Tx time:17:06:02.0911

2025-08-22T17:06:01.080Z,1755882361.080 [DAT](INFO): Ping request sent.
2025-08-22T17:06:01.080Z,1755882361.080 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:01.080Z,1755882361.080 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T17:06:01.081Z,1755882361.081 [DAT](INFO): direction in FSK: [-0.256059,-0.948997,0.183951]
2025-08-22T17:06:01.081Z,1755882361.081 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:01.082Z,1755882361.082 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:01.085Z,1755882361.085 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:01.085Z,1755882361.085 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:01.283Z,1755882361.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.529343 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:06:01.285Z,1755882361.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500090 m,
      bearing: 272.358312 deg,
      lat: 36.779484 deg,
      lon: -121.859648 deg,
      deltaT: 3.529343 s,
      deltaX: -0.000028 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-08-22T17:06:01.290Z,1755882361.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:01.595Z,1755882361.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:01.750Z,1755882361.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:06:02.060Z,1755882362.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:02.412Z,1755882362.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:02.754Z,1755882362.754 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:06:02.795Z,1755882362.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:03.242Z,1755882363.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:03.611Z,1755882363.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:04.031Z,1755882364.031 [DAT](INFO): DAT read: Rx Time:17:06:04.5162

2025-08-22T17:06:04.032Z,1755882364.032 [DAT](INFO): Rx dataTimestamp_ set to:1755882364.031255
2025-08-22T17:06:04.078Z,1755882364.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:04.465Z,1755882364.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:04.540Z,1755882364.540 [DAT](INFO): DAT read: 17:06:04.5162 LVL= 22304, 17233, 12498, 23955, AGC= 46, IDX= 435,-0.42, 2.435,-2.195,-1.502,-2.156, PHS=-1.590, 0.007, 0.611, RAW= 254.6,   9.9, CAL= 254.1,  10.5, ROT= 255.9, -10.5

2025-08-22T17:06:04.543Z,1755882364.543 [DAT](INFO): got valid direction response:
 17:06:04.5162 LVL= 22304, 17233, 12498, 23955, AGC= 46, IDX= 435,-0.42, 2.435,-2.195,-1.502,-2.156, PHS=-1.590, 0.007, 0.611, RAW= 254.6,   9.9, CAL= 254.1,  10.5, ROT= 255.9, -10.5

2025-08-22T17:06:04.544Z,1755882364.544 [DAT](INFO): DAT read: Bearing 295.5, -69.7 (Local)

2025-08-22T17:06:04.545Z,1755882364.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5, -69.7 (Local)

2025-08-22T17:06:04.547Z,1755882364.547 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed  0.0 m/s

2025-08-22T17:06:04.548Z,1755882364.548 [DAT](INFO): DAT read: user:454>

2025-08-22T17:06:04.550Z,1755882364.550 [DAT](INFO): DAT read: Tx time:17:06:05.6411

2025-08-22T17:06:04.551Z,1755882364.551 [DAT](INFO): Ping request sent.
2025-08-22T17:06:04.551Z,1755882364.551 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:04.552Z,1755882364.552 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:06:04.553Z,1755882364.553 [DAT](INFO): direction in FSK: [-0.239536,-0.953631,0.182236]
2025-08-22T17:06:04.554Z,1755882364.554 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:04.554Z,1755882364.554 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:04.557Z,1755882364.557 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:04.557Z,1755882364.557 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:04.834Z,1755882364.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.526907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:06:04.836Z,1755882364.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500381 m,
      bearing: 272.842164 deg,
      lat: 36.779484 deg,
      lon: -121.859649 deg,
      deltaT: 3.526907 s,
      deltaX: 0.000291 m,
      approachRate: 0.000082 m/s,
      posRepo size: 4

2025-08-22T17:06:04.837Z,1755882364.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:05.239Z,1755882365.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:05.619Z,1755882365.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:06.029Z,1755882366.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:06.448Z,1755882366.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:06.858Z,1755882366.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:07.272Z,1755882367.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:07.558Z,1755882367.558 [DAT](INFO): DAT read: Rx Time:17:06:08.0662

2025-08-22T17:06:07.559Z,1755882367.559 [DAT](INFO): Rx dataTimestamp_ set to:1755882367.558683
2025-08-22T17:06:07.712Z,1755882367.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:08.074Z,1755882368.074 [DAT](INFO): DAT read: 17:06:08.0662 LVL= 21440, 16529, 12978, 22003, AGC= 44, IDX= 435,-0.20, 3.054,-1.654,-0.881,-1.563, PHS=-1.564,-0.046, 0.638, RAW= 252.3,  10.0, CAL= 252.0,  10.7, ROT= 258.0, -10.7

2025-08-22T17:06:08.077Z,1755882368.077 [DAT](INFO): got valid direction response:
 17:06:08.0662 LVL= 21440, 16529, 12978, 22003, AGC= 44, IDX= 435,-0.20, 3.054,-1.654,-0.881,-1.563, PHS=-1.564,-0.046, 0.638, RAW= 252.3,  10.0, CAL= 252.0,  10.7, ROT= 258.0, -10.7

2025-08-22T17:06:08.085Z,1755882368.085 [DAT](INFO): DAT read: Bearing 289.3, -70.3 (Local)

2025-08-22T17:06:08.094Z,1755882368.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.3, -70.3 (Local)

2025-08-22T17:06:08.106Z,1755882368.106 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed -0.1 m/s

2025-08-22T17:06:08.109Z,1755882368.109 [DAT](INFO): DAT read: user:455>

2025-08-22T17:06:08.132Z,1755882368.132 [DAT](INFO): DAT read: Tx time:17:06:09.1911

2025-08-22T17:06:08.133Z,1755882368.133 [DAT](INFO): Ping request sent.
2025-08-22T17:06:08.133Z,1755882368.133 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:08.133Z,1755882368.133 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T17:06:08.142Z,1755882368.142 [DAT](INFO): direction in FSK: [-0.204297,-0.961140,0.185667]
2025-08-22T17:06:08.143Z,1755882368.143 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:08.143Z,1755882368.143 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:08.159Z,1755882368.159 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:08.159Z,1755882368.159 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:08.201Z,1755882368.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.531696 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:06:08.211Z,1755882368.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500422 m,
      bearing: 274.643152 deg,
      lat: 36.779485 deg,
      lon: -121.859649 deg,
      deltaT: 3.531696 s,
      deltaX: 0.000042 m,
      approachRate: 0.000012 m/s,
      posRepo size: 4

2025-08-22T17:06:08.212Z,1755882368.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:08.563Z,1755882368.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:08.910Z,1755882368.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:09.321Z,1755882369.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:09.717Z,1755882369.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:10.172Z,1755882370.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:10.559Z,1755882370.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:10.972Z,1755882370.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:11.087Z,1755882371.087 [DAT](INFO): DAT read: Rx Time:17:06:11.6162

2025-08-22T17:06:11.087Z,1755882371.087 [DAT](INFO): Rx dataTimestamp_ set to:1755882371.086687
2025-08-22T17:06:11.363Z,1755882371.363 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +60,  -123,    BE,   +60,  -123,    -2,A
2025-08-22T17:06:11.409Z,1755882371.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-22T17:06:11.596Z,1755882371.596 [DAT](INFO): DAT read: 17:06:11.6162 LVL= 21648, 18113, 16146, 21539, AGC= 47, IDX= 420, 0.19, 3.032,-1.704,-0.891,-1.595, PHS=-1.554,-0.064, 0.660, RAW= 251.3,   9.8, CAL= 250.9,  10.5, ROT= 259.1, -10.5

2025-08-22T17:06:11.597Z,1755882371.597 [DAT](INFO): got valid direction response:
 17:06:11.6162 LVL= 21648, 18113, 16146, 21539, AGC= 47, IDX= 420, 0.19, 3.032,-1.704,-0.891,-1.595, PHS=-1.554,-0.064, 0.660, RAW= 251.3,   9.8, CAL= 250.9,  10.5, ROT= 259.1, -10.5

2025-08-22T17:06:11.598Z,1755882371.598 [DAT](INFO): DAT read: Bearing 287.6, -71.3 (Local)

2025-08-22T17:06:11.599Z,1755882371.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.6, -71.3 (Local)

2025-08-22T17:06:11.600Z,1755882371.600 [DAT](INFO): DAT read: Range 11 to 50 : 15.7 m  (Round-trip  21.0 ms) speed -0.1 m/s

2025-08-22T17:06:11.601Z,1755882371.601 [DAT](INFO): DAT read: user:456>

2025-08-22T17:06:11.602Z,1755882371.602 [DAT](INFO): DAT read: Tx time:17:06:12.7410

2025-08-22T17:06:11.602Z,1755882371.602 [DAT](INFO): Ping request sent.
2025-08-22T17:06:11.602Z,1755882371.602 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:11.602Z,1755882371.602 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T17:06:11.603Z,1755882371.603 [DAT](INFO): direction in FSK: [-0.185929,-0.965516,0.182236]
2025-08-22T17:06:11.603Z,1755882371.603 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:11.604Z,1755882371.604 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:11.607Z,1755882371.607 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:11.607Z,1755882371.607 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:11.890Z,1755882371.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.700000 m,
      deltaT: 3.528008 s,
      deltaX: 0.099999 m,
      approachRate: 0.028344 m/s,
      rangeRepo size: 4

2025-08-22T17:06:11.892Z,1755882371.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.599670 m,
      bearing: 275.822821 deg,
      lat: 36.779485 deg,
      lon: -121.859649 deg,
      deltaT: 3.528008 s,
      deltaX: 0.099248 m,
      approachRate: 0.028131 m/s,
      posRepo size: 4

2025-08-22T17:06:11.892Z,1755882371.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:12.277Z,1755882372.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:12.612Z,1755882372.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:12.998Z,1755882372.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:13.420Z,1755882373.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:13.786Z,1755882373.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:14.282Z,1755882374.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:14.597Z,1755882374.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:14.616Z,1755882374.616 [DAT](INFO): DAT read: Rx Time:17:06:15.1664

2025-08-22T17:06:14.617Z,1755882374.617 [DAT](INFO): Rx dataTimestamp_ set to:1755882374.616410
2025-08-22T17:06:15.023Z,1755882375.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:15.127Z,1755882375.127 [DAT](INFO): DAT read: 17:06:15.1664 LVL= 21440, 18097, 16738, 25395, AGC= 47, IDX= 422,-0.19, 2.084,-2.698,-1.733,-2.539, PHS=-1.558,-0.114, 0.763, RAW= 248.0,   9.0, CAL= 247.4,   9.6, ROT= 262.6,  -9.6

2025-08-22T17:06:15.128Z,1755882375.128 [DAT](INFO): got valid direction response:
 17:06:15.1664 LVL= 21440, 18097, 16738, 25395, AGC= 47, IDX= 422,-0.19, 2.084,-2.698,-1.733,-2.539, PHS=-1.558,-0.114, 0.763, RAW= 248.0,   9.0, CAL= 247.4,   9.6, ROT= 262.6,  -9.6

2025-08-22T17:06:15.131Z,1755882375.131 [DAT](INFO): DAT read: Bearing 278.8, -73.1 (Local)

2025-08-22T17:06:15.131Z,1755882375.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8, -73.1 (Local)

2025-08-22T17:06:15.133Z,1755882375.133 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.0 m/s

2025-08-22T17:06:15.134Z,1755882375.134 [DAT](INFO): DAT read: user:457>

2025-08-22T17:06:15.135Z,1755882375.135 [DAT](INFO): DAT read: Tx time:17:06:16.2910

2025-08-22T17:06:15.135Z,1755882375.135 [DAT](INFO): Ping request sent.
2025-08-22T17:06:15.135Z,1755882375.135 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:15.135Z,1755882375.135 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T17:06:15.136Z,1755882375.136 [DAT](INFO): direction in FSK: [-0.126992,-0.977784,0.166769]
2025-08-22T17:06:15.137Z,1755882375.137 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:15.137Z,1755882375.137 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:15.140Z,1755882375.140 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:15.140Z,1755882375.140 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:15.430Z,1755882375.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.528669 s,
      deltaX: 0.200000 m,
      approachRate: 0.056679 m/s,
      rangeRepo size: 4

2025-08-22T17:06:15.432Z,1755882375.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798424 m,
      bearing: 279.326242 deg,
      lat: 36.779485 deg,
      lon: -121.859648 deg,
      deltaT: 3.528669 s,
      deltaX: 0.198753 m,
      approachRate: 0.056325 m/s,
      posRepo size: 4

2025-08-22T17:06:15.432Z,1755882375.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:15.808Z,1755882375.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:16.291Z,1755882376.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:16.630Z,1755882376.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:17.201Z,1755882377.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:17.477Z,1755882377.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:17.854Z,1755882377.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:18.155Z,1755882378.155 [DAT](INFO): DAT read: Rx Time:17:06:18.7162

2025-08-22T17:06:18.156Z,1755882378.156 [DAT](INFO): Rx dataTimestamp_ set to:1755882378.155344
2025-08-22T17:06:18.329Z,1755882378.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:18.664Z,1755882378.664 [DAT](INFO): DAT read: 17:06:18.7162 LVL= 24496, 17969, 12354, 24307, AGC= 48, IDX= 436, 0.28, 1.420, 2.893,-2.350, 3.085, PHS=-1.563,-0.147, 0.804, RAW= 246.5,   8.8, CAL= 245.8,   9.6, ROT= 264.2,  -9.6

2025-08-22T17:06:18.665Z,1755882378.665 [DAT](INFO): got valid direction response:
 17:06:18.7162 LVL= 24496, 17969, 12354, 24307, AGC= 48, IDX= 436, 0.28, 1.420, 2.893,-2.350, 3.085, PHS=-1.563,-0.147, 0.804, RAW= 246.5,   8.8, CAL= 245.8,   9.6, ROT= 264.2,  -9.6

2025-08-22T17:06:18.666Z,1755882378.666 [DAT](INFO): DAT read: Bearing 274.4, -73.3 (Local)

2025-08-22T17:06:18.667Z,1755882378.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.4, -73.3 (Local)

2025-08-22T17:06:18.668Z,1755882378.668 [DAT](INFO): DAT read: Range 11 to 50 : 15.7 m  (Round-trip  21.0 ms) speed  0.0 m/s

2025-08-22T17:06:18.669Z,1755882378.669 [DAT](INFO): DAT read: user:458>

2025-08-22T17:06:18.670Z,1755882378.670 [DAT](INFO): DAT read: Tx time:17:06:19.8410

2025-08-22T17:06:18.670Z,1755882378.670 [DAT](INFO): Ping request sent.
2025-08-22T17:06:18.670Z,1755882378.670 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:18.670Z,1755882378.670 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T17:06:18.671Z,1755882378.671 [DAT](INFO): direction in FSK: [-0.099641,-0.980948,0.166769]
2025-08-22T17:06:18.671Z,1755882378.671 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:18.672Z,1755882378.672 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:18.679Z,1755882378.679 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:18.679Z,1755882378.679 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:18.741Z,1755882378.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.700000 m,
      deltaT: 3.539374 s,
      deltaX: -0.200000 m,
      approachRate: -0.056507 m/s,
      rangeRepo size: 4

2025-08-22T17:06:18.747Z,1755882378.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.599694 m,
      bearing: 281.031889 deg,
      lat: 36.779485 deg,
      lon: -121.859648 deg,
      deltaT: 3.539374 s,
      deltaX: -0.198730 m,
      approachRate: -0.056148 m/s,
      posRepo size: 4

2025-08-22T17:06:18.748Z,1755882378.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:19.102Z,1755882379.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:19.537Z,1755882379.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:19.895Z,1755882379.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:20.359Z,1755882380.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:20.714Z,1755882380.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:21.131Z,1755882381.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:21.556Z,1755882381.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:21.682Z,1755882381.682 [DAT](INFO): DAT read: Rx Time:17:06:22.2665

2025-08-22T17:06:21.683Z,1755882381.683 [DAT](INFO): Rx dataTimestamp_ set to:1755882381.682682
2025-08-22T17:06:21.922Z,1755882381.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-22T17:06:22.195Z,1755882382.195 [DAT](INFO): DAT read: 17:06:22.2665 LVL= 24256, 17105, 12018, 23123, AGC= 48, IDX= 439, 0.11, 0.386, 1.822, 2.903, 2.032, PHS=-1.544,-0.166, 0.826, RAW= 245.4,   8.6, CAL= 244.7,   9.4, ROT= 265.3,  -9.4

2025-08-22T17:06:22.196Z,1755882382.196 [DAT](INFO): got valid direction response:
 17:06:22.2665 LVL= 24256, 17105, 12018, 23123, AGC= 48, IDX= 439, 0.11, 0.386, 1.822, 2.903, 2.032, PHS=-1.544,-0.166, 0.826, RAW= 245.4,   8.6, CAL= 244.7,   9.4, ROT= 265.3,  -9.4

2025-08-22T17:06:22.197Z,1755882382.197 [DAT](INFO): DAT read: Bearing 271.6, -73.9 (Local)

2025-08-22T17:06:22.197Z,1755882382.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.6, -73.9 (Local)

2025-08-22T17:06:22.199Z,1755882382.199 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.3 ms) speed -0.1 m/s

2025-08-22T17:06:22.199Z,1755882382.199 [DAT](INFO): DAT read: user:459>

2025-08-22T17:06:22.200Z,1755882382.200 [DAT](INFO): DAT read: Tx time:17:06:23.3910

2025-08-22T17:06:22.200Z,1755882382.200 [DAT](INFO): Ping request sent.
2025-08-22T17:06:22.200Z,1755882382.200 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:22.201Z,1755882382.201 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:06:22.202Z,1755882382.202 [DAT](INFO): direction in FSK: [-0.080839,-0.983255,0.163326]
2025-08-22T17:06:22.202Z,1755882382.202 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:22.203Z,1755882382.203 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:22.218Z,1755882382.218 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:22.219Z,1755882382.219 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:22.546Z,1755882382.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.529715 s,
      deltaX: 0.200000 m,
      approachRate: 0.056662 m/s,
      rangeRepo size: 4

2025-08-22T17:06:22.548Z,1755882382.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.798348 m,
      bearing: 282.426639 deg,
      lat: 36.779487 deg,
      lon: -121.859648 deg,
      deltaT: 3.529715 s,
      deltaX: 0.198654 m,
      approachRate: 0.056281 m/s,
      posRepo size: 4

2025-08-22T17:06:22.549Z,1755882382.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:22.845Z,1755882382.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:23.257Z,1755882383.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:23.682Z,1755882383.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:24.061Z,1755882384.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:24.476Z,1755882384.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:24.946Z,1755882384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:25.219Z,1755882385.219 [DAT](INFO): DAT read: Rx Time:17:06:25.8166

2025-08-22T17:06:25.219Z,1755882385.219 [DAT](INFO): Rx dataTimestamp_ set to:1755882385.218833
2025-08-22T17:06:25.309Z,1755882385.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T17:06:25.730Z,1755882385.730 [DAT](INFO): DAT read: 17:06:25.8166 LVL= 24496, 17873, 13442, 22819, AGC= 47, IDX= 425, 0.08, 0.429, 1.856, 3.059, 2.113, PHS=-1.582,-0.211, 0.902, RAW= 243.4,   8.3, CAL= 242.8,   9.2, ROT= 267.2,  -9.2

2025-08-22T17:06:25.732Z,1755882385.732 [DAT](INFO): got valid direction response:
 17:06:25.8166 LVL= 24496, 17873, 13442, 22819, AGC= 47, IDX= 425, 0.08, 0.429, 1.856, 3.059, 2.113, PHS=-1.582,-0.211, 0.902, RAW= 243.4,   8.3, CAL= 242.8,   9.2, ROT= 267.2,  -9.2

2025-08-22T17:06:25.733Z,1755882385.733 [DAT](INFO): DAT read: Bearing 265.6, -74.0 (Local)

2025-08-22T17:06:25.734Z,1755882385.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.6, -74.0 (Local)

2025-08-22T17:06:25.735Z,1755882385.735 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m  (Round-trip  21.5 ms) speed  0.0 m/s

2025-08-22T17:06:25.736Z,1755882385.736 [DAT](INFO): DAT read: user:460>

2025-08-22T17:06:25.737Z,1755882385.737 [DAT](INFO): DAT read: Tx time:17:06:26.9409

2025-08-22T17:06:25.737Z,1755882385.737 [DAT](INFO): Ping request sent.
2025-08-22T17:06:25.737Z,1755882385.737 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:25.737Z,1755882385.737 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T17:06:25.738Z,1755882385.738 [DAT](INFO): direction in FSK: [-0.048221,-0.985958,0.159881]
2025-08-22T17:06:25.739Z,1755882385.739 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:25.739Z,1755882385.739 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:25.747Z,1755882385.747 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:25.747Z,1755882385.747 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:25.825Z,1755882385.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 3.534306 s,
      deltaX: 0.200001 m,
      approachRate: 0.056588 m/s,
      rangeRepo size: 4

2025-08-22T17:06:25.833Z,1755882385.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.997005 m,
      bearing: 284.588970 deg,
      lat: 36.779488 deg,
      lon: -121.859646 deg,
      deltaT: 3.534306 s,
      deltaX: 0.198657 m,
      approachRate: 0.056208 m/s,
      posRepo size: 4

2025-08-22T17:06:25.842Z,1755882385.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:26.103Z,1755882386.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:26.576Z,1755882386.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:26.914Z,1755882386.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:27.298Z,1755882387.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:27.745Z,1755882387.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:28.104Z,1755882388.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:28.540Z,1755882388.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:28.750Z,1755882388.750 [DAT](INFO): DAT read: Rx Time:17:06:29.3667

2025-08-22T17:06:28.750Z,1755882388.750 [DAT](INFO): Rx dataTimestamp_ set to:1755882388.749707
2025-08-22T17:06:28.926Z,1755882388.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-22T17:06:29.266Z,1755882389.266 [DAT](INFO): DAT read: 17:06:29.3667 LVL= 22512, 18097, 14242, 22883, AGC= 47, IDX= 443,-0.08,-1.702,-0.307, 0.957,-0.022, PHS=-1.578,-0.240, 0.935, RAW= 242.1,   8.2, CAL= 241.5,   9.2, ROT= 268.5,  -9.2

2025-08-22T17:06:29.270Z,1755882389.270 [DAT](INFO): got valid direction response:
 17:06:29.3667 LVL= 22512, 18097, 14242, 22883, AGC= 47, IDX= 443,-0.08,-1.702,-0.307, 0.957,-0.022, PHS=-1.578,-0.240, 0.935, RAW= 242.1,   8.2, CAL= 241.5,   9.2, ROT= 268.5,  -9.2

2025-08-22T17:06:29.272Z,1755882389.272 [DAT](INFO): DAT read: Bearing 261.4, -73.9 (Local)

2025-08-22T17:06:29.272Z,1755882389.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.4, -73.9 (Local)

2025-08-22T17:06:29.301Z,1755882389.301 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.0 m/s

2025-08-22T17:06:29.302Z,1755882389.302 [DAT](INFO): DAT read: user:461>

2025-08-22T17:06:29.303Z,1755882389.303 [DAT](INFO): DAT read: Tx time:17:06:30.4909

2025-08-22T17:06:29.303Z,1755882389.303 [DAT](INFO): Ping request sent.
2025-08-22T17:06:29.303Z,1755882389.303 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:29.304Z,1755882389.304 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T17:06:29.305Z,1755882389.305 [DAT](INFO): direction in FSK: [-0.025840,-0.986798,0.159881]
2025-08-22T17:06:29.305Z,1755882389.305 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:29.305Z,1755882389.305 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:29.334Z,1755882389.334 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:29.334Z,1755882389.334 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:29.474Z,1755882389.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.529397 s,
      deltaX: 0.100000 m,
      approachRate: 0.028334 m/s,
      rangeRepo size: 4

2025-08-22T17:06:29.486Z,1755882389.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.096394 m,
      bearing: 286.227260 deg,
      lat: 36.779488 deg,
      lon: -121.859646 deg,
      deltaT: 3.529397 s,
      deltaX: 0.099388 m,
      approachRate: 0.028160 m/s,
      posRepo size: 4

2025-08-22T17:06:29.487Z,1755882389.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:29.778Z,1755882389.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:30.150Z,1755882390.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:30.600Z,1755882390.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:30.962Z,1755882390.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:31.374Z,1755882391.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:31.800Z,1755882391.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:32.181Z,1755882392.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:32.276Z,1755882392.276 [DAT](INFO): DAT read: Rx Time:17:06:32.9168

2025-08-22T17:06:32.276Z,1755882392.276 [DAT](INFO): Rx dataTimestamp_ set to:1755882392.275853
2025-08-22T17:06:32.595Z,1755882392.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:32.874Z,1755882392.874 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:06:33.002Z,1755882393.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-22T17:06:33.036Z,1755882393.036 [DAT](INFO): DAT read: 17:06:32.9168 LVL= 24048, 20385, 16370, 26067, AGC= 48, IDX= 444,-0.13,-2.297,-0.953, 0.346,-0.617, PHS=-1.578,-0.291, 0.919, RAW= 241.0,   8.8, CAL= 240.8,  10.0, ROT= 269.2, -10.0

2025-08-22T17:06:33.037Z,1755882393.037 [DAT](INFO): got valid direction response:
 17:06:32.9168 LVL= 24048, 20385, 16370, 26067, AGC= 48, IDX= 444,-0.13,-2.297,-0.953, 0.346,-0.617, PHS=-1.578,-0.291, 0.919, RAW= 241.0,   8.8, CAL= 240.8,  10.0, ROT= 269.2, -10.0

2025-08-22T17:06:33.038Z,1755882393.038 [DAT](INFO): DAT read: Bearing 259.3, -73.2 (Local)

2025-08-22T17:06:33.039Z,1755882393.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3, -73.2 (Local)

2025-08-22T17:06:33.040Z,1755882393.040 [DAT](INFO): DAT read: Range 11 to 50 : 16.3 m  (Round-trip  21.8 ms) speed  0.0 m/s

2025-08-22T17:06:33.041Z,1755882393.041 [DAT](INFO): DAT read: user:462>

2025-08-22T17:06:33.042Z,1755882393.042 [DAT](INFO): DAT read: Tx time:17:06:34.0409

2025-08-22T17:06:33.042Z,1755882393.042 [DAT](INFO): Ping request sent.
2025-08-22T17:06:33.042Z,1755882393.042 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:33.042Z,1755882393.042 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T17:06:33.043Z,1755882393.043 [DAT](INFO): direction in FSK: [-0.013750,-0.984712,0.173648]
2025-08-22T17:06:33.043Z,1755882393.043 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:33.044Z,1755882393.044 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:33.055Z,1755882393.055 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:33.055Z,1755882393.055 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:33.416Z,1755882393.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.299999 m,
      deltaT: 3.778573 s,
      deltaX: 0.099998 m,
      approachRate: 0.026465 m/s,
      rangeRepo size: 4

2025-08-22T17:06:33.422Z,1755882393.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.195692 m,
      bearing: 287.079942 deg,
      lat: 36.779488 deg,
      lon: -121.859645 deg,
      deltaT: 3.778573 s,
      deltaX: 0.099298 m,
      approachRate: 0.026279 m/s,
      posRepo size: 4

2025-08-22T17:06:33.423Z,1755882393.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:33.812Z,1755882393.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:33.878Z,1755882393.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:06:34.201Z,1755882394.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:34.615Z,1755882394.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:35.011Z,1755882395.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:35.434Z,1755882395.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:35.803Z,1755882395.803 [DAT](INFO): DAT read: Rx Time:17:06:36.4670

2025-08-22T17:06:35.803Z,1755882395.803 [DAT](INFO): Rx dataTimestamp_ set to:1755882395.802847
2025-08-22T17:06:35.878Z,1755882395.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:36.281Z,1755882396.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-22T17:06:36.564Z,1755882396.564 [DAT](INFO): DAT read: 17:06:36.4670 LVL= 24240, 19873, 15394, 23715, AGC= 47, IDX= 446,-0.15, 2.516,-2.497,-1.115,-2.085, PHS=-1.581,-0.367, 0.926, RAW= 239.0,   9.4, CAL= 239.1,  10.8, ROT= 270.9, -10.8

2025-08-22T17:06:36.565Z,1755882396.565 [DAT](INFO): got valid direction response:
 17:06:36.4670 LVL= 24240, 19873, 15394, 23715, AGC= 47, IDX= 446,-0.15, 2.516,-2.497,-1.115,-2.085, PHS=-1.581,-0.367, 0.926, RAW= 239.0,   9.4, CAL= 239.1,  10.8, ROT= 270.9, -10.8

2025-08-22T17:06:36.566Z,1755882396.566 [DAT](INFO): DAT read: Bearing 254.2, -71.8 (Local)

2025-08-22T17:06:36.566Z,1755882396.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.2, -71.8 (Local)

2025-08-22T17:06:36.568Z,1755882396.568 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m  (Round-trip  22.0 ms) speed  0.0 m/s

2025-08-22T17:06:36.568Z,1755882396.568 [DAT](INFO): DAT read: user:463>

2025-08-22T17:06:36.590Z,1755882396.590 [DAT](INFO): DAT read: Tx time:17:06:37.5909

2025-08-22T17:06:36.590Z,1755882396.590 [DAT](INFO): Ping request sent.
2025-08-22T17:06:36.590Z,1755882396.590 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:36.590Z,1755882396.590 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T17:06:36.591Z,1755882396.591 [DAT](INFO): direction in FSK: [0.015429,-0.982166,0.187381]
2025-08-22T17:06:36.592Z,1755882396.592 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:36.592Z,1755882396.592 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:36.595Z,1755882396.595 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:36.595Z,1755882396.595 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:36.752Z,1755882396.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.527952 s,
      deltaX: 0.200001 m,
      approachRate: 0.056690 m/s,
      rangeRepo size: 4

2025-08-22T17:06:36.759Z,1755882396.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.394533 m,
      bearing: 288.946636 deg,
      lat: 36.779487 deg,
      lon: -121.859645 deg,
      deltaT: 3.527952 s,
      deltaX: 0.198841 m,
      approachRate: 0.056362 m/s,
      posRepo size: 4

2025-08-22T17:06:36.759Z,1755882396.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:37.042Z,1755882397.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:37.451Z,1755882397.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:37.917Z,1755882397.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:38.239Z,1755882398.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:38.671Z,1755882398.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:39.067Z,1755882399.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:39.487Z,1755882399.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:39.586Z,1755882399.586 [DAT](INFO): DAT read: Rx Time:17:06:40.0173

2025-08-22T17:06:39.587Z,1755882399.587 [DAT](INFO): Rx dataTimestamp_ set to:1755882399.586574
2025-08-22T17:06:39.964Z,1755882399.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m.
2025-08-22T17:06:40.094Z,1755882400.094 [DAT](INFO): DAT read: 17:06:40.0173 LVL= 24160, 21329, 17714, 22883, AGC= 47, IDX= 449,-0.08, 3.072,-2.011,-0.547,-1.534, PHS=-1.575,-0.431, 0.944, RAW= 237.0,   9.8, CAL= 237.4,  11.2, ROT= 272.6, -11.2

2025-08-22T17:06:40.095Z,1755882400.095 [DAT](INFO): got valid direction response:
 17:06:40.0173 LVL= 24160, 21329, 17714, 22883, AGC= 47, IDX= 449,-0.08, 3.072,-2.011,-0.547,-1.534, PHS=-1.575,-0.431, 0.944, RAW= 237.0,   9.8, CAL= 237.4,  11.2, ROT= 272.6, -11.2

2025-08-22T17:06:40.097Z,1755882400.097 [DAT](INFO): DAT read: Bearing 249.2, -71.3 (Local)

2025-08-22T17:06:40.097Z,1755882400.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.2, -71.3 (Local)

2025-08-22T17:06:40.099Z,1755882400.099 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m  (Round-trip  22.3 ms) speed -0.1 m/s

2025-08-22T17:06:40.100Z,1755882400.100 [DAT](INFO): DAT read: user:464>

2025-08-22T17:06:40.100Z,1755882400.100 [DAT](INFO): DAT read: Tx time:17:06:41.1409

2025-08-22T17:06:40.101Z,1755882400.101 [DAT](INFO): Ping request sent.
2025-08-22T17:06:40.101Z,1755882400.101 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:40.101Z,1755882400.101 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T17:06:40.103Z,1755882400.103 [DAT](INFO): direction in FSK: [0.044499,-0.979945,0.194234]
2025-08-22T17:06:40.103Z,1755882400.103 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:40.103Z,1755882400.103 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:40.106Z,1755882400.106 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:40.107Z,1755882400.107 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:40.292Z,1755882400.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 3.527982 s,
      deltaX: 0.200001 m,
      approachRate: 0.056690 m/s,
      rangeRepo size: 4

2025-08-22T17:06:40.314Z,1755882400.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.593153 m,
      bearing: 290.855189 deg,
      lat: 36.779486 deg,
      lon: -121.859645 deg,
      deltaT: 3.527982 s,
      deltaX: 0.198620 m,
      approachRate: 0.056298 m/s,
      posRepo size: 4

2025-08-22T17:06:40.315Z,1755882400.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:40.736Z,1755882400.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:41.092Z,1755882401.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:41.504Z,1755882401.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:41.956Z,1755882401.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:42.300Z,1755882402.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:42.725Z,1755882402.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:43.092Z,1755882403.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:43.111Z,1755882403.111 [DAT](INFO): DAT read: Rx Time:17:06:43.5676

2025-08-22T17:06:43.112Z,1755882403.112 [DAT](INFO): Rx dataTimestamp_ set to:1755882403.111629
2025-08-22T17:06:43.517Z,1755882403.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.59 m.
2025-08-22T17:06:43.634Z,1755882403.634 [DAT](INFO): DAT read: 17:06:43.5676 LVL= 30864, 22961, 14610, 28515, AGC= 49, IDX= 436, 0.17, 0.297, 1.448, 2.942, 1.967, PHS=-1.567,-0.474, 0.931, RAW= 235.9,  10.3, CAL= 236.5,  11.8, ROT= 273.5, -11.8

2025-08-22T17:06:43.637Z,1755882403.637 [DAT](INFO): got valid direction response:
 17:06:43.5676 LVL= 30864, 22961, 14610, 28515, AGC= 49, IDX= 436, 0.17, 0.297, 1.448, 2.942, 1.967, PHS=-1.567,-0.474, 0.931, RAW= 235.9,  10.3, CAL= 236.5,  11.8, ROT= 273.5, -11.8

2025-08-22T17:06:43.641Z,1755882403.641 [DAT](INFO): DAT read: Bearing 247.5, -70.5 (Local)

2025-08-22T17:06:43.653Z,1755882403.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.5, -70.5 (Local)

2025-08-22T17:06:43.666Z,1755882403.666 [DAT](INFO): DAT read: Range 11 to 50 : 16.9 m  (Round-trip  22.6 ms) speed  0.0 m/s

2025-08-22T17:06:43.669Z,1755882403.669 [DAT](INFO): DAT read: user:465>

2025-08-22T17:06:43.686Z,1755882403.686 [DAT](INFO): DAT read: Tx time:17:06:44.6909

2025-08-22T17:06:43.686Z,1755882403.686 [DAT](INFO): Ping request sent.
2025-08-22T17:06:43.687Z,1755882403.687 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:43.687Z,1755882403.687 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T17:06:43.688Z,1755882403.688 [DAT](INFO): direction in FSK: [0.059759,-0.977042,0.204496]
2025-08-22T17:06:43.688Z,1755882403.688 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:43.688Z,1755882403.688 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:43.705Z,1755882403.705 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:43.738Z,1755882403.738 [DAT](INFO): publishing direction and range info
2025-08-22T17:06:43.971Z,1755882403.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.900000 m,
      deltaT: 3.529649 s,
      deltaX: 0.199999 m,
      approachRate: 0.056663 m/s,
      rangeRepo size: 4

2025-08-22T17:06:43.979Z,1755882403.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.791971 m,
      bearing: 291.734961 deg,
      lat: 36.779485 deg,
      lon: -121.859645 deg,
      deltaT: 3.529649 s,
      deltaX: 0.198818 m,
      approachRate: 0.056328 m/s,
      posRepo size: 4

2025-08-22T17:06:43.979Z,1755882403.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:44.309Z,1755882404.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:44.730Z,1755882404.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:45.110Z,1755882405.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:45.527Z,1755882405.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:45.951Z,1755882405.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:46.323Z,1755882406.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:46.641Z,1755882406.641 [DAT](INFO): DAT read: Rx Time:17:06:47.1176

2025-08-22T17:06:46.643Z,1755882406.643 [DAT](INFO): Rx dataTimestamp_ set to:1755882406.641894
2025-08-22T17:06:46.760Z,1755882406.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:47.144Z,1755882407.144 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m  (Round-trip  22.7 ms) speed  0.0 m/s

2025-08-22T17:06:47.144Z,1755882407.144 [DAT](INFO): DAT read: user:466>

2025-08-22T17:06:47.145Z,1755882407.145 [DAT](INFO): DAT read: Tx time:17:06:48.2408

2025-08-22T17:06:47.145Z,1755882407.145 [DAT](INFO): Ping request sent.
2025-08-22T17:06:47.145Z,1755882407.145 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:47.146Z,1755882407.146 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-22T17:06:47.146Z,1755882407.146 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:47.146Z,1755882407.146 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:47.170Z,1755882407.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 3.526454 s,
      deltaX: 0.100000 m,
      approachRate: 0.028357 m/s,
      rangeRepo size: 4

2025-08-22T17:06:47.170Z,1755882407.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:47.546Z,1755882407.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:48.009Z,1755882408.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:48.356Z,1755882408.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:48.786Z,1755882408.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:49.241Z,1755882409.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:49.571Z,1755882409.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:50.078Z,1755882410.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:06:50.080Z,1755882410.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:50.167Z,1755882410.167 [DAT](INFO): DAT read: Rx Time:17:06:50.6679

2025-08-22T17:06:50.168Z,1755882410.168 [DAT](INFO): Rx dataTimestamp_ set to:1755882410.167543
2025-08-22T17:06:50.168Z,1755882410.168 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:06:50.169Z,1755882410.169 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:06:50.169Z,1755882410.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:06:50.392Z,1755882410.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:50.420Z,1755882410.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275095
2025-08-22T17:06:50.671Z,1755882410.671 [DAT](INFO): DAT read: Range 11 to 50 : 17.2 m  (Round-trip  23.0 ms) speed -0.1 m/s

2025-08-22T17:06:50.672Z,1755882410.672 [DAT](INFO): DAT read: user:467>

2025-08-22T17:06:50.673Z,1755882410.673 [DAT](INFO): DAT read: Tx time:17:06:51.7908

2025-08-22T17:06:50.673Z,1755882410.673 [DAT](INFO): Ping request sent.
2025-08-22T17:06:50.673Z,1755882410.673 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:50.674Z,1755882410.674 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T17:06:50.674Z,1755882410.674 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:50.674Z,1755882410.674 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:50.901Z,1755882410.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.200001 m,
      deltaT: 3.527893 s,
      deltaX: 0.200001 m,
      approachRate: 0.056691 m/s,
      rangeRepo size: 4

2025-08-22T17:06:50.902Z,1755882410.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:51.234Z,1755882411.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:51.599Z,1755882411.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:52.052Z,1755882412.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:52.407Z,1755882412.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:52.855Z,1755882412.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:53.207Z,1755882413.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:53.615Z,1755882413.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:53.715Z,1755882413.715 [DAT](INFO): DAT read: Rx Time:17:06:54.2184

2025-08-22T17:06:53.716Z,1755882413.716 [DAT](INFO): Rx dataTimestamp_ set to:1755882413.715423
2025-08-22T17:06:54.058Z,1755882414.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:54.220Z,1755882414.220 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m  (Round-trip  23.5 ms) speed  0.0 m/s

2025-08-22T17:06:54.220Z,1755882414.220 [DAT](INFO): DAT read: user:468>

2025-08-22T17:06:54.221Z,1755882414.221 [DAT](INFO): DAT read: Tx time:17:06:55.3408

2025-08-22T17:06:54.221Z,1755882414.221 [DAT](INFO): Ping request sent.
2025-08-22T17:06:54.221Z,1755882414.221 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:54.222Z,1755882414.222 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T17:06:54.222Z,1755882414.222 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:54.222Z,1755882414.222 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:54.419Z,1755882414.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 3.548175 s,
      deltaX: 0.400000 m,
      approachRate: 0.112734 m/s,
      rangeRepo size: 4

2025-08-22T17:06:54.422Z,1755882414.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:54.916Z,1755882414.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:55.239Z,1755882415.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:55.632Z,1755882415.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:56.088Z,1755882416.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:56.449Z,1755882416.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:56.896Z,1755882416.896 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +42,  -143,    +E,   +42,  -143,    +0,A
2025-08-22T17:06:56.912Z,1755882416.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:57.247Z,1755882417.247 [DAT](INFO): DAT read: Rx Time:17:06:57.7687

2025-08-22T17:06:57.247Z,1755882417.247 [DAT](INFO): Rx dataTimestamp_ set to:1755882417.246804
2025-08-22T17:06:57.258Z,1755882417.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:57.664Z,1755882417.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:57.751Z,1755882417.751 [DAT](INFO): DAT read: Range 11 to 50 : 17.8 m  (Round-trip  23.8 ms) speed  0.0 m/s

2025-08-22T17:06:57.752Z,1755882417.752 [DAT](INFO): DAT read: user:469>

2025-08-22T17:06:57.753Z,1755882417.753 [DAT](INFO): DAT read: Tx time:17:06:58.8908

2025-08-22T17:06:57.753Z,1755882417.753 [DAT](INFO): Ping request sent.
2025-08-22T17:06:57.753Z,1755882417.753 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:06:57.754Z,1755882417.754 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T17:06:57.754Z,1755882417.754 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:57.754Z,1755882417.754 [DAT](INFO): publishing transmit ping time
2025-08-22T17:06:58.075Z,1755882418.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.799999 m,
      deltaT: 3.531892 s,
      deltaX: 0.199999 m,
      approachRate: 0.056627 m/s,
      rangeRepo size: 4

2025-08-22T17:06:58.076Z,1755882418.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:58.466Z,1755882418.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:58.947Z,1755882418.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:59.263Z,1755882419.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:06:59.664Z,1755882419.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:00.093Z,1755882420.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:00.491Z,1755882420.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:00.779Z,1755882420.779 [DAT](INFO): DAT read: Rx Time:17:07:01.3189

2025-08-22T17:07:00.779Z,1755882420.779 [DAT](INFO): Rx dataTimestamp_ set to:1755882420.778746
2025-08-22T17:07:00.963Z,1755882420.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:01.280Z,1755882421.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:01.284Z,1755882421.284 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.0 ms) speed  0.0 m/s

2025-08-22T17:07:01.284Z,1755882421.284 [DAT](INFO): DAT read: user:470>

2025-08-22T17:07:01.285Z,1755882421.285 [DAT](INFO): DAT read: Tx time:17:07:02.4408

2025-08-22T17:07:01.285Z,1755882421.285 [DAT](INFO): Ping request sent.
2025-08-22T17:07:01.285Z,1755882421.285 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:01.286Z,1755882421.286 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T17:07:01.286Z,1755882421.286 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:01.286Z,1755882421.286 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:01.688Z,1755882421.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.532085 s,
      deltaX: 0.200001 m,
      approachRate: 0.056624 m/s,
      rangeRepo size: 4

2025-08-22T17:07:01.689Z,1755882421.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:02.122Z,1755882422.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:02.574Z,1755882422.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:02.997Z,1755882422.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:03.315Z,1755882423.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:03.799Z,1755882423.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:03.999Z,1755882423.999 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:07:04.189Z,1755882424.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:04.307Z,1755882424.307 [DAT](INFO): DAT read: Rx Time:17:07:04.8692

2025-08-22T17:07:04.307Z,1755882424.307 [DAT](INFO): Rx dataTimestamp_ set to:1755882424.307007
2025-08-22T17:07:04.535Z,1755882424.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:04.811Z,1755882424.811 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m  (Round-trip  24.4 ms) speed -0.1 m/s

2025-08-22T17:07:04.812Z,1755882424.812 [DAT](INFO): DAT read: user:471>

2025-08-22T17:07:04.813Z,1755882424.813 [DAT](INFO): DAT read: Tx time:17:07:05.9907

2025-08-22T17:07:04.813Z,1755882424.813 [DAT](INFO): Ping request sent.
2025-08-22T17:07:04.813Z,1755882424.813 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:04.814Z,1755882424.814 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T17:07:04.814Z,1755882424.814 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:04.814Z,1755882424.814 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:05.002Z,1755882425.002 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:07:05.024Z,1755882425.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.527843 s,
      deltaX: 0.299999 m,
      approachRate: 0.085038 m/s,
      rangeRepo size: 4

2025-08-22T17:07:05.025Z,1755882425.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:05.322Z,1755882425.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:05.730Z,1755882425.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:06.156Z,1755882426.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:06.531Z,1755882426.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:07.026Z,1755882427.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:07.363Z,1755882427.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:07.761Z,1755882427.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:07.835Z,1755882427.835 [DAT](INFO): DAT read: Rx Time:17:07:08.4197

2025-08-22T17:07:07.836Z,1755882427.836 [DAT](INFO): Rx dataTimestamp_ set to:1755882427.835582
2025-08-22T17:07:08.220Z,1755882428.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:08.339Z,1755882428.339 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m  (Round-trip  24.9 ms) speed  0.0 m/s

2025-08-22T17:07:08.340Z,1755882428.340 [DAT](INFO): DAT read: user:472>

2025-08-22T17:07:08.341Z,1755882428.341 [DAT](INFO): DAT read: Tx time:17:07:09.5407

2025-08-22T17:07:08.341Z,1755882428.341 [DAT](INFO): Ping request sent.
2025-08-22T17:07:08.341Z,1755882428.341 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:08.342Z,1755882428.342 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-22T17:07:08.342Z,1755882428.342 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:08.342Z,1755882428.342 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:08.567Z,1755882428.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 3.528030 s,
      deltaX: 0.300001 m,
      approachRate: 0.085034 m/s,
      rangeRepo size: 4

2025-08-22T17:07:08.567Z,1755882428.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:08.961Z,1755882428.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:09.384Z,1755882429.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:09.775Z,1755882429.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:10.231Z,1755882430.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:10.591Z,1755882430.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:10.984Z,1755882430.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:11.367Z,1755882431.367 [DAT](INFO): DAT read: Rx Time:17:07:11.9701

2025-08-22T17:07:11.367Z,1755882431.367 [DAT](INFO): Rx dataTimestamp_ set to:1755882431.366867
2025-08-22T17:07:11.451Z,1755882431.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:11.786Z,1755882431.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:11.872Z,1755882431.872 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m  (Round-trip  25.2 ms) speed -0.1 m/s

2025-08-22T17:07:11.873Z,1755882431.873 [DAT](INFO): DAT read: user:473>

2025-08-22T17:07:11.874Z,1755882431.874 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-22T17:07:12.123Z,1755882432.123 [DAT](INFO): DAT read: Tx time:17:07:13.0907

2025-08-22T17:07:12.123Z,1755882432.123 [DAT](INFO): Ping request sent.
2025-08-22T17:07:12.123Z,1755882432.123 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:12.123Z,1755882432.123 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:12.246Z,1755882432.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 3.532438 s,
      deltaX: 0.299999 m,
      approachRate: 0.084927 m/s,
      rangeRepo size: 4

2025-08-22T17:07:12.247Z,1755882432.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:12.608Z,1755882432.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:12.995Z,1755882432.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:13.457Z,1755882433.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:13.816Z,1755882433.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:14.244Z,1755882434.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:14.618Z,1755882434.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:14.896Z,1755882434.896 [DAT](INFO): DAT read: Rx Time:17:07:15.5205

2025-08-22T17:07:14.897Z,1755882434.897 [DAT](INFO): Rx dataTimestamp_ set to:1755882434.896262
2025-08-22T17:07:15.034Z,1755882435.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:15.400Z,1755882435.400 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m  (Round-trip  25.6 ms) speed -0.1 m/s

2025-08-22T17:07:15.402Z,1755882435.402 [DAT](INFO): DAT read: user:474>

2025-08-22T17:07:15.403Z,1755882435.403 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-22T17:07:15.479Z,1755882435.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 3.528202 s,
      deltaX: 0.300001 m,
      approachRate: 0.085029 m/s,
      rangeRepo size: 4

2025-08-22T17:07:15.480Z,1755882435.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:15.651Z,1755882435.651 [DAT](INFO): DAT read: Tx time:17:07:16.6407

2025-08-22T17:07:15.651Z,1755882435.651 [DAT](INFO): Ping request sent.
2025-08-22T17:07:15.651Z,1755882435.651 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:15.651Z,1755882435.651 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:15.883Z,1755882435.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:16.265Z,1755882436.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:16.655Z,1755882436.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:17.183Z,1755882437.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:17.462Z,1755882437.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:17.849Z,1755882437.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:18.280Z,1755882438.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:18.423Z,1755882438.423 [DAT](INFO): DAT read: Rx Time:17:07:19.0708

2025-08-22T17:07:18.423Z,1755882438.423 [DAT](INFO): Rx dataTimestamp_ set to:1755882438.423032
2025-08-22T17:07:18.651Z,1755882438.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:18.931Z,1755882438.931 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m  (Round-trip  26.0 ms) speed  0.0 m/s

2025-08-22T17:07:18.932Z,1755882438.932 [DAT](INFO): DAT read: user:475>

2025-08-22T17:07:18.932Z,1755882438.932 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-22T17:07:19.057Z,1755882439.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 3.531150 s,
      deltaX: 0.299999 m,
      approachRate: 0.084958 m/s,
      rangeRepo size: 4

2025-08-22T17:07:19.058Z,1755882439.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:19.183Z,1755882439.183 [DAT](INFO): DAT read: Tx time:17:07:20.1907

2025-08-22T17:07:19.184Z,1755882439.184 [DAT](INFO): Ping request sent.
2025-08-22T17:07:19.184Z,1755882439.184 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:19.184Z,1755882439.184 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:19.484Z,1755882439.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:19.896Z,1755882439.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:20.305Z,1755882440.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:20.683Z,1755882440.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:21.091Z,1755882441.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:21.519Z,1755882441.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:21.938Z,1755882441.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:21.957Z,1755882441.957 [DAT](INFO): DAT read: Rx Time:17:07:22.6212

2025-08-22T17:07:21.973Z,1755882441.973 [DAT](INFO): Rx dataTimestamp_ set to:1755882441.957046
2025-08-22T17:07:22.319Z,1755882442.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:22.692Z,1755882442.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m.
2025-08-22T17:07:22.735Z,1755882442.735 [DAT](INFO): DAT read: 17:07:22.6212 LVL= 30704, 28497, 19090, 32755, AGC= 46, IDX= 444, 0.48, 1.174, 1.341,-2.734, 2.531, PHS=-1.255,-1.145, 0.974, RAW= 212.5,  13.0, CAL= 214.3,  15.5, ROT= 295.7, -15.5

2025-08-22T17:07:22.737Z,1755882442.737 [DAT](INFO): got valid direction response:
 17:07:22.6212 LVL= 30704, 28497, 19090, 32755, AGC= 46, IDX= 444, 0.48, 1.174, 1.341,-2.734, 2.531, PHS=-1.255,-1.145, 0.974, RAW= 212.5,  13.0, CAL= 214.3,  15.5, ROT= 295.7, -15.5

2025-08-22T17:07:22.739Z,1755882442.739 [DAT](INFO): DAT read: Bearing 212.3, -54.2 (Local)

2025-08-22T17:07:22.739Z,1755882442.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.3, -54.2 (Local)

2025-08-22T17:07:22.742Z,1755882442.742 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m  (Round-trip  26.5 ms) speed -0.1 m/s

2025-08-22T17:07:22.743Z,1755882442.743 [DAT](INFO): DAT read: user:476>

2025-08-22T17:07:22.744Z,1755882442.744 [DAT](INFO): DAT read: Tx time:17:07:23.7406

2025-08-22T17:07:22.744Z,1755882442.744 [DAT](INFO): Ping request sent.
2025-08-22T17:07:22.744Z,1755882442.744 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:22.745Z,1755882442.745 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:07:22.758Z,1755882442.758 [DAT](INFO): direction in FSK: [0.417887,-0.868305,0.267238]
2025-08-22T17:07:22.759Z,1755882442.759 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:22.759Z,1755882442.759 [DAT](INFO): publishing direction and range info
2025-08-22T17:07:22.782Z,1755882442.782 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:22.783Z,1755882442.783 [DAT](INFO): publishing direction and range info
2025-08-22T17:07:23.132Z,1755882443.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 3.797219 s,
      deltaX: 0.299999 m,
      approachRate: 0.079005 m/s,
      rangeRepo size: 4

2025-08-22T17:07:23.134Z,1755882443.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.673159 m,
      bearing: 310.981502 deg,
      lat: 36.779485 deg,
      lon: -121.859644 deg,
      deltaT: 39.111381 s,
      deltaX: 2.881187 m,
      approachRate: 0.073666 m/s,
      posRepo size: 4

2025-08-22T17:07:23.134Z,1755882443.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:23.524Z,1755882443.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:23.930Z,1755882443.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:24.354Z,1755882444.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:24.715Z,1755882444.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:25.132Z,1755882445.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:25.499Z,1755882445.499 [DAT](INFO): DAT read: Rx Time:17:07:26.1718

2025-08-22T17:07:25.499Z,1755882445.499 [DAT](INFO): Rx dataTimestamp_ set to:1755882445.498712
2025-08-22T17:07:25.564Z,1755882445.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:25.925Z,1755882445.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:26.259Z,1755882446.259 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m  (Round-trip  27.1 ms) speed  0.0 m/s

2025-08-22T17:07:26.262Z,1755882446.262 [DAT](INFO): DAT read: user:477>

2025-08-22T17:07:26.264Z,1755882446.264 [DAT](INFO): DAT read: Tx time:17:07:27.2906

2025-08-22T17:07:26.265Z,1755882446.265 [DAT](INFO): Ping request sent.
2025-08-22T17:07:26.266Z,1755882446.266 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:26.267Z,1755882446.267 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-22T17:07:26.267Z,1755882446.267 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:26.269Z,1755882446.269 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:26.428Z,1755882446.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 3.528490 s,
      deltaX: 0.500000 m,
      approachRate: 0.141704 m/s,
      rangeRepo size: 4

2025-08-22T17:07:26.429Z,1755882446.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:26.739Z,1755882446.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:27.151Z,1755882447.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:27.585Z,1755882447.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:27.975Z,1755882447.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:28.407Z,1755882448.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:28.824Z,1755882448.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:29.285Z,1755882449.285 [DAT](INFO): DAT read: Rx Time:17:07:29.7222

2025-08-22T17:07:29.286Z,1755882449.286 [DAT](INFO): Rx dataTimestamp_ set to:1755882449.285205
2025-08-22T17:07:29.334Z,1755882449.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:29.787Z,1755882449.787 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m  (Round-trip  27.5 ms) speed  0.0 m/s

2025-08-22T17:07:29.788Z,1755882449.788 [DAT](INFO): DAT read: user:478>

2025-08-22T17:07:29.789Z,1755882449.789 [DAT](INFO): DAT read: Tx time:17:07:30.8406

2025-08-22T17:07:29.789Z,1755882449.789 [DAT](INFO): Ping request sent.
2025-08-22T17:07:29.789Z,1755882449.789 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:29.790Z,1755882449.790 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-22T17:07:29.790Z,1755882449.790 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:29.790Z,1755882449.790 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:29.806Z,1755882449.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 3.530545 s,
      deltaX: 0.300001 m,
      approachRate: 0.084973 m/s,
      rangeRepo size: 4

2025-08-22T17:07:29.807Z,1755882449.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:30.190Z,1755882450.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:30.588Z,1755882450.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:30.973Z,1755882450.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:31.423Z,1755882451.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:31.764Z,1755882451.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:32.184Z,1755882452.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:32.603Z,1755882452.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:32.811Z,1755882452.811 [DAT](INFO): DAT read: Rx Time:17:07:33.2725

2025-08-22T17:07:32.811Z,1755882452.811 [DAT](INFO): Rx dataTimestamp_ set to:1755882452.810779
2025-08-22T17:07:32.982Z,1755882452.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:33.316Z,1755882453.316 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m  (Round-trip  27.9 ms) speed -0.1 m/s

2025-08-22T17:07:33.317Z,1755882453.317 [DAT](INFO): DAT read: user:479>

2025-08-22T17:07:33.318Z,1755882453.318 [DAT](INFO): DAT read: Tx time:17:07:34.3905

2025-08-22T17:07:33.318Z,1755882453.318 [DAT](INFO): Ping request sent.
2025-08-22T17:07:33.318Z,1755882453.318 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:33.319Z,1755882453.319 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-22T17:07:33.319Z,1755882453.319 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:33.319Z,1755882453.319 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:33.492Z,1755882453.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 3.528875 s,
      deltaX: 0.299999 m,
      approachRate: 0.085013 m/s,
      rangeRepo size: 4

2025-08-22T17:07:33.493Z,1755882453.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:33.798Z,1755882453.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:34.197Z,1755882454.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:34.611Z,1755882454.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:35.001Z,1755882455.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:35.122Z,1755882455.122 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:07:35.471Z,1755882455.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:35.804Z,1755882455.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:36.126Z,1755882456.126 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:07:36.213Z,1755882456.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:36.344Z,1755882456.344 [DAT](INFO): DAT read: Rx Time:17:07:36.8230

2025-08-22T17:07:36.345Z,1755882456.345 [DAT](INFO): Rx dataTimestamp_ set to:1755882456.344140
2025-08-22T17:07:36.638Z,1755882456.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:36.849Z,1755882456.849 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m  (Round-trip  28.4 ms) speed -0.1 m/s

2025-08-22T17:07:36.850Z,1755882456.850 [DAT](INFO): DAT read: user:480>

2025-08-22T17:07:36.851Z,1755882456.851 [DAT](INFO): DAT read: Tx time:17:07:37.9405

2025-08-22T17:07:36.852Z,1755882456.852 [DAT](INFO): Ping request sent.
2025-08-22T17:07:36.852Z,1755882456.852 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:36.852Z,1755882456.852 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-22T17:07:36.853Z,1755882456.853 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:36.854Z,1755882456.854 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:37.024Z,1755882457.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.299999 m,
      deltaT: 3.532070 s,
      deltaX: 0.400000 m,
      approachRate: 0.113248 m/s,
      rangeRepo size: 4

2025-08-22T17:07:37.025Z,1755882457.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:37.491Z,1755882457.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:37.831Z,1755882457.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:38.244Z,1755882458.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:38.667Z,1755882458.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:39.054Z,1755882459.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:39.517Z,1755882459.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:39.871Z,1755882459.871 [DAT](INFO): DAT read: Rx Time:17:07:40.3737

2025-08-22T17:07:39.871Z,1755882459.871 [DAT](INFO): Rx dataTimestamp_ set to:1755882459.870832
2025-08-22T17:07:39.875Z,1755882459.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:40.275Z,1755882460.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:40.375Z,1755882460.375 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m  (Round-trip  29.1 ms) speed -0.1 m/s

2025-08-22T17:07:40.376Z,1755882460.376 [DAT](INFO): DAT read: user:481>

2025-08-22T17:07:40.377Z,1755882460.377 [DAT](INFO): DAT read: Tx time:17:07:41.4905

2025-08-22T17:07:40.377Z,1755882460.377 [DAT](INFO): Ping request sent.
2025-08-22T17:07:40.377Z,1755882460.377 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:40.378Z,1755882460.378 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-22T17:07:40.378Z,1755882460.378 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:40.379Z,1755882460.379 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:40.697Z,1755882460.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 3.526917 s,
      deltaX: 0.500000 m,
      approachRate: 0.141767 m/s,
      rangeRepo size: 4

2025-08-22T17:07:40.698Z,1755882460.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:41.057Z,1755882461.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:41.531Z,1755882461.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:41.949Z,1755882461.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:42.268Z,1755882462.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:42.754Z,1755882462.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:43.106Z,1755882463.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:43.398Z,1755882463.398 [DAT](INFO): DAT read: Rx Time:17:07:43.9242

2025-08-22T17:07:43.399Z,1755882463.399 [DAT](INFO): Rx dataTimestamp_ set to:1755882463.398587
2025-08-22T17:07:43.564Z,1755882463.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:43.903Z,1755882463.903 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m  (Round-trip  29.5 ms) speed  0.0 m/s

2025-08-22T17:07:43.904Z,1755882463.904 [DAT](INFO): DAT read: user:482>

2025-08-22T17:07:43.905Z,1755882463.905 [DAT](INFO): DAT read: Tx time:17:07:45.0405

2025-08-22T17:07:43.905Z,1755882463.905 [DAT](INFO): Ping request sent.
2025-08-22T17:07:43.905Z,1755882463.905 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:43.906Z,1755882463.906 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-22T17:07:43.906Z,1755882463.906 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:43.906Z,1755882463.906 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:43.996Z,1755882463.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 3.528152 s,
      deltaX: 0.300001 m,
      approachRate: 0.085031 m/s,
      rangeRepo size: 4

2025-08-22T17:07:43.996Z,1755882463.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:44.302Z,1755882464.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:44.729Z,1755882464.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:45.114Z,1755882465.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:45.536Z,1755882465.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:45.928Z,1755882465.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:46.306Z,1755882466.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:46.760Z,1755882466.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:46.927Z,1755882466.927 [DAT](INFO): DAT read: Rx Time:17:07:47.4745

2025-08-22T17:07:46.927Z,1755882466.927 [DAT](INFO): Rx dataTimestamp_ set to:1755882466.926739
2025-08-22T17:07:47.122Z,1755882467.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:47.431Z,1755882467.431 [DAT](INFO): DAT read: Range 11 to 50 : 22.3 m  (Round-trip  29.8 ms) speed -0.1 m/s

2025-08-22T17:07:47.432Z,1755882467.432 [DAT](INFO): DAT read: user:483>

2025-08-22T17:07:47.433Z,1755882467.433 [DAT](INFO): DAT read: Tx time:17:07:48.5905

2025-08-22T17:07:47.433Z,1755882467.433 [DAT](INFO): Ping request sent.
2025-08-22T17:07:47.433Z,1755882467.433 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:47.434Z,1755882467.434 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-22T17:07:47.434Z,1755882467.434 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:47.434Z,1755882467.434 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:47.604Z,1755882467.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.299999 m,
      deltaT: 3.527895 s,
      deltaX: 0.199999 m,
      approachRate: 0.056691 m/s,
      rangeRepo size: 4

2025-08-22T17:07:47.605Z,1755882467.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:47.958Z,1755882467.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:48.340Z,1755882468.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:48.758Z,1755882468.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:49.135Z,1755882469.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:49.135Z,1755882469.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 22.30 m and bearing: 315.883277 deg. Not drifting fast enough.
2025-08-22T17:07:49.593Z,1755882469.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:49.616Z,1755882469.616 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T17:07:49.617Z,1755882469.617 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T17:07:49.617Z,1755882469.617 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T17:07:49.622Z,1755882469.622 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T17:07:49.970Z,1755882469.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:50.367Z,1755882470.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:07:50.369Z,1755882470.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:50.454Z,1755882470.454 [DAT](INFO): DAT read: Rx Time:17:07:51.0250

2025-08-22T17:07:50.455Z,1755882470.455 [DAT](INFO): Rx dataTimestamp_ set to:1755882470.454653
2025-08-22T17:07:50.455Z,1755882470.455 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:07:50.455Z,1755882470.455 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:07:50.456Z,1755882470.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:07:50.706Z,1755882470.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273265
2025-08-22T17:07:50.800Z,1755882470.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m.
2025-08-22T17:07:50.964Z,1755882470.964 [DAT](INFO): DAT read: 17:07:51.0250 LVL= 32752, 32753, 26610, 32755, AGC= 50, IDX= 437, 0.31, 2.899, 2.651,-1.218,-2.282, PHS=-1.001,-1.306, 1.019, RAW= 203.1,  11.7, CAL= 203.8,  14.2, ROT= 306.2, -14.2

2025-08-22T17:07:50.965Z,1755882470.965 [DAT](INFO): got valid direction response:
 17:07:51.0250 LVL= 32752, 32753, 26610, 32755, AGC= 50, IDX= 437, 0.31, 2.899, 2.651,-1.218,-2.282, PHS=-1.001,-1.306, 1.019, RAW= 203.1,  11.7, CAL= 203.8,  14.2, ROT= 306.2, -14.2

2025-08-22T17:07:50.966Z,1755882470.966 [DAT](INFO): DAT read: Bearing 200.7, -47.0 (Local)

2025-08-22T17:07:50.966Z,1755882470.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.7, -47.0 (Local)

2025-08-22T17:07:50.968Z,1755882470.968 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m  (Round-trip  30.5 ms) speed -0.1 m/s

2025-08-22T17:07:50.969Z,1755882470.969 [DAT](INFO): DAT read: user:484>

2025-08-22T17:07:50.969Z,1755882470.969 [DAT](INFO): DAT read: Tx time:17:07:52.1404

2025-08-22T17:07:50.970Z,1755882470.970 [DAT](INFO): Ping request sent.
2025-08-22T17:07:50.970Z,1755882470.970 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:50.970Z,1755882470.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:07:50.971Z,1755882470.971 [DAT](INFO): direction in FSK: [0.572560,-0.782304,0.245307]
2025-08-22T17:07:50.971Z,1755882470.971 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:50.971Z,1755882470.971 [DAT](INFO): publishing direction and range info
2025-08-22T17:07:50.975Z,1755882470.975 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:50.975Z,1755882470.975 [DAT](INFO): publishing direction and range info
2025-08-22T17:07:51.211Z,1755882471.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 3.527997 s,
      deltaX: 0.500000 m,
      approachRate: 0.141723 m/s,
      rangeRepo size: 4

2025-08-22T17:07:51.213Z,1755882471.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.654125 m,
      bearing: 319.170394 deg,
      lat: 36.779486 deg,
      lon: -121.859644 deg,
      deltaT: 28.230941 s,
      deltaX: 2.980967 m,
      approachRate: 0.105592 m/s,
      posRepo size: 4

2025-08-22T17:07:51.214Z,1755882471.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:51.800Z,1755882471.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:52.170Z,1755882472.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:52.570Z,1755882472.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:52.991Z,1755882472.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:53.370Z,1755882473.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:53.795Z,1755882473.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:53.983Z,1755882473.983 [DAT](INFO): DAT read: Rx Time:17:07:54.5756

2025-08-22T17:07:53.983Z,1755882473.983 [DAT](INFO): Rx dataTimestamp_ set to:1755882473.982811
2025-08-22T17:07:54.194Z,1755882474.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:54.488Z,1755882474.488 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m  (Round-trip  31.1 ms) speed -0.1 m/s

2025-08-22T17:07:54.488Z,1755882474.488 [DAT](INFO): DAT read: user:485>

2025-08-22T17:07:54.489Z,1755882474.489 [DAT](INFO): DAT read: Tx time:17:07:55.6904

2025-08-22T17:07:54.489Z,1755882474.489 [DAT](INFO): Ping request sent.
2025-08-22T17:07:54.489Z,1755882474.489 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:54.490Z,1755882474.490 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T17:07:54.490Z,1755882474.490 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:54.490Z,1755882474.490 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:54.622Z,1755882474.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 3.528129 s,
      deltaX: 0.500000 m,
      approachRate: 0.141718 m/s,
      rangeRepo size: 4

2025-08-22T17:07:54.623Z,1755882474.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:55.049Z,1755882475.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:55.441Z,1755882475.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:55.928Z,1755882475.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:56.287Z,1755882476.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:56.730Z,1755882476.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:57.135Z,1755882477.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:57.482Z,1755882477.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:57.511Z,1755882477.511 [DAT](INFO): DAT read: Rx Time:17:07:58.1260

2025-08-22T17:07:57.512Z,1755882477.512 [DAT](INFO): Rx dataTimestamp_ set to:1755882477.511313
2025-08-22T17:07:57.908Z,1755882477.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:58.015Z,1755882478.015 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m  (Round-trip  31.5 ms) speed  0.0 m/s

2025-08-22T17:07:58.016Z,1755882478.016 [DAT](INFO): DAT read: user:486>

2025-08-22T17:07:58.016Z,1755882478.016 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T17:07:58.267Z,1755882478.267 [DAT](INFO): DAT read: Tx time:17:07:59.2404

2025-08-22T17:07:58.267Z,1755882478.267 [DAT](INFO): Ping request sent.
2025-08-22T17:07:58.267Z,1755882478.267 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:07:58.267Z,1755882478.267 [DAT](INFO): publishing transmit ping time
2025-08-22T17:07:58.295Z,1755882478.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 3.527900 s,
      deltaX: 0.300001 m,
      approachRate: 0.085037 m/s,
      rangeRepo size: 4

2025-08-22T17:07:58.296Z,1755882478.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:58.698Z,1755882478.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:59.129Z,1755882479.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:59.507Z,1755882479.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:07:59.928Z,1755882479.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:00.333Z,1755882480.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:00.711Z,1755882480.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:01.047Z,1755882481.047 [DAT](INFO): DAT read: Rx Time:17:08:01.6762

2025-08-22T17:08:01.048Z,1755882481.048 [DAT](INFO): Rx dataTimestamp_ set to:1755882481.047429
2025-08-22T17:08:01.164Z,1755882481.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:01.534Z,1755882481.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:01.551Z,1755882481.551 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m  (Round-trip  31.7 ms) speed  0.0 m/s

2025-08-22T17:08:01.552Z,1755882481.552 [DAT](INFO): DAT read: user:487>

2025-08-22T17:08:01.553Z,1755882481.553 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T17:08:01.807Z,1755882481.807 [DAT](INFO): DAT read: Tx time:17:08:02.7904

2025-08-22T17:08:01.808Z,1755882481.808 [DAT](INFO): Ping request sent.
2025-08-22T17:08:01.808Z,1755882481.808 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:01.809Z,1755882481.809 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:01.992Z,1755882481.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 3.536052 s,
      deltaX: 0.100000 m,
      approachRate: 0.028280 m/s,
      rangeRepo size: 4

2025-08-22T17:08:01.993Z,1755882481.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:02.364Z,1755882482.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:02.740Z,1755882482.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:03.217Z,1755882483.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:03.577Z,1755882483.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:03.966Z,1755882483.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:04.365Z,1755882484.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:04.575Z,1755882484.575 [DAT](INFO): DAT read: Rx Time:17:08:05.2262

2025-08-22T17:08:04.576Z,1755882484.576 [DAT](INFO): Rx dataTimestamp_ set to:1755882484.575415
2025-08-22T17:08:04.754Z,1755882484.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:05.223Z,1755882485.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:08:05.339Z,1755882485.339 [DAT](INFO): DAT read: 17:08:05.2262 LVL= 26736, 26897, 22482, 32419, AGC= 50, IDX= 449, 0.45,-3.013,-3.047,-0.726,-1.798, PHS=-1.113,-1.204, 1.028, RAW= 207.9,  11.8, CAL= 209.1,  13.9, ROT= 300.9, -13.9

2025-08-22T17:08:05.340Z,1755882485.340 [DAT](INFO): got valid direction response:
 17:08:05.2262 LVL= 26736, 26897, 22482, 32419, AGC= 50, IDX= 449, 0.45,-3.013,-3.047,-0.726,-1.798, PHS=-1.113,-1.204, 1.028, RAW= 207.9,  11.8, CAL= 209.1,  13.9, ROT= 300.9, -13.9

2025-08-22T17:08:05.341Z,1755882485.341 [DAT](INFO): DAT read: Bearing 211.3, -49.7 (Local)

2025-08-22T17:08:05.342Z,1755882485.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.3, -49.7 (Local)

2025-08-22T17:08:05.343Z,1755882485.343 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m  (Round-trip  31.7 ms) speed  0.0 m/s

2025-08-22T17:08:05.344Z,1755882485.344 [DAT](INFO): DAT read: user:488>

2025-08-22T17:08:05.344Z,1755882485.344 [DAT](INFO): DAT read: Tx time:17:08:06.3404

2025-08-22T17:08:05.345Z,1755882485.345 [DAT](INFO): Ping request sent.
2025-08-22T17:08:05.345Z,1755882485.345 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:05.345Z,1755882485.345 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:08:05.347Z,1755882485.347 [DAT](INFO): direction in FSK: [0.498503,-0.832938,0.240228]
2025-08-22T17:08:05.347Z,1755882485.347 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:05.347Z,1755882485.347 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:05.372Z,1755882485.372 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:05.372Z,1755882485.372 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:05.592Z,1755882485.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 3.780344 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:08:05.595Z,1755882485.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.548193 m,
      bearing: 321.840627 deg,
      lat: 36.779486 deg,
      lon: -121.859630 deg,
      deltaT: 14.372425 s,
      deltaX: 0.894068 m,
      approachRate: 0.062207 m/s,
      posRepo size: 4

2025-08-22T17:08:05.595Z,1755882485.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:05.998Z,1755882485.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:06.247Z,1755882486.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:08:06.373Z,1755882486.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:06.795Z,1755882486.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:07.236Z,1755882487.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:07.250Z,1755882487.250 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:08:07.585Z,1755882487.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:08.015Z,1755882488.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:08.103Z,1755882488.103 [DAT](INFO): DAT read: Rx Time:17:08:08.7761

2025-08-22T17:08:08.104Z,1755882488.104 [DAT](INFO): Rx dataTimestamp_ set to:1755882488.103559
2025-08-22T17:08:08.391Z,1755882488.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:08.860Z,1755882488.860 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m  (Round-trip  31.7 ms) speed  0.0 m/s

2025-08-22T17:08:08.860Z,1755882488.860 [DAT](INFO): DAT read: user:489>

2025-08-22T17:08:08.861Z,1755882488.861 [DAT](INFO): DAT read: Tx time:17:08:09.8903

2025-08-22T17:08:08.862Z,1755882488.862 [DAT](INFO): Ping request sent.
2025-08-22T17:08:08.862Z,1755882488.862 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:08.862Z,1755882488.862 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-22T17:08:08.863Z,1755882488.863 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:08.863Z,1755882488.863 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:08.968Z,1755882488.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 3.527719 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:08:08.968Z,1755882488.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:09.361Z,1755882489.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:09.718Z,1755882489.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:10.145Z,1755882490.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:10.510Z,1755882490.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:10.974Z,1755882490.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:11.346Z,1755882491.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:11.631Z,1755882491.631 [DAT](INFO): DAT read: Rx Time:17:08:12.3262

2025-08-22T17:08:11.632Z,1755882491.632 [DAT](INFO): Rx dataTimestamp_ set to:1755882491.631343
2025-08-22T17:08:11.733Z,1755882491.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:12.114Z,1755882492.114 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720553185,35.0, +100,1491.1,  0
2025-08-22T17:08:12.130Z,1755882492.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:12.388Z,1755882492.388 [DAT](INFO): DAT read: Range 11 to 50 : 23.8 m  (Round-trip  31.8 ms) speed  0.0 m/s

2025-08-22T17:08:12.390Z,1755882492.390 [DAT](INFO): DAT read: user:490>

2025-08-22T17:08:12.391Z,1755882492.391 [DAT](INFO): DAT read: Tx time:17:08:13.4403

2025-08-22T17:08:12.391Z,1755882492.391 [DAT](INFO): Ping request sent.
2025-08-22T17:08:12.391Z,1755882492.391 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:12.392Z,1755882492.392 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-22T17:08:12.392Z,1755882492.392 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:12.393Z,1755882492.393 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:12.535Z,1755882492.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.799999 m,
      deltaT: 3.528424 s,
      deltaX: 0.099998 m,
      approachRate: 0.028341 m/s,
      rangeRepo size: 4

2025-08-22T17:08:12.535Z,1755882492.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:13.002Z,1755882493.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:13.364Z,1755882493.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:13.746Z,1755882493.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:14.168Z,1755882494.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:14.556Z,1755882494.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:15.012Z,1755882495.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:15.411Z,1755882495.411 [DAT](INFO): DAT read: Rx Time:17:08:15.8765

2025-08-22T17:08:15.411Z,1755882495.411 [DAT](INFO): Rx dataTimestamp_ set to:1755882495.410746
2025-08-22T17:08:15.454Z,1755882495.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:15.847Z,1755882495.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T17:08:15.927Z,1755882495.927 [DAT](INFO): DAT read: 17:08:15.8765 LVL= 21744, 16369, 11106, 22003, AGC= 46, IDX= 437, 0.19, 2.654,-2.246,-0.967,-1.914, PHS=-1.614,-0.287, 0.903, RAW= 241.8,   9.2, CAL= 241.7,  10.3, ROT= 268.3, -10.3

2025-08-22T17:08:15.928Z,1755882495.928 [DAT](INFO): got valid direction response:
 17:08:15.8765 LVL= 21744, 16369, 11106, 22003, AGC= 46, IDX= 437, 0.19, 2.654,-2.246,-0.967,-1.914, PHS=-1.614,-0.287, 0.903, RAW= 241.8,   9.2, CAL= 241.7,  10.3, ROT= 268.3, -10.3

2025-08-22T17:08:15.929Z,1755882495.929 [DAT](INFO): DAT read: Bearing 286.7, -68.6 (Local)

2025-08-22T17:08:15.930Z,1755882495.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.7, -68.6 (Local)

2025-08-22T17:08:15.932Z,1755882495.932 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.1 ms) speed -0.2 m/s

2025-08-22T17:08:15.933Z,1755882495.933 [DAT](INFO): DAT read: user:491>

2025-08-22T17:08:15.935Z,1755882495.935 [DAT](INFO): DAT read: Tx time:17:08:16.9918

2025-08-22T17:08:15.935Z,1755882495.935 [DAT](INFO): Ping request sent.
2025-08-22T17:08:15.935Z,1755882495.935 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:15.936Z,1755882495.936 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T17:08:15.937Z,1755882495.937 [DAT](INFO): direction in FSK: [-0.029188,-0.983452,0.178802]
2025-08-22T17:08:15.938Z,1755882495.938 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:15.938Z,1755882495.938 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:15.946Z,1755882495.946 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:15.947Z,1755882495.947 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:16.319Z,1755882496.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.534330 s,
      deltaX: 0.200001 m,
      approachRate: 0.056588 m/s,
      rangeRepo size: 4

2025-08-22T17:08:16.321Z,1755882496.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.846216 m,
      bearing: 312.456312 deg,
      lat: 36.779489 deg,
      lon: -121.859628 deg,
      deltaT: 10.590473 s,
      deltaX: 0.298023 m,
      approachRate: 0.028141 m/s,
      posRepo size: 4

2025-08-22T17:08:16.322Z,1755882496.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:16.639Z,1755882496.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:17.102Z,1755882497.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:17.465Z,1755882497.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:17.874Z,1755882497.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:18.309Z,1755882498.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:18.661Z,1755882498.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:18.943Z,1755882498.943 [DAT](INFO): DAT read: Rx Time:17:08:19.4291

2025-08-22T17:08:18.943Z,1755882498.943 [DAT](INFO): Rx dataTimestamp_ set to:1755882498.942705
2025-08-22T17:08:19.135Z,1755882499.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m.
2025-08-22T17:08:19.452Z,1755882499.452 [DAT](INFO): DAT read: 17:08:19.4291 LVL= 21488, 15393, 12610, 23347, AGC= 49, IDX= 432, 0.33, 0.974, 2.688,-2.932, 2.751, PHS=-1.675,-0.018, 0.556, RAW= 255.7,  11.3, CAL= 256.0,  12.9, ROT= 254.0, -12.9

2025-08-22T17:08:19.453Z,1755882499.453 [DAT](INFO): got valid direction response:
 17:08:19.4291 LVL= 21488, 15393, 12610, 23347, AGC= 49, IDX= 432, 0.33, 0.974, 2.688,-2.932, 2.751, PHS=-1.675,-0.018, 0.556, RAW= 255.7,  11.3, CAL= 256.0,  12.9, ROT= 254.0, -12.9

2025-08-22T17:08:19.454Z,1755882499.454 [DAT](INFO): DAT read: Bearing 329.0, -62.2 (Local)

2025-08-22T17:08:19.455Z,1755882499.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.0, -62.2 (Local)

2025-08-22T17:08:19.456Z,1755882499.456 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m  (Round-trip  33.2 ms) speed -0.3 m/s

2025-08-22T17:08:19.457Z,1755882499.457 [DAT](INFO): DAT read: user:492>

2025-08-22T17:08:19.458Z,1755882499.458 [DAT](INFO): DAT read: Tx time:17:08:20.5403

2025-08-22T17:08:19.458Z,1755882499.458 [DAT](INFO): Ping request sent.
2025-08-22T17:08:19.458Z,1755882499.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:19.459Z,1755882499.459 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T17:08:19.460Z,1755882499.460 [DAT](INFO): direction in FSK: [-0.268680,-0.937001,0.223250]
2025-08-22T17:08:19.460Z,1755882499.460 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:19.460Z,1755882499.460 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:19.463Z,1755882499.463 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:19.463Z,1755882499.463 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:19.556Z,1755882499.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.525181 s,
      deltaX: 0.900000 m,
      approachRate: 0.255306 m/s,
      rangeRepo size: 4

2025-08-22T17:08:19.563Z,1755882499.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.740549 m,
      bearing: 308.804959 deg,
      lat: 36.779494 deg,
      lon: -121.859628 deg,
      deltaT: 3.525181 s,
      deltaX: 0.894333 m,
      approachRate: 0.253698 m/s,
      posRepo size: 4

2025-08-22T17:08:19.563Z,1755882499.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:19.902Z,1755882499.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:20.360Z,1755882500.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:20.726Z,1755882500.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:21.165Z,1755882501.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:21.519Z,1755882501.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:22.030Z,1755882502.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:22.426Z,1755882502.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:22.473Z,1755882502.473 [DAT](INFO): DAT read: Rx Time:17:08:22.9790

2025-08-22T17:08:22.473Z,1755882502.473 [DAT](INFO): Rx dataTimestamp_ set to:1755882502.473072
2025-08-22T17:08:22.855Z,1755882502.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m.
2025-08-22T17:08:22.980Z,1755882502.980 [DAT](INFO): DAT read: 17:08:22.9789 LVL= 32752, 21105, 23362, 32755, AGC= 54, IDX= 446, 0.40, 0.621, 2.636, 2.624, 2.450, PHS=-1.727, 0.230, 0.130, RAW= 272.6,  14.2, CAL= 272.6,  20.8, ROT= 237.4, -20.8

2025-08-22T17:08:22.982Z,1755882502.982 [DAT](INFO): got valid direction response:
 17:08:22.9789 LVL= 32752, 21105, 23362, 32755, AGC= 54, IDX= 446, 0.40, 0.621, 2.636, 2.624, 2.450, PHS=-1.727, 0.230, 0.130, RAW= 272.6,  14.2, CAL= 272.6,  20.8, ROT= 237.4, -20.8

2025-08-22T17:08:22.983Z,1755882502.983 [DAT](INFO): DAT read: Bearing 353.2, -45.7 (Local)

2025-08-22T17:08:22.983Z,1755882502.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2, -45.7 (Local)

2025-08-22T17:08:22.984Z,1755882502.984 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m  (Round-trip  34.5 ms) speed -0.4 m/s

2025-08-22T17:08:22.985Z,1755882502.985 [DAT](INFO): DAT read: user:493>

2025-08-22T17:08:22.986Z,1755882502.986 [DAT](INFO): DAT read: Tx time:17:08:24.0917

2025-08-22T17:08:22.986Z,1755882502.986 [DAT](INFO): Ping request sent.
2025-08-22T17:08:22.986Z,1755882502.986 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:22.986Z,1755882502.986 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:08:22.987Z,1755882502.987 [DAT](INFO): direction in FSK: [-0.503657,-0.787546,0.355107]
2025-08-22T17:08:22.988Z,1755882502.988 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:22.988Z,1755882502.988 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:22.991Z,1755882502.991 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:22.992Z,1755882502.992 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:23.313Z,1755882503.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.528353 s,
      deltaX: 0.900000 m,
      approachRate: 0.255076 m/s,
      rangeRepo size: 4

2025-08-22T17:08:23.328Z,1755882503.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.634949 m,
      bearing: 304.066699 deg,
      lat: 36.779494 deg,
      lon: -121.859627 deg,
      deltaT: 3.528353 s,
      deltaX: 0.894400 m,
      approachRate: 0.253489 m/s,
      posRepo size: 4

2025-08-22T17:08:23.329Z,1755882503.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:23.657Z,1755882503.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:24.065Z,1755882504.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:24.488Z,1755882504.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:24.901Z,1755882504.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:25.331Z,1755882505.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:25.680Z,1755882505.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:25.999Z,1755882505.999 [DAT](INFO): DAT read: Rx Time:17:08:26.5324

2025-08-22T17:08:25.999Z,1755882505.999 [DAT](INFO): Rx dataTimestamp_ set to:1755882505.999033
2025-08-22T17:08:26.101Z,1755882506.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.63 m.
2025-08-22T17:08:26.513Z,1755882506.513 [DAT](INFO): DAT read: 17:08:26.5324 LVL= 32752, 22513, 26258, 32755, AGC= 53, IDX= 467,-0.45,-1.623, 0.503,-0.128,-0.009, PHS=-1.512, 0.556,-0.164, RAW= 290.1,  12.3, CAL= 287.5,  18.5, ROT= 222.5, -18.5

2025-08-22T17:08:26.514Z,1755882506.514 [DAT](INFO): got valid direction response:
 17:08:26.5324 LVL= 32752, 22513, 26258, 32755, AGC= 53, IDX= 467,-0.45,-1.623, 0.503,-0.128,-0.009, PHS=-1.512, 0.556,-0.164, RAW= 290.1,  12.3, CAL= 287.5,  18.5, ROT= 222.5, -18.5

2025-08-22T17:08:26.515Z,1755882506.515 [DAT](INFO): DAT read: Bearing  17.8, -35.9 (Local)

2025-08-22T17:08:26.515Z,1755882506.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8, -35.9 (Local)

2025-08-22T17:08:26.517Z,1755882506.517 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m  (Round-trip  36.5 ms) speed -0.5 m/s

2025-08-22T17:08:26.517Z,1755882506.517 [DAT](INFO): DAT read: user:494>

2025-08-22T17:08:26.519Z,1755882506.519 [DAT](INFO): DAT read: Tx time:17:08:27.6402

2025-08-22T17:08:26.519Z,1755882506.519 [DAT](INFO): Ping request sent.
2025-08-22T17:08:26.519Z,1755882506.519 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:26.519Z,1755882506.519 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T17:08:26.520Z,1755882506.520 [DAT](INFO): direction in FSK: [-0.699178,-0.640678,0.317305]
2025-08-22T17:08:26.521Z,1755882506.521 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:26.521Z,1755882506.521 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:26.524Z,1755882506.524 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:26.524Z,1755882506.524 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:26.614Z,1755882506.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 3.527626 s,
      deltaX: 1.500000 m,
      approachRate: 0.425215 m/s,
      rangeRepo size: 4

2025-08-22T17:08:26.616Z,1755882506.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.125330 m,
      bearing: 297.826376 deg,
      lat: 36.779494 deg,
      lon: -121.859627 deg,
      deltaT: 3.527626 s,
      deltaX: 1.490381 m,
      approachRate: 0.422488 m/s,
      posRepo size: 4

2025-08-22T17:08:26.617Z,1755882506.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:27.005Z,1755882507.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:27.397Z,1755882507.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:27.790Z,1755882507.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:28.279Z,1755882508.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:28.596Z,1755882508.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:29.005Z,1755882509.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:29.445Z,1755882509.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:29.527Z,1755882509.527 [DAT](INFO): DAT read: Rx Time:17:08:30.0833

2025-08-22T17:08:29.528Z,1755882509.528 [DAT](INFO): Rx dataTimestamp_ set to:1755882509.527243
2025-08-22T17:08:29.817Z,1755882509.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T17:08:30.039Z,1755882510.039 [DAT](INFO): DAT read: 17:08:30.0833 LVL= 28784, 20337, 23794, 32019, AGC= 57, IDX= 444,-0.28, 1.407,-2.563, 2.647, 2.835, PHS=-1.326, 0.930,-0.232, RAW= 301.0,   6.5, CAL= 298.6,   5.3, ROT= 211.4,  -5.3

2025-08-22T17:08:30.041Z,1755882510.041 [DAT](INFO): got valid direction response:
 17:08:30.0833 LVL= 28784, 20337, 23794, 32019, AGC= 57, IDX= 444,-0.28, 1.407,-2.563, 2.647, 2.835, PHS=-1.326, 0.930,-0.232, RAW= 301.0,   6.5, CAL= 298.6,   5.3, ROT= 211.4,  -5.3

2025-08-22T17:08:30.044Z,1755882510.044 [DAT](INFO): DAT read: Bearing  47.5, -30.9 (Local)

2025-08-22T17:08:30.044Z,1755882510.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.5, -30.9 (Local)

2025-08-22T17:08:30.045Z,1755882510.045 [DAT](INFO): DAT read: Range 11 to 50 : 29.2 m  (Round-trip  39.0 ms) speed -0.6 m/s

2025-08-22T17:08:30.046Z,1755882510.046 [DAT](INFO): DAT read: user:495>

2025-08-22T17:08:30.047Z,1755882510.047 [DAT](INFO): DAT read: Tx time:17:08:31.1902

2025-08-22T17:08:30.047Z,1755882510.047 [DAT](INFO): Ping request sent.
2025-08-22T17:08:30.047Z,1755882510.047 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:30.048Z,1755882510.048 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T17:08:30.049Z,1755882510.049 [DAT](INFO): direction in FSK: [-0.849902,-0.518782,0.092371]
2025-08-22T17:08:30.049Z,1755882510.049 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:30.049Z,1755882510.049 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:30.052Z,1755882510.052 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:30.053Z,1755882510.053 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:30.362Z,1755882510.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.200001 m,
      deltaT: 3.529164 s,
      deltaX: 1.900002 m,
      approachRate: 0.538372 m/s,
      rangeRepo size: 4

2025-08-22T17:08:30.364Z,1755882510.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.013168 m,
      bearing: 296.739670 deg,
      lat: 36.779486 deg,
      lon: -121.859629 deg,
      deltaT: 3.529164 s,
      deltaX: 1.887838 m,
      approachRate: 0.534925 m/s,
      posRepo size: 4

2025-08-22T17:08:30.365Z,1755882510.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:30.690Z,1755882510.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:31.102Z,1755882511.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:31.540Z,1755882511.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:31.950Z,1755882511.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:32.457Z,1755882512.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:32.899Z,1755882512.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:33.055Z,1755882513.055 [DAT](INFO): DAT read: Rx Time:17:08:33.6359

2025-08-22T17:08:33.055Z,1755882513.055 [DAT](INFO): Rx dataTimestamp_ set to:1755882513.054769
2025-08-22T17:08:33.348Z,1755882513.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.01 m.
2025-08-22T17:08:33.564Z,1755882513.564 [DAT](INFO): DAT read: 17:08:33.6359 LVL= 31376, 20353, 24370, 30403, AGC= 63, IDX= 455, 0.02, 2.281,-1.693,-2.946,-2.639, PHS=-1.261, 0.991,-0.351, RAW= 306.3,   6.4, CAL= 304.0,   5.5, ROT= 206.0,  -5.5

2025-08-22T17:08:33.565Z,1755882513.565 [DAT](INFO): got valid direction response:
 17:08:33.6359 LVL= 31376, 20353, 24370, 30403, AGC= 63, IDX= 455, 0.02, 2.281,-1.693,-2.946,-2.639, PHS=-1.261, 0.991,-0.351, RAW= 306.3,   6.4, CAL= 304.0,   5.5, ROT= 206.0,  -5.5

2025-08-22T17:08:33.566Z,1755882513.566 [DAT](INFO): DAT read: Bearing  60.2, -25.7 (Local)

2025-08-22T17:08:33.567Z,1755882513.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.2, -25.7 (Local)

2025-08-22T17:08:33.568Z,1755882513.568 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m  (Round-trip  41.6 ms) speed -0.8 m/s

2025-08-22T17:08:33.569Z,1755882513.569 [DAT](INFO): DAT read: user:496>

2025-08-22T17:08:33.569Z,1755882513.569 [DAT](INFO): DAT read: Tx time:17:08:34.7401

2025-08-22T17:08:33.570Z,1755882513.570 [DAT](INFO): Ping request sent.
2025-08-22T17:08:33.570Z,1755882513.570 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:33.570Z,1755882513.570 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T17:08:33.571Z,1755882513.571 [DAT](INFO): direction in FSK: [-0.894656,-0.436353,0.095846]
2025-08-22T17:08:33.571Z,1755882513.571 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:33.572Z,1755882513.572 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:33.580Z,1755882513.580 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:33.580Z,1755882513.580 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:33.780Z,1755882513.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 3.526859 s,
      deltaX: 2.000000 m,
      approachRate: 0.567077 m/s,
      rangeRepo size: 4

2025-08-22T17:08:33.787Z,1755882513.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.000296 m,
      bearing: 302.796191 deg,
      lat: 36.779486 deg,
      lon: -121.859629 deg,
      deltaT: 3.526859 s,
      deltaX: 1.987127 m,
      approachRate: 0.563427 m/s,
      posRepo size: 4

2025-08-22T17:08:33.787Z,1755882513.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:34.135Z,1755882514.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:34.545Z,1755882514.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:34.993Z,1755882514.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:35.408Z,1755882515.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:35.768Z,1755882515.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:36.150Z,1755882516.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:36.563Z,1755882516.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:36.599Z,1755882516.599 [DAT](INFO): DAT read: Rx Time:17:08:37.1889

2025-08-22T17:08:36.600Z,1755882516.600 [DAT](INFO): Rx dataTimestamp_ set to:1755882516.599705
2025-08-22T17:08:36.986Z,1755882516.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m.
2025-08-22T17:08:37.111Z,1755882517.111 [DAT](INFO): DAT read: 17:08:37.1889 LVL= 29200, 17729, 28130, 29939, AGC= 65, IDX= 454, 0.01,-1.660, 0.706,-0.917,-0.529, PHS=-1.029, 1.280,-0.432, RAW= 315.6,   1.8, CAL= 313.5,  -1.2, ROT= 196.5,   1.2

2025-08-22T17:08:37.112Z,1755882517.112 [DAT](INFO): got valid direction response:
 17:08:37.1889 LVL= 29200, 17729, 28130, 29939, AGC= 65, IDX= 454, 0.01,-1.660, 0.706,-0.917,-0.529, PHS=-1.029, 1.280,-0.432, RAW= 315.6,   1.8, CAL= 313.5,  -1.2, ROT= 196.5,   1.2

2025-08-22T17:08:37.114Z,1755882517.114 [DAT](INFO): DAT read: Bearing  81.3, -17.7 (Local)

2025-08-22T17:08:37.114Z,1755882517.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.3, -17.7 (Local)

2025-08-22T17:08:37.115Z,1755882517.115 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m  (Round-trip  44.7 ms) speed -0.6 m/s

2025-08-22T17:08:37.116Z,1755882517.116 [DAT](INFO): DAT read: user:497>

2025-08-22T17:08:37.117Z,1755882517.117 [DAT](INFO): DAT read: Tx time:17:08:38.2901

2025-08-22T17:08:37.117Z,1755882517.117 [DAT](INFO): Ping request sent.
2025-08-22T17:08:37.117Z,1755882517.117 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:37.118Z,1755882517.118 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T17:08:37.119Z,1755882517.119 [DAT](INFO): direction in FSK: [-0.958609,-0.283953,-0.020942]
2025-08-22T17:08:37.119Z,1755882517.119 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:37.119Z,1755882517.119 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:37.122Z,1755882517.122 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:37.123Z,1755882517.123 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:37.378Z,1755882517.378 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:08:37.459Z,1755882517.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 3.547354 s,
      deltaX: 2.299999 m,
      approachRate: 0.648370 m/s,
      rangeRepo size: 4

2025-08-22T17:08:37.461Z,1755882517.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.285580 m,
      bearing: 304.742700 deg,
      lat: 36.779486 deg,
      lon: -121.859627 deg,
      deltaT: 3.547354 s,
      deltaX: 2.285284 m,
      approachRate: 0.644222 m/s,
      posRepo size: 4

2025-08-22T17:08:37.461Z,1755882517.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:37.793Z,1755882517.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:38.206Z,1755882518.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:38.383Z,1755882518.383 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:08:38.627Z,1755882518.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:39.005Z,1755882519.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:39.457Z,1755882519.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:39.817Z,1755882519.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:40.134Z,1755882520.135 [DAT](INFO): DAT read: Rx Time:17:08:40.7420

2025-08-22T17:08:40.135Z,1755882520.135 [DAT](INFO): Rx dataTimestamp_ set to:1755882520.134684
2025-08-22T17:08:40.225Z,1755882520.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T17:08:40.662Z,1755882520.662 [DAT](INFO): DAT read: 17:08:40.7420 LVL= 28624, 25329, 32754, 32755, AGC= 67, IDX= 454, 0.11, 1.900,-2.542, 1.949, 2.431, PHS=-0.429, 1.355,-0.526, RAW= 332.6,  -4.4, CAL= 332.0,  -7.4, ROT= 178.0,   7.4

2025-08-22T17:08:40.663Z,1755882520.663 [DAT](INFO): got valid direction response:
 17:08:40.7420 LVL= 28624, 25329, 32754, 32755, AGC= 67, IDX= 454, 0.11, 1.900,-2.542, 1.949, 2.431, PHS=-0.429, 1.355,-0.526, RAW= 332.6,  -4.4, CAL= 332.0,  -7.4, ROT= 178.0,   7.4

2025-08-22T17:08:40.664Z,1755882520.664 [DAT](INFO): DAT read: Bearing 102.4,  -0.3 (Local)

2025-08-22T17:08:40.664Z,1755882520.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.4,  -0.3 (Local)

2025-08-22T17:08:40.670Z,1755882520.670 [DAT](INFO): DAT read: Range 11 to 50 : 35.8 m  (Round-trip  47.8 ms) speed -0.4 m/s

2025-08-22T17:08:40.670Z,1755882520.670 [DAT](INFO): DAT read: user:498>

2025-08-22T17:08:40.671Z,1755882520.671 [DAT](INFO): DAT read: Tx time:17:08:41.8401

2025-08-22T17:08:40.671Z,1755882520.671 [DAT](INFO): Ping request sent.
2025-08-22T17:08:40.671Z,1755882520.671 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:40.672Z,1755882520.672 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T17:08:40.673Z,1755882520.673 [DAT](INFO): direction in FSK: [-0.991067,0.034609,-0.128796]
2025-08-22T17:08:40.673Z,1755882520.673 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:40.677Z,1755882520.677 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:40.681Z,1755882520.681 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:40.681Z,1755882520.681 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:40.820Z,1755882520.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.799999 m,
      deltaT: 3.534295 s,
      deltaX: 2.299999 m,
      approachRate: 0.650766 m/s,
      rangeRepo size: 4

2025-08-22T17:08:40.827Z,1755882520.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.570919 m,
      bearing: 295.312935 deg,
      lat: 36.779473 deg,
      lon: -121.859638 deg,
      deltaT: 3.534295 s,
      deltaX: 2.285339 m,
      approachRate: 0.646618 m/s,
      posRepo size: 4

2025-08-22T17:08:40.827Z,1755882520.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:41.049Z,1755882521.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:41.484Z,1755882521.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:41.851Z,1755882521.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:42.266Z,1755882522.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:42.768Z,1755882522.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:43.132Z,1755882523.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:43.559Z,1755882523.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:43.667Z,1755882523.667 [DAT](INFO): DAT read: Rx Time:17:08:44.2950

2025-08-22T17:08:43.667Z,1755882523.667 [DAT](INFO): Rx dataTimestamp_ set to:1755882523.666750
2025-08-22T17:08:43.940Z,1755882523.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:44.344Z,1755882524.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.57 m.
2025-08-22T17:08:44.447Z,1755882524.447 [DAT](INFO): DAT read: 17:08:44.2950 LVL= 31600, 23937, 32754, 32755, AGC= 66, IDX= 452, 0.42,-2.512,-0.750,-2.806,-2.009, PHS=-0.401, 1.304,-0.841, RAW= 341.2,  -0.6, CAL= 340.8,  -3.6, ROT= 169.2,   3.6

2025-08-22T17:08:44.448Z,1755882524.448 [DAT](INFO): got valid direction response:
 17:08:44.2950 LVL= 31600, 23937, 32754, 32755, AGC= 66, IDX= 452, 0.42,-2.512,-0.750,-2.806,-2.009, PHS=-0.401, 1.304,-0.841, RAW= 341.2,  -0.6, CAL= 340.8,  -3.6, ROT= 169.2,   3.6

2025-08-22T17:08:44.449Z,1755882524.449 [DAT](INFO): DAT read: Bearing 110.1,  10.2 (Local)

2025-08-22T17:08:44.478Z,1755882524.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.1,  10.2 (Local)

2025-08-22T17:08:44.479Z,1755882524.479 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m  (Round-trip  50.7 ms) speed -0.7 m/s

2025-08-22T17:08:44.480Z,1755882524.480 [DAT](INFO): DAT read: user:499>

2025-08-22T17:08:44.480Z,1755882524.480 [DAT](INFO): DAT read: Tx time:17:08:45.3901

2025-08-22T17:08:44.481Z,1755882524.481 [DAT](INFO): Ping request sent.
2025-08-22T17:08:44.481Z,1755882524.481 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:44.481Z,1755882524.481 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T17:08:44.490Z,1755882524.490 [DAT](INFO): direction in FSK: [-0.980349,0.187012,-0.062791]
2025-08-22T17:08:44.491Z,1755882524.491 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:44.491Z,1755882524.491 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:44.498Z,1755882524.498 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:44.498Z,1755882524.498 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:44.787Z,1755882524.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.000000 m,
      deltaT: 3.784289 s,
      deltaX: 2.200001 m,
      approachRate: 0.581351 m/s,
      rangeRepo size: 4

2025-08-22T17:08:44.789Z,1755882524.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.757008 m,
      bearing: 297.681234 deg,
      lat: 36.779473 deg,
      lon: -121.859638 deg,
      deltaT: 3.784289 s,
      deltaX: 2.186089 m,
      approachRate: 0.577675 m/s,
      posRepo size: 4

2025-08-22T17:08:44.789Z,1755882524.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:45.153Z,1755882525.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:45.578Z,1755882525.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:45.960Z,1755882525.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:46.363Z,1755882526.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:46.793Z,1755882526.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:47.200Z,1755882527.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:47.215Z,1755882527.215 [DAT](INFO): DAT read: Rx Time:17:08:47.8483

2025-08-22T17:08:47.216Z,1755882527.216 [DAT](INFO): Rx dataTimestamp_ set to:1755882527.215767
2025-08-22T17:08:47.595Z,1755882527.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m.
2025-08-22T17:08:47.976Z,1755882527.976 [DAT](INFO): DAT read: 17:08:47.8483 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 454, 0.03,-1.271, 0.313,-1.714,-0.877, PHS=-0.293, 1.235,-0.881, RAW= 345.6,  -0.7, CAL= 345.2,  -3.6, ROT= 164.8,   3.6

2025-08-22T17:08:47.981Z,1755882527.981 [DAT](INFO): got valid direction response:
 17:08:47.8483 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 454, 0.03,-1.271, 0.313,-1.714,-0.877, PHS=-0.293, 1.235,-0.881, RAW= 345.6,  -0.7, CAL= 345.2,  -3.6, ROT= 164.8,   3.6

2025-08-22T17:08:47.982Z,1755882527.982 [DAT](INFO): DAT read: Bearing 117.1,  16.1 (Local)

2025-08-22T17:08:47.982Z,1755882527.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.1,  16.1 (Local)

2025-08-22T17:08:47.984Z,1755882527.984 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.1 ms) speed -0.7 m/s

2025-08-22T17:08:47.984Z,1755882527.984 [DAT](INFO): DAT read: user:500>

2025-08-22T17:08:47.985Z,1755882527.985 [DAT](INFO): DAT read: Tx time:17:08:48.9401

2025-08-22T17:08:47.994Z,1755882527.994 [DAT](INFO): Ping request sent.
2025-08-22T17:08:47.994Z,1755882527.994 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:47.994Z,1755882527.994 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T17:08:47.995Z,1755882527.995 [DAT](INFO): direction in FSK: [-0.963112,0.261672,-0.062791]
2025-08-22T17:08:47.995Z,1755882527.995 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:47.996Z,1755882527.996 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:48.003Z,1755882528.003 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:48.003Z,1755882528.003 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:48.263Z,1755882528.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.546247 s,
      deltaX: 2.500000 m,
      approachRate: 0.704971 m/s,
      rangeRepo size: 4

2025-08-22T17:08:48.270Z,1755882528.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.240898 m,
      bearing: 297.749071 deg,
      lat: 36.779467 deg,
      lon: -121.859638 deg,
      deltaT: 3.546247 s,
      deltaX: 2.483891 m,
      approachRate: 0.700428 m/s,
      posRepo size: 4

2025-08-22T17:08:48.270Z,1755882528.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:48.670Z,1755882528.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:49.062Z,1755882529.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:49.443Z,1755882529.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:49.868Z,1755882529.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:50.248Z,1755882530.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:50.664Z,1755882530.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:08:50.666Z,1755882530.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:50.743Z,1755882530.743 [DAT](INFO): DAT read: Rx Time:17:08:51.4015

2025-08-22T17:08:50.743Z,1755882530.743 [DAT](INFO): Rx dataTimestamp_ set to:1755882530.742836
2025-08-22T17:08:50.743Z,1755882530.743 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:08:50.744Z,1755882530.744 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:08:50.744Z,1755882530.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:08:50.995Z,1755882530.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000770
2025-08-22T17:08:51.071Z,1755882531.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:51.247Z,1755882531.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252985
2025-08-22T17:08:51.445Z,1755882531.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.24 m.
2025-08-22T17:08:51.531Z,1755882531.531 [DAT](INFO): DAT read: 17:08:51.4015 LVL= 32752, 27729, 32754, 32755, AGC= 65, IDX= 456, 0.12, 1.573,-3.107, 1.130, 1.987, PHS=-0.312, 1.234,-0.901, RAW= 345.5,  -0.2, CAL= 345.0,  -3.2, ROT= 165.0,   3.2

2025-08-22T17:08:51.555Z,1755882531.555 [DAT](INFO): got valid direction response:
 17:08:51.4015 LVL= 32752, 27729, 32754, 32755, AGC= 65, IDX= 456, 0.12, 1.573,-3.107, 1.130, 1.987, PHS=-0.312, 1.234,-0.901, RAW= 345.5,  -0.2, CAL= 345.0,  -3.2, ROT= 165.0,   3.2

2025-08-22T17:08:51.562Z,1755882531.562 [DAT](INFO): DAT read: Bearing 118.5,  17.9 (Local)

2025-08-22T17:08:51.562Z,1755882531.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.5,  17.9 (Local)

2025-08-22T17:08:51.564Z,1755882531.564 [DAT](INFO): DAT read: Range 11 to 50 : 43.0 m  (Round-trip  57.4 ms) speed -0.7 m/s

2025-08-22T17:08:51.570Z,1755882531.570 [DAT](INFO): DAT read: user:501>

2025-08-22T17:08:51.571Z,1755882531.571 [DAT](INFO): DAT read: Tx time:17:08:52.5400

2025-08-22T17:08:51.571Z,1755882531.571 [DAT](INFO): Ping request sent.
2025-08-22T17:08:51.571Z,1755882531.571 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:51.571Z,1755882531.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:08:51.572Z,1755882531.572 [DAT](INFO): direction in FSK: [-0.964420,0.258416,-0.055822]
2025-08-22T17:08:51.573Z,1755882531.573 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:51.573Z,1755882531.573 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:51.594Z,1755882531.594 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:51.594Z,1755882531.594 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:51.883Z,1755882531.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.000000 m,
      deltaT: 3.529289 s,
      deltaX: 2.500000 m,
      approachRate: 0.708358 m/s,
      rangeRepo size: 4

2025-08-22T17:08:51.885Z,1755882531.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.724918 m,
      bearing: 300.968818 deg,
      lat: 36.779467 deg,
      lon: -121.859638 deg,
      deltaT: 3.529289 s,
      deltaX: 2.484020 m,
      approachRate: 0.703830 m/s,
      posRepo size: 4

2025-08-22T17:08:51.886Z,1755882531.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:52.272Z,1755882532.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:52.692Z,1755882532.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:53.074Z,1755882533.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:53.470Z,1755882533.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:53.904Z,1755882533.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:54.274Z,1755882534.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:54.524Z,1755882534.524 [DAT](INFO): DAT read: Rx Time:17:08:55.0048

2025-08-22T17:08:54.526Z,1755882534.526 [DAT](INFO): Rx dataTimestamp_ set to:1755882534.524934
2025-08-22T17:08:54.733Z,1755882534.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-08-22T17:08:55.032Z,1755882535.032 [DAT](INFO): DAT read: 17:08:55.0048 LVL= 32752, 30241, 32754, 32755, AGC= 61, IDX= 458, 0.36,-0.575, 0.972,-1.007,-0.162, PHS=-0.311, 1.180,-0.889, RAW= 345.7,   0.2, CAL= 345.3,  -2.7, ROT= 164.7,   2.7

2025-08-22T17:08:55.033Z,1755882535.033 [DAT](INFO): got valid direction response:
 17:08:55.0048 LVL= 32752, 30241, 32754, 32755, AGC= 61, IDX= 458, 0.36,-0.575, 0.972,-1.007,-0.162, PHS=-0.311, 1.180,-0.889, RAW= 345.7,   0.2, CAL= 345.3,  -2.7, ROT= 164.7,   2.7

2025-08-22T17:08:55.034Z,1755882535.034 [DAT](INFO): DAT read: Bearing 118.8,  19.9 (Local)

2025-08-22T17:08:55.034Z,1755882535.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.8,  19.9 (Local)

2025-08-22T17:08:55.036Z,1755882535.036 [DAT](INFO): DAT read: Range 11 to 50 : 45.5 m  (Round-trip  60.7 ms) speed -0.6 m/s

2025-08-22T17:08:55.036Z,1755882535.036 [DAT](INFO): DAT read: user:502>

2025-08-22T17:08:55.037Z,1755882535.037 [DAT](INFO): DAT read: Tx time:17:08:56.1400

2025-08-22T17:08:55.037Z,1755882535.037 [DAT](INFO): Ping request sent.
2025-08-22T17:08:55.038Z,1755882535.038 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:55.038Z,1755882535.038 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:08:55.039Z,1755882535.039 [DAT](INFO): direction in FSK: [-0.963487,0.263580,-0.047106]
2025-08-22T17:08:55.039Z,1755882535.039 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:55.039Z,1755882535.039 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:55.055Z,1755882535.055 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:55.055Z,1755882535.055 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:55.164Z,1755882535.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.500000 m,
      deltaT: 3.526442 s,
      deltaX: 2.500000 m,
      approachRate: 0.708930 m/s,
      rangeRepo size: 4

2025-08-22T17:08:55.171Z,1755882535.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.209091 m,
      bearing: 301.571370 deg,
      lat: 36.779464 deg,
      lon: -121.859642 deg,
      deltaT: 3.526442 s,
      deltaX: 2.484173 m,
      approachRate: 0.704442 m/s,
      posRepo size: 4

2025-08-22T17:08:55.172Z,1755882535.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:55.519Z,1755882535.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:55.942Z,1755882535.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:56.322Z,1755882536.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:56.775Z,1755882536.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:57.146Z,1755882537.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:57.534Z,1755882537.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:57.980Z,1755882537.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:58.051Z,1755882538.051 [DAT](INFO): DAT read: Rx Time:17:08:58.6083

2025-08-22T17:08:58.052Z,1755882538.052 [DAT](INFO): Rx dataTimestamp_ set to:1755882538.051824
2025-08-22T17:08:58.351Z,1755882538.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m.
2025-08-22T17:08:58.560Z,1755882538.560 [DAT](INFO): DAT read: 17:08:58.6083 LVL= 32752, 31729, 32754, 32755, AGC= 64, IDX= 461, 0.19, 1.353, 2.940, 0.981, 1.772, PHS=-0.317, 1.212,-0.835, RAW= 344.1,  -0.7, CAL= 343.6,  -3.6, ROT= 166.4,   3.6

2025-08-22T17:08:58.561Z,1755882538.561 [DAT](INFO): got valid direction response:
 17:08:58.6083 LVL= 32752, 31729, 32754, 32755, AGC= 64, IDX= 461, 0.19, 1.353, 2.940, 0.981, 1.772, PHS=-0.317, 1.212,-0.835, RAW= 344.1,  -0.7, CAL= 343.6,  -3.6, ROT= 166.4,   3.6

2025-08-22T17:08:58.562Z,1755882538.562 [DAT](INFO): DAT read: Bearing 119.7,  19.6 (Local)

2025-08-22T17:08:58.562Z,1755882538.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.7,  19.6 (Local)

2025-08-22T17:08:58.564Z,1755882538.564 [DAT](INFO): DAT read: Range 11 to 50 : 48.0 m  (Round-trip  64.1 ms) speed -0.7 m/s

2025-08-22T17:08:58.564Z,1755882538.564 [DAT](INFO): DAT read: user:503>

2025-08-22T17:08:58.565Z,1755882538.565 [DAT](INFO): DAT read: Tx time:17:08:59.7400

2025-08-22T17:08:58.565Z,1755882538.565 [DAT](INFO): Ping request sent.
2025-08-22T17:08:58.566Z,1755882538.566 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:08:58.566Z,1755882538.566 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T17:08:58.567Z,1755882538.567 [DAT](INFO): direction in FSK: [-0.970043,0.234678,-0.062791]
2025-08-22T17:08:58.567Z,1755882538.567 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:58.567Z,1755882538.567 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:58.659Z,1755882538.659 [DAT](INFO): publishing transmit ping time
2025-08-22T17:08:58.659Z,1755882538.659 [DAT](INFO): publishing direction and range info
2025-08-22T17:08:58.875Z,1755882538.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.000000 m,
      deltaT: 3.528001 s,
      deltaX: 2.500000 m,
      approachRate: 0.708617 m/s,
      rangeRepo size: 4

2025-08-22T17:08:58.877Z,1755882538.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.693050 m,
      bearing: 303.289226 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 3.528001 s,
      deltaX: 2.483959 m,
      approachRate: 0.704070 m/s,
      posRepo size: 4

2025-08-22T17:08:58.882Z,1755882538.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:08:59.347Z,1755882539.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:08:59.820Z,1755882539.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:00.249Z,1755882540.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:00.754Z,1755882540.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:01.117Z,1755882541.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:01.486Z,1755882541.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:01.579Z,1755882541.579 [DAT](INFO): DAT read: Rx Time:17:09:02.2119

2025-08-22T17:09:01.579Z,1755882541.579 [DAT](INFO): Rx dataTimestamp_ set to:1755882541.579146
2025-08-22T17:09:01.912Z,1755882541.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:02.311Z,1755882542.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-08-22T17:09:02.341Z,1755882542.341 [DAT](INFO): DAT read: 17:09:02.2119 LVL= 32752, 27633, 32754, 32755, AGC= 63, IDX= 466,-0.07,-1.893,-0.271,-2.200,-1.454, PHS=-0.337, 1.228,-0.790, RAW= 342.3,  -1.1, CAL= 341.9,  -4.1, ROT= 168.1,   4.1

2025-08-22T17:09:02.343Z,1755882542.343 [DAT](INFO): got valid direction response:
 17:09:02.2119 LVL= 32752, 27633, 32754, 32755, AGC= 63, IDX= 466,-0.07,-1.893,-0.271,-2.200,-1.454, PHS=-0.337, 1.228,-0.790, RAW= 342.3,  -1.1, CAL= 341.9,  -4.1, ROT= 168.1,   4.1

2025-08-22T17:09:02.344Z,1755882542.344 [DAT](INFO): DAT read: Bearing 120.1,  18.9 (Local)

2025-08-22T17:09:02.344Z,1755882542.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.1,  18.9 (Local)

2025-08-22T17:09:02.368Z,1755882542.368 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m  (Round-trip  67.7 ms) speed -0.7 m/s

2025-08-22T17:09:02.369Z,1755882542.369 [DAT](INFO): DAT read: user:504>

2025-08-22T17:09:02.370Z,1755882542.370 [DAT](INFO): DAT read: Tx time:17:09:03.3400

2025-08-22T17:09:02.370Z,1755882542.370 [DAT](INFO): Ping request sent.
2025-08-22T17:09:02.371Z,1755882542.371 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:02.371Z,1755882542.371 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T17:09:02.372Z,1755882542.372 [DAT](INFO): direction in FSK: [-0.976005,0.205676,-0.071497]
2025-08-22T17:09:02.372Z,1755882542.372 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:02.372Z,1755882542.372 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:02.389Z,1755882542.389 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:02.389Z,1755882542.389 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:02.760Z,1755882542.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.780025 s,
      deltaX: 2.700001 m,
      approachRate: 0.714281 m/s,
      rangeRepo size: 4

2025-08-22T17:09:02.782Z,1755882542.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.375885 m,
      bearing: 304.896926 deg,
      lat: 36.779465 deg,
      lon: -121.859641 deg,
      deltaT: 3.780025 s,
      deltaX: 2.682835 m,
      approachRate: 0.709740 m/s,
      posRepo size: 4

2025-08-22T17:09:02.783Z,1755882542.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:03.113Z,1755882543.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:03.527Z,1755882543.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:03.942Z,1755882543.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:04.315Z,1755882544.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:04.785Z,1755882544.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:05.148Z,1755882545.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:05.359Z,1755882545.359 [DAT](INFO): DAT read: Rx Time:17:09:05.8155

2025-08-22T17:09:05.360Z,1755882545.360 [DAT](INFO): Rx dataTimestamp_ set to:1755882545.359436
2025-08-22T17:09:05.525Z,1755882545.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m.
2025-08-22T17:09:05.868Z,1755882545.868 [DAT](INFO): DAT read: 17:09:05.8155 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 455,-0.22, 2.692,-1.945, 2.437,-3.136, PHS=-0.354, 1.236,-0.755, RAW= 341.0,  -1.4, CAL= 340.5,  -4.3, ROT= 169.5,   4.3

2025-08-22T17:09:05.869Z,1755882545.869 [DAT](INFO): got valid direction response:
 17:09:05.8155 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 455,-0.22, 2.692,-1.945, 2.437,-3.136, PHS=-0.354, 1.236,-0.755, RAW= 341.0,  -1.4, CAL= 340.5,  -4.3, ROT= 169.5,   4.3

2025-08-22T17:09:05.870Z,1755882545.870 [DAT](INFO): DAT read: Bearing 120.6,  18.3 (Local)

2025-08-22T17:09:05.871Z,1755882545.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.6,  18.3 (Local)

2025-08-22T17:09:05.872Z,1755882545.872 [DAT](INFO): DAT read: Range 11 to 50 : 53.4 m  (Round-trip  71.3 ms) speed -0.7 m/s

2025-08-22T17:09:05.873Z,1755882545.873 [DAT](INFO): DAT read: user:505>

2025-08-22T17:09:05.874Z,1755882545.874 [DAT](INFO): DAT read: Tx time:17:09:06.9400

2025-08-22T17:09:05.874Z,1755882545.874 [DAT](INFO): Ping request sent.
2025-08-22T17:09:05.874Z,1755882545.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:05.875Z,1755882545.875 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:09:05.876Z,1755882545.876 [DAT](INFO): direction in FSK: [-0.980487,0.181723,-0.074979]
2025-08-22T17:09:05.876Z,1755882545.876 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:05.876Z,1755882545.876 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:05.879Z,1755882545.879 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:05.880Z,1755882545.880 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:06.044Z,1755882546.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.527998 s,
      deltaX: 2.700001 m,
      approachRate: 0.765307 m/s,
      rangeRepo size: 4

2025-08-22T17:09:06.054Z,1755882546.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.058571 m,
      bearing: 306.361040 deg,
      lat: 36.779465 deg,
      lon: -121.859638 deg,
      deltaT: 3.527998 s,
      deltaX: 2.682686 m,
      approachRate: 0.760399 m/s,
      posRepo size: 4

2025-08-22T17:09:06.054Z,1755882546.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:06.528Z,1755882546.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:06.993Z,1755882546.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:07.431Z,1755882547.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:07.853Z,1755882547.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:08.250Z,1755882548.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:08.506Z,1755882548.506 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:09:08.676Z,1755882548.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:08.890Z,1755882548.890 [DAT](INFO): DAT read: Rx Time:17:09:09.4190

2025-08-22T17:09:08.890Z,1755882548.890 [DAT](INFO): Rx dataTimestamp_ set to:1755882548.889700
2025-08-22T17:09:09.091Z,1755882549.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.06 m.
2025-08-22T17:09:09.397Z,1755882549.397 [DAT](INFO): DAT read: 17:09:09.4190 LVL= 32752, 29553, 32754, 32755, AGC= 64, IDX= 461,-0.45, 2.189,-2.437, 1.967, 2.657, PHS=-0.366, 1.235,-0.733, RAW= 340.1,  -1.5, CAL= 339.7,  -4.4, ROT= 170.3,   4.4

2025-08-22T17:09:09.398Z,1755882549.398 [DAT](INFO): got valid direction response:
 17:09:09.4190 LVL= 32752, 29553, 32754, 32755, AGC= 64, IDX= 461,-0.45, 2.189,-2.437, 1.967, 2.657, PHS=-0.366, 1.235,-0.733, RAW= 340.1,  -1.5, CAL= 339.7,  -4.4, ROT= 170.3,   4.4

2025-08-22T17:09:09.399Z,1755882549.399 [DAT](INFO): DAT read: Bearing 120.8,  17.9 (Local)

2025-08-22T17:09:09.400Z,1755882549.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.8,  17.9 (Local)

2025-08-22T17:09:09.401Z,1755882549.401 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m  (Round-trip  75.0 ms) speed -0.7 m/s

2025-08-22T17:09:09.402Z,1755882549.402 [DAT](INFO): DAT read: user:506>

2025-08-22T17:09:09.402Z,1755882549.402 [DAT](INFO): DAT read: Tx time:17:09:10.5399

2025-08-22T17:09:09.403Z,1755882549.403 [DAT](INFO): Ping request sent.
2025-08-22T17:09:09.403Z,1755882549.403 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:09.403Z,1755882549.403 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T17:09:09.404Z,1755882549.404 [DAT](INFO): direction in FSK: [-0.982798,0.167993,-0.076719]
2025-08-22T17:09:09.404Z,1755882549.404 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:09.405Z,1755882549.405 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:09.442Z,1755882549.442 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:09.442Z,1755882549.442 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:09.510Z,1755882549.510 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:09:09.543Z,1755882549.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.200001 m,
      deltaT: 3.528496 s,
      deltaX: 2.799999 m,
      approachRate: 0.793539 m/s,
      rangeRepo size: 4

2025-08-22T17:09:09.545Z,1755882549.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.840687 m,
      bearing: 307.237873 deg,
      lat: 36.779465 deg,
      lon: -121.859638 deg,
      deltaT: 3.528496 s,
      deltaX: 2.782116 m,
      approachRate: 0.788471 m/s,
      posRepo size: 4

2025-08-22T17:09:09.545Z,1755882549.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:09.909Z,1755882549.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:10.301Z,1755882550.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:10.721Z,1755882550.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:11.117Z,1755882551.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:11.514Z,1755882551.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:12.045Z,1755882552.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:12.373Z,1755882552.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-08-22T17:09:12.415Z,1755882552.415 [DAT](INFO): DAT read: Rx Time:17:09:13.0226

2025-08-22T17:09:12.415Z,1755882552.415 [DAT](INFO): Rx dataTimestamp_ set to:1755882552.414848
2025-08-22T17:09:12.928Z,1755882552.928 [DAT](INFO): DAT read: 17:09:13.0226 LVL= 32752, 28769, 32754, 32755, AGC= 65, IDX= 465, 0.36,-0.191, 1.516,-0.403, 0.266, PHS=-0.354, 1.296,-0.713, RAW= 339.6,  -2.5, CAL= 339.2,  -5.4, ROT= 170.8,   5.4

2025-08-22T17:09:12.930Z,1755882552.930 [DAT](INFO): got valid direction response:
 17:09:13.0226 LVL= 32752, 28769, 32754, 32755, AGC= 65, IDX= 465, 0.36,-0.191, 1.516,-0.403, 0.266, PHS=-0.354, 1.296,-0.713, RAW= 339.6,  -2.5, CAL= 339.2,  -5.4, ROT= 170.8,   5.4

2025-08-22T17:09:12.930Z,1755882552.930 [DAT](INFO): DAT read: Bearing 122.2,  17.2 (Local)

2025-08-22T17:09:12.931Z,1755882552.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 122.2,  17.2 (Local)

2025-08-22T17:09:12.936Z,1755882552.936 [DAT](INFO): DAT read: Range 11 to 50 : 58.9 m  (Round-trip  78.6 ms) speed -0.8 m/s

2025-08-22T17:09:12.936Z,1755882552.936 [DAT](INFO): DAT read: user:507>

2025-08-22T17:09:12.937Z,1755882552.937 [DAT](INFO): DAT read: Tx time:17:09:14.1399

2025-08-22T17:09:12.937Z,1755882552.937 [DAT](INFO): Ping request sent.
2025-08-22T17:09:12.938Z,1755882552.938 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:12.938Z,1755882552.938 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T17:09:12.939Z,1755882552.939 [DAT](INFO): direction in FSK: [-0.982755,0.159172,-0.094108]
2025-08-22T17:09:12.939Z,1755882552.939 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:12.939Z,1755882552.939 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:12.943Z,1755882552.943 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:12.943Z,1755882552.943 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:12.991Z,1755882552.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.900002 m,
      deltaT: 3.529041 s,
      deltaX: 2.700001 m,
      approachRate: 0.765081 m/s,
      rangeRepo size: 4

2025-08-22T17:09:12.993Z,1755882552.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.523346 m,
      bearing: 308.016459 deg,
      lat: 36.779469 deg,
      lon: -121.859638 deg,
      deltaT: 3.529041 s,
      deltaX: 2.682659 m,
      approachRate: 0.760167 m/s,
      posRepo size: 4

2025-08-22T17:09:12.993Z,1755882552.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:13.334Z,1755882553.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:13.733Z,1755882553.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:14.165Z,1755882554.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:14.523Z,1755882554.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:14.949Z,1755882554.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:15.409Z,1755882555.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:15.821Z,1755882555.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:15.943Z,1755882555.943 [DAT](INFO): DAT read: Rx Time:17:09:16.6263

2025-08-22T17:09:15.943Z,1755882555.943 [DAT](INFO): Rx dataTimestamp_ set to:1755882555.942701
2025-08-22T17:09:16.254Z,1755882556.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:16.622Z,1755882556.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.52 m.
2025-08-22T17:09:16.705Z,1755882556.705 [DAT](INFO): DAT read: 17:09:16.6263 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 472,-0.29, 2.929,-1.691, 2.764,-2.898, PHS=-0.353, 1.252,-0.665, RAW= 338.7,  -2.7, CAL= 338.2,  -5.6, ROT= 171.8,   5.6

2025-08-22T17:09:16.706Z,1755882556.706 [DAT](INFO): got valid direction response:
 17:09:16.6263 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 472,-0.29, 2.929,-1.691, 2.764,-2.898, PHS=-0.353, 1.252,-0.665, RAW= 338.7,  -2.7, CAL= 338.2,  -5.6, ROT= 171.8,   5.6

2025-08-22T17:09:16.707Z,1755882556.707 [DAT](INFO): DAT read: Bearing 122.6,  15.6 (Local)

2025-08-22T17:09:16.708Z,1755882556.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 122.6,  15.6 (Local)

2025-08-22T17:09:16.710Z,1755882556.710 [DAT](INFO): DAT read: Range 11 to 50 : 61.7 m  (Round-trip  82.3 ms) speed -0.7 m/s

2025-08-22T17:09:16.711Z,1755882556.711 [DAT](INFO): DAT read: user:508>

2025-08-22T17:09:16.712Z,1755882556.712 [DAT](INFO): DAT read: Tx time:17:09:17.7415

2025-08-22T17:09:16.712Z,1755882556.712 [DAT](INFO): Ping request sent.
2025-08-22T17:09:16.712Z,1755882556.712 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:16.713Z,1755882556.713 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T17:09:16.715Z,1755882556.715 [DAT](INFO): direction in FSK: [-0.985052,0.141948,-0.097583]
2025-08-22T17:09:16.715Z,1755882556.715 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:16.716Z,1755882556.716 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:16.720Z,1755882556.720 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:16.720Z,1755882556.720 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:17.060Z,1755882557.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.700001 m,
      deltaT: 3.779333 s,
      deltaX: 2.799999 m,
      approachRate: 0.740871 m/s,
      rangeRepo size: 4

2025-08-22T17:09:17.063Z,1755882557.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.305630 m,
      bearing: 308.744925 deg,
      lat: 36.779469 deg,
      lon: -121.859638 deg,
      deltaT: 3.779333 s,
      deltaX: 2.782284 m,
      approachRate: 0.736184 m/s,
      posRepo size: 4

2025-08-22T17:09:17.063Z,1755882557.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:17.439Z,1755882557.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:17.842Z,1755882557.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:18.290Z,1755882558.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:18.652Z,1755882558.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:19.069Z,1755882559.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:19.468Z,1755882559.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:19.723Z,1755882559.723 [DAT](INFO): DAT read: Rx Time:17:09:20.2318

2025-08-22T17:09:19.724Z,1755882559.724 [DAT](INFO): Rx dataTimestamp_ set to:1755882559.723454
2025-08-22T17:09:19.878Z,1755882559.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.31 m.
2025-08-22T17:09:20.232Z,1755882560.232 [DAT](INFO): DAT read: 17:09:20.2318 LVL= 32752, 30449, 32754, 32755, AGC= 69, IDX= 463,-0.10,-1.495, 0.278,-1.664,-1.017, PHS=-0.377, 1.340,-0.691, RAW= 338.3,  -2.9, CAL= 337.8,  -5.9, ROT= 172.2,   5.9

2025-08-22T17:09:20.233Z,1755882560.233 [DAT](INFO): got valid direction response:
 17:09:20.2318 LVL= 32752, 30449, 32754, 32755, AGC= 69, IDX= 463,-0.10,-1.495, 0.278,-1.664,-1.017, PHS=-0.377, 1.340,-0.691, RAW= 338.3,  -2.9, CAL= 337.8,  -5.9, ROT= 172.2,   5.9

2025-08-22T17:09:20.234Z,1755882560.234 [DAT](INFO): DAT read: Bearing 122.4,  14.3 (Local)

2025-08-22T17:09:20.234Z,1755882560.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing 122.4,  14.3 (Local)

2025-08-22T17:09:20.236Z,1755882560.236 [DAT](INFO): DAT read: Range 11 to 50 : 64.6 m  (Round-trip  86.2 ms) speed -0.6 m/s

2025-08-22T17:09:20.236Z,1755882560.236 [DAT](INFO): DAT read: user:509>

2025-08-22T17:09:20.237Z,1755882560.237 [DAT](INFO): DAT read: Tx time:17:09:21.3399

2025-08-22T17:09:20.237Z,1755882560.237 [DAT](INFO): Ping request sent.
2025-08-22T17:09:20.238Z,1755882560.238 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:20.238Z,1755882560.238 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T17:09:20.239Z,1755882560.239 [DAT](INFO): direction in FSK: [-0.985500,0.134997,-0.102793]
2025-08-22T17:09:20.239Z,1755882560.239 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:20.239Z,1755882560.239 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:20.242Z,1755882560.242 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:20.243Z,1755882560.243 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:20.404Z,1755882560.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.599998 m,
      deltaT: 3.527065 s,
      deltaX: 2.899998 m,
      approachRate: 0.822213 m/s,
      rangeRepo size: 4

2025-08-22T17:09:20.410Z,1755882560.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.186760 m,
      bearing: 308.629220 deg,
      lat: 36.779469 deg,
      lon: -121.859641 deg,
      deltaT: 3.527065 s,
      deltaX: 2.881130 m,
      approachRate: 0.816863 m/s,
      posRepo size: 4

2025-08-22T17:09:20.411Z,1755882560.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:20.751Z,1755882560.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:21.197Z,1755882561.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:21.546Z,1755882561.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:22.043Z,1755882562.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:22.388Z,1755882562.388 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,3

2025-08-22T17:09:22.403Z,1755882562.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:22.794Z,1755882562.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:23.231Z,1755882563.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:23.251Z,1755882563.251 [DAT](INFO): DAT read: Rx Time:17:09:23.8339

2025-08-22T17:09:23.251Z,1755882563.251 [DAT](INFO): Rx dataTimestamp_ set to:1755882563.250749
2025-08-22T17:09:23.593Z,1755882563.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-08-22T17:09:23.760Z,1755882563.760 [DAT](INFO): DAT read: 17:09:23.8339 LVL= 32752, 30193, 32754, 32755, AGC= 70, IDX= 470, 0.25, 0.645, 2.403, 0.542, 1.160, PHS=-0.413, 1.288,-0.661, RAW= 336.7,  -2.4, CAL= 336.2,  -5.3, ROT= 173.8,   5.3

2025-08-22T17:09:23.761Z,1755882563.761 [DAT](INFO): got valid direction response:
 17:09:23.8339 LVL= 32752, 30193, 32754, 32755, AGC= 70, IDX= 470, 0.25, 0.645, 2.403, 0.542, 1.160, PHS=-0.413, 1.288,-0.661, RAW= 336.7,  -2.4, CAL= 336.2,  -5.3, ROT= 173.8,   5.3

2025-08-22T17:09:23.763Z,1755882563.763 [DAT](INFO): DAT read: Bearing 121.4,  11.3 (Local)

2025-08-22T17:09:23.764Z,1755882563.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 121.4,  11.3 (Local)

2025-08-22T17:09:23.796Z,1755882563.796 [DAT](INFO): DAT read: Range 11 to 50 : 67.5 m  (Round-trip  90.0 ms) speed -0.6 m/s

2025-08-22T17:09:23.797Z,1755882563.797 [DAT](INFO): DAT read: user:510>

2025-08-22T17:09:23.798Z,1755882563.798 [DAT](INFO): DAT read: Tx time:17:09:24.9398

2025-08-22T17:09:23.798Z,1755882563.798 [DAT](INFO): Ping request sent.
2025-08-22T17:09:23.798Z,1755882563.798 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:23.798Z,1755882563.798 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:09:23.799Z,1755882563.799 [DAT](INFO): direction in FSK: [-0.989901,0.107538,-0.092371]
2025-08-22T17:09:23.800Z,1755882563.800 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:23.800Z,1755882563.800 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:23.827Z,1755882563.827 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:23.827Z,1755882563.827 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:24.062Z,1755882564.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.500000 m,
      deltaT: 3.528078 s,
      deltaX: 2.900002 m,
      approachRate: 0.821978 m/s,
      rangeRepo size: 4

2025-08-22T17:09:24.064Z,1755882564.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.068039 m,
      bearing: 310.126275 deg,
      lat: 36.779466 deg,
      lon: -121.859642 deg,
      deltaT: 3.528078 s,
      deltaX: 2.881279 m,
      approachRate: 0.816671 m/s,
      posRepo size: 4

2025-08-22T17:09:24.065Z,1755882564.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:24.440Z,1755882564.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:24.821Z,1755882564.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:25.237Z,1755882565.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:25.653Z,1755882565.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:26.218Z,1755882566.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:26.685Z,1755882566.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:27.033Z,1755882567.033 [DAT](INFO): DAT read: Rx Time:17:09:27.4377

2025-08-22T17:09:27.035Z,1755882567.035 [DAT](INFO): Rx dataTimestamp_ set to:1755882567.033973
2025-08-22T17:09:27.190Z,1755882567.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:27.526Z,1755882567.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.07 m.
2025-08-22T17:09:27.540Z,1755882567.540 [DAT](INFO): DAT read: 17:09:27.4377 LVL= 32752, 32609, 32754, 32755, AGC= 70, IDX= 461, 0.07,-0.195, 1.655,-0.258, 0.392, PHS=-0.484, 1.308,-0.694, RAW= 335.5,  -1.4, CAL= 334.8,  -4.3, ROT= 175.2,   4.3

2025-08-22T17:09:27.541Z,1755882567.541 [DAT](INFO): got valid direction response:
 17:09:27.4377 LVL= 32752, 32609, 32754, 32755, AGC= 70, IDX= 461, 0.07,-0.195, 1.655,-0.258, 0.392, PHS=-0.484, 1.308,-0.694, RAW= 335.5,  -1.4, CAL= 334.8,  -4.3, ROT= 175.2,   4.3

2025-08-22T17:09:27.558Z,1755882567.558 [DAT](INFO): DAT read: Bearing 119.7,   9.4 (Local)

2025-08-22T17:09:27.558Z,1755882567.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 119.7,   9.4 (Local)

2025-08-22T17:09:27.560Z,1755882567.560 [DAT](INFO): DAT read: Range 11 to 50 : 70.3 m  (Round-trip  93.8 ms) speed -0.6 m/s

2025-08-22T17:09:27.560Z,1755882567.560 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T17:09:27.561Z,1755882567.561 [DAT](INFO): direction in FSK: [-0.993688,0.083442,-0.074979]
2025-08-22T17:09:27.561Z,1755882567.561 [DAT](INFO): publishing direction and range info
2025-08-22T17:09:27.936Z,1755882567.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.300003 m,
      deltaT: 3.780079 s,
      deltaX: 2.800003 m,
      approachRate: 0.740726 m/s,
      rangeRepo size: 4

2025-08-22T17:09:27.939Z,1755882567.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.850471 m,
      bearing: 311.187583 deg,
      lat: 36.779466 deg,
      lon: -121.859642 deg,
      deltaT: 3.780079 s,
      deltaX: 2.782433 m,
      approachRate: 0.736078 m/s,
      posRepo size: 4

2025-08-22T17:09:27.939Z,1755882567.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:28.357Z,1755882568.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:28.745Z,1755882568.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:29.211Z,1755882569.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:29.547Z,1755882569.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:29.957Z,1755882569.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:30.388Z,1755882570.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:30.758Z,1755882570.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:31.213Z,1755882571.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:31.570Z,1755882571.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:32.013Z,1755882572.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:32.412Z,1755882572.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:32.779Z,1755882572.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:33.248Z,1755882573.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:33.604Z,1755882573.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:33.997Z,1755882573.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:34.451Z,1755882574.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:34.805Z,1755882574.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:35.245Z,1755882575.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:35.608Z,1755882575.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:36.013Z,1755882576.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:36.448Z,1755882576.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:36.818Z,1755882576.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:37.277Z,1755882577.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:37.646Z,1755882577.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:38.044Z,1755882578.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:38.481Z,1755882578.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:38.842Z,1755882578.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:39.303Z,1755882579.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:39.642Z,1755882579.642 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:09:39.670Z,1755882579.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:40.054Z,1755882580.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:40.500Z,1755882580.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:40.646Z,1755882580.646 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:09:40.867Z,1755882580.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:41.319Z,1755882581.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:41.671Z,1755882581.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:42.073Z,1755882582.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:42.504Z,1755882582.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:42.878Z,1755882582.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:43.373Z,1755882583.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:43.702Z,1755882583.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:44.121Z,1755882584.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:44.538Z,1755882584.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:44.911Z,1755882584.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:45.380Z,1755882585.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:45.740Z,1755882585.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:46.151Z,1755882586.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:46.572Z,1755882586.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:46.947Z,1755882586.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:47.417Z,1755882587.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:47.771Z,1755882587.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:48.162Z,1755882588.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:48.609Z,1755882588.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:48.974Z,1755882588.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:49.449Z,1755882589.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:49.808Z,1755882589.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:50.197Z,1755882590.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:50.640Z,1755882590.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:51.001Z,1755882591.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:09:51.003Z,1755882591.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:51.234Z,1755882591.234 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:09:51.234Z,1755882591.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:09:51.477Z,1755882591.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:51.486Z,1755882591.486 [DAT](INFO): DAT read: user:511>

2025-08-22T17:09:51.487Z,1755882591.487 [DAT](INFO): DAT read: Tx time:17:09:52.4897

2025-08-22T17:09:51.487Z,1755882591.487 [DAT](INFO): Ping request sent.
2025-08-22T17:09:51.488Z,1755882591.488 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:09:51.488Z,1755882591.488 [DAT](INFO): publishing transmit ping time
2025-08-22T17:09:51.488Z,1755882591.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-22T17:09:51.740Z,1755882591.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252034
2025-08-22T17:09:51.811Z,1755882591.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:51.991Z,1755882591.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503058
2025-08-22T17:09:52.216Z,1755882592.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:52.243Z,1755882592.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755238
2025-08-22T17:09:52.495Z,1755882592.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006956
2025-08-22T17:09:52.640Z,1755882592.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:52.746Z,1755882592.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258847
2025-08-22T17:09:52.999Z,1755882592.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510981
2025-08-22T17:09:53.009Z,1755882593.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:53.251Z,1755882593.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762913
2025-08-22T17:09:53.471Z,1755882593.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:53.503Z,1755882593.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015276
2025-08-22T17:09:53.755Z,1755882593.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266875
2025-08-22T17:09:53.846Z,1755882593.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:54.007Z,1755882594.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518919
2025-08-22T17:09:54.222Z,1755882594.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:54.259Z,1755882594.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771009
2025-08-22T17:09:54.512Z,1755882594.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023947
2025-08-22T17:09:54.666Z,1755882594.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:54.763Z,1755882594.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274933
2025-08-22T17:09:55.014Z,1755882595.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526829
2025-08-22T17:09:55.138Z,1755882595.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:55.266Z,1755882595.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778858
2025-08-22T17:09:55.519Z,1755882595.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031016
2025-08-22T17:09:55.599Z,1755882595.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:55.771Z,1755882595.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283422
2025-08-22T17:09:56.022Z,1755882596.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534757
2025-08-22T17:09:56.127Z,1755882596.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:56.275Z,1755882596.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786941
2025-08-22T17:09:56.471Z,1755882596.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:56.527Z,1755882596.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039093
2025-08-22T17:09:56.781Z,1755882596.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293108
2025-08-22T17:09:56.880Z,1755882596.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:57.031Z,1755882597.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542940
2025-08-22T17:09:57.279Z,1755882597.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:57.283Z,1755882597.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794977
2025-08-22T17:09:57.535Z,1755882597.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046886
2025-08-22T17:09:57.699Z,1755882597.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:57.787Z,1755882597.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299354
2025-08-22T17:09:58.041Z,1755882598.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553130
2025-08-22T17:09:58.086Z,1755882598.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:58.295Z,1755882598.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806938
2025-08-22T17:09:58.481Z,1755882598.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:58.550Z,1755882598.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061489
2025-08-22T17:09:58.799Z,1755882598.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311311
2025-08-22T17:09:58.905Z,1755882598.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:59.050Z,1755882599.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562833
2025-08-22T17:09:59.289Z,1755882599.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:59.303Z,1755882599.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814998
2025-08-22T17:09:59.555Z,1755882599.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066899
2025-08-22T17:09:59.703Z,1755882599.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:09:59.808Z,1755882599.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319795
2025-08-22T17:10:00.059Z,1755882600.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570978
2025-08-22T17:10:00.114Z,1755882600.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:00.311Z,1755882600.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822916
2025-08-22T17:10:00.508Z,1755882600.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:00.566Z,1755882600.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077658
2025-08-22T17:10:00.815Z,1755882600.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326930
2025-08-22T17:10:00.944Z,1755882600.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:01.068Z,1755882601.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580115
2025-08-22T17:10:01.312Z,1755882601.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:01.319Z,1755882601.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831259
2025-08-22T17:10:01.572Z,1755882601.572 [DAT](INFO): Reached modem response timeout
2025-08-22T17:10:01.738Z,1755882601.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:02.137Z,1755882602.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:02.518Z,1755882602.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:02.955Z,1755882602.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:03.392Z,1755882603.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:03.817Z,1755882603.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:03.839Z,1755882603.839 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:10:03.839Z,1755882603.839 [DAT](INFO): response not received
2025-08-22T17:10:03.839Z,1755882603.839 [DAT](ERROR): No response from remote modem.
2025-08-22T17:10:04.316Z,1755882604.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:04.805Z,1755882604.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:05.195Z,1755882605.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:05.660Z,1755882605.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:06.028Z,1755882606.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:06.397Z,1755882606.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:06.828Z,1755882606.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:07.233Z,1755882607.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:07.679Z,1755882607.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:08.034Z,1755882608.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:08.414Z,1755882608.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:08.836Z,1755882608.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:09.230Z,1755882609.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:09.703Z,1755882609.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:10.225Z,1755882610.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:10.597Z,1755882610.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:10.766Z,1755882610.766 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:10:11.099Z,1755882611.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:11.461Z,1755882611.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:11.770Z,1755882611.770 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:10:11.882Z,1755882611.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:12.260Z,1755882612.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:12.665Z,1755882612.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:13.105Z,1755882613.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:13.470Z,1755882613.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:13.920Z,1755882613.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:14.281Z,1755882614.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:14.708Z,1755882614.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:15.123Z,1755882615.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:15.491Z,1755882615.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:15.924Z,1755882615.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:16.321Z,1755882616.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:16.707Z,1755882616.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:17.157Z,1755882617.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:17.518Z,1755882617.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:17.942Z,1755882617.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:18.318Z,1755882618.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:18.724Z,1755882618.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:19.150Z,1755882619.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:19.549Z,1755882619.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:19.971Z,1755882619.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:20.340Z,1755882620.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:20.752Z,1755882620.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:21.191Z,1755882621.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:21.566Z,1755882621.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:21.980Z,1755882621.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:22.376Z,1755882622.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:22.774Z,1755882622.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:23.219Z,1755882623.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:23.694Z,1755882623.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:24.105Z,1755882624.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:24.512Z,1755882624.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:24.986Z,1755882624.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:25.342Z,1755882625.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:25.730Z,1755882625.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:26.155Z,1755882626.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:26.557Z,1755882626.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:27.069Z,1755882627.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:27.394Z,1755882627.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:27.794Z,1755882627.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:28.223Z,1755882628.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:28.624Z,1755882628.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:29.067Z,1755882629.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:29.408Z,1755882629.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:29.842Z,1755882629.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:30.255Z,1755882630.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:30.618Z,1755882630.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:31.096Z,1755882631.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:31.452Z,1755882631.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:31.825Z,1755882631.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:32.236Z,1755882632.236 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +8 0,    9,

2025-08-22T17:10:32.252Z,1755882632.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:32.647Z,1755882632.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:33.118Z,1755882633.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:33.461Z,1755882633.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:33.857Z,1755882633.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:34.275Z,1755882634.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:34.656Z,1755882634.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:35.142Z,1755882635.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:35.481Z,1755882635.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:35.888Z,1755882635.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:36.310Z,1755882636.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:36.706Z,1755882636.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:37.188Z,1755882637.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:37.531Z,1755882637.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:37.925Z,1755882637.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:38.331Z,1755882638.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:38.739Z,1755882638.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:39.218Z,1755882639.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:39.549Z,1755882639.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:39.954Z,1755882639.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:40.362Z,1755882640.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:40.743Z,1755882640.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:41.220Z,1755882641.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:41.558Z,1755882641.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:41.898Z,1755882641.898 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:10:41.970Z,1755882641.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:42.396Z,1755882642.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:42.765Z,1755882642.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:42.903Z,1755882642.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:10:43.227Z,1755882643.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:43.597Z,1755882643.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:43.978Z,1755882643.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:44.400Z,1755882644.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:44.790Z,1755882644.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:45.259Z,1755882645.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:45.625Z,1755882645.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:46.037Z,1755882646.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:46.422Z,1755882646.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:46.877Z,1755882646.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:47.342Z,1755882647.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:47.776Z,1755882647.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:48.259Z,1755882648.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:48.618Z,1755882648.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:49.027Z,1755882649.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:49.433Z,1755882649.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:49.807Z,1755882649.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:50.229Z,1755882650.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:50.652Z,1755882650.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:51.028Z,1755882651.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:10:51.030Z,1755882651.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:51.218Z,1755882651.218 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:10:51.219Z,1755882651.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:10:51.472Z,1755882651.472 [DAT](INFO): DAT read: user:512>

2025-08-22T17:10:51.474Z,1755882651.474 [DAT](INFO): DAT read: Tx time:17:10:52.4893

2025-08-22T17:10:51.474Z,1755882651.474 [DAT](INFO): Ping request sent.
2025-08-22T17:10:51.475Z,1755882651.475 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:10:51.475Z,1755882651.475 [DAT](INFO): publishing transmit ping time
2025-08-22T17:10:51.476Z,1755882651.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001776
2025-08-22T17:10:51.483Z,1755882651.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:51.724Z,1755882651.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249930
2025-08-22T17:10:51.855Z,1755882651.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:51.976Z,1755882651.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501448
2025-08-22T17:10:52.227Z,1755882652.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752346
2025-08-22T17:10:52.236Z,1755882652.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:52.479Z,1755882652.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005052
2025-08-22T17:10:52.687Z,1755882652.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:52.731Z,1755882652.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256449
2025-08-22T17:10:52.987Z,1755882652.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513121
2025-08-22T17:10:53.064Z,1755882653.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:53.235Z,1755882653.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760222
2025-08-22T17:10:53.487Z,1755882653.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012756
2025-08-22T17:10:53.492Z,1755882653.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:53.739Z,1755882653.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264237
2025-08-22T17:10:53.862Z,1755882653.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:53.992Z,1755882653.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517668
2025-08-22T17:10:54.243Z,1755882654.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768379
2025-08-22T17:10:54.263Z,1755882654.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:54.500Z,1755882654.500 [DAT](INFO): DAT read: 17:10:55.0833 LVL= 32752, 27377, 32754, 32755, AGC= 71, IDX= 356,-0.24,-0.838, 1.260,-0.491,-0.125, PHS=-0.611, 1.430,-0.410, RAW= 324.9,  -4.2, CAL= 324.1,  -7.4, ROT= 185.9,   7.4

2025-08-22T17:10:54.501Z,1755882654.501 [DAT](INFO): got valid direction response:
 17:10:55.0833 LVL= 32752, 27377, 32754, 32755, AGC= 71, IDX= 356,-0.24,-0.838, 1.260,-0.491,-0.125, PHS=-0.611, 1.430,-0.410, RAW= 324.9,  -4.2, CAL= 324.1,  -7.4, ROT= 185.9,   7.4

2025-08-22T17:10:54.502Z,1755882654.502 [DAT](INFO): DAT read: Rx Time:17:10:55.0833

2025-08-22T17:10:54.503Z,1755882654.503 [DAT](INFO): Rx dataTimestamp_ set to:1755882654.502336
2025-08-22T17:10:54.503Z,1755882654.503 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T17:10:54.503Z,1755882654.503 [DAT](INFO): Received low SNR in chirp
2025-08-22T17:10:54.521Z,1755882654.521 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:10:54.522Z,1755882654.522 [DAT](INFO): direction in FSK: [-0.986418,-0.101936,-0.128796]
2025-08-22T17:10:54.694Z,1755882654.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:55.077Z,1755882655.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:55.543Z,1755882655.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:55.896Z,1755882655.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:56.304Z,1755882656.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:56.795Z,1755882656.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:57.205Z,1755882657.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:57.680Z,1755882657.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:58.062Z,1755882658.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:58.513Z,1755882658.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:58.873Z,1755882658.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:59.270Z,1755882659.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:10:59.694Z,1755882659.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:00.094Z,1755882660.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:00.522Z,1755882660.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:00.887Z,1755882660.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:01.295Z,1755882661.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:01.550Z,1755882661.550 [DAT](INFO): Reached modem response timeout
2025-08-22T17:11:01.718Z,1755882661.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:02.105Z,1755882662.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:02.549Z,1755882662.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:02.911Z,1755882662.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:03.323Z,1755882663.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:03.754Z,1755882663.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:03.819Z,1755882663.819 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:11:03.819Z,1755882663.819 [DAT](INFO): response not received
2025-08-22T17:11:03.819Z,1755882663.819 [DAT](ERROR): No response from remote modem.
2025-08-22T17:11:04.123Z,1755882664.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:04.557Z,1755882664.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:04.943Z,1755882664.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:05.429Z,1755882665.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:05.864Z,1755882665.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:06.331Z,1755882666.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:06.754Z,1755882666.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:07.163Z,1755882667.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:07.626Z,1755882667.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:07.998Z,1755882667.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:08.352Z,1755882668.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:08.787Z,1755882668.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:09.195Z,1755882669.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:09.695Z,1755882669.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:10.027Z,1755882670.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:10.437Z,1755882670.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:10.854Z,1755882670.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:11.241Z,1755882671.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:11.712Z,1755882671.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:12.089Z,1755882672.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:12.479Z,1755882672.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:12.870Z,1755882672.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:13.022Z,1755882673.022 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:11:13.264Z,1755882673.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:13.710Z,1755882673.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:14.028Z,1755882674.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:11:14.063Z,1755882674.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:14.478Z,1755882674.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:14.894Z,1755882674.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:15.274Z,1755882675.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:15.744Z,1755882675.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:16.090Z,1755882676.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:16.496Z,1755882676.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:16.941Z,1755882676.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:17.329Z,1755882677.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:17.773Z,1755882677.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:18.115Z,1755882678.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:18.529Z,1755882678.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:18.972Z,1755882678.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:19.326Z,1755882679.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:19.808Z,1755882679.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:20.125Z,1755882680.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:20.528Z,1755882680.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:20.970Z,1755882680.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:21.334Z,1755882681.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:21.830Z,1755882681.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:22.207Z,1755882682.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:22.598Z,1755882682.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:23.046Z,1755882683.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:23.418Z,1755882683.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:23.861Z,1755882683.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:24.224Z,1755882684.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:24.626Z,1755882684.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:25.051Z,1755882685.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:25.451Z,1755882685.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:25.892Z,1755882685.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:26.244Z,1755882686.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:26.648Z,1755882686.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:27.116Z,1755882687.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:27.479Z,1755882687.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:27.953Z,1755882687.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:28.317Z,1755882688.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:28.745Z,1755882688.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:29.141Z,1755882689.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:29.515Z,1755882689.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:29.985Z,1755882689.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:30.310Z,1755882690.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:30.718Z,1755882690.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:31.130Z,1755882691.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:31.509Z,1755882691.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:32.007Z,1755882692.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:32.335Z,1755882692.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:32.747Z,1755882692.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:33.168Z,1755882693.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:33.539Z,1755882693.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:34.004Z,1755882694.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:34.368Z,1755882694.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:34.778Z,1755882694.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:35.206Z,1755882695.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:35.561Z,1755882695.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:36.032Z,1755882696.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:36.401Z,1755882696.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:36.770Z,1755882696.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:37.228Z,1755882697.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:37.589Z,1755882697.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:38.031Z,1755882698.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:38.436Z,1755882698.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:38.796Z,1755882698.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:39.231Z,1755882699.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:39.622Z,1755882699.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:40.105Z,1755882700.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:40.439Z,1755882700.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:40.831Z,1755882700.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:41.251Z,1755882701.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:41.630Z,1755882701.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:42.127Z,1755882702.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:42.499Z,1755882702.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:42.966Z,1755882702.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:43.343Z,1755882703.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:43.718Z,1755882703.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:44.154Z,1755882704.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:11:44.188Z,1755882704.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:44.528Z,1755882704.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:44.945Z,1755882704.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:45.159Z,1755882705.159 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:11:45.363Z,1755882705.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:45.736Z,1755882705.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:46.208Z,1755882706.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:46.542Z,1755882706.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:46.947Z,1755882706.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:47.406Z,1755882707.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:47.770Z,1755882707.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:48.237Z,1755882708.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:48.594Z,1755882708.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:48.977Z,1755882708.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:49.406Z,1755882709.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:49.776Z,1755882709.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:50.239Z,1755882710.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:50.733Z,1755882710.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:51.129Z,1755882711.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:11:51.157Z,1755882711.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:51.270Z,1755882711.270 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:11:51.271Z,1755882711.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:11:51.523Z,1755882711.523 [DAT](INFO): DAT read: 

2025-08-22T17:11:51.524Z,1755882711.524 [DAT](INFO): DAT read: Tx time:17:11:52.5389

2025-08-22T17:11:51.524Z,1755882711.524 [DAT](INFO): Ping request sent.
2025-08-22T17:11:51.524Z,1755882711.524 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:11:51.525Z,1755882711.525 [DAT](INFO): publishing transmit ping time
2025-08-22T17:11:51.526Z,1755882711.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777
2025-08-22T17:11:51.677Z,1755882711.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:51.775Z,1755882711.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250743
2025-08-22T17:11:52.027Z,1755882712.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502338
2025-08-22T17:11:52.059Z,1755882712.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:52.279Z,1755882712.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754482
2025-08-22T17:11:52.477Z,1755882712.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:52.531Z,1755882712.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006810
2025-08-22T17:11:52.783Z,1755882712.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258018
2025-08-22T17:11:52.850Z,1755882712.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:53.035Z,1755882713.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510043
2025-08-22T17:11:53.286Z,1755882713.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761860
2025-08-22T17:11:53.297Z,1755882713.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:53.539Z,1755882713.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014349
2025-08-22T17:11:53.665Z,1755882713.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:53.791Z,1755882713.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266155
2025-08-22T17:11:54.043Z,1755882714.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518048
2025-08-22T17:11:54.093Z,1755882714.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:54.295Z,1755882714.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770641
2025-08-22T17:11:54.501Z,1755882714.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:54.547Z,1755882714.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022141
2025-08-22T17:11:54.798Z,1755882714.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273967
2025-08-22T17:11:54.888Z,1755882714.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:55.051Z,1755882715.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525986
2025-08-22T17:11:55.303Z,1755882715.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778163
2025-08-22T17:11:55.310Z,1755882715.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:55.554Z,1755882715.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029970
2025-08-22T17:11:55.679Z,1755882715.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:55.807Z,1755882715.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282085
2025-08-22T17:11:56.059Z,1755882716.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534113
2025-08-22T17:11:56.093Z,1755882716.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:56.314Z,1755882716.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789849
2025-08-22T17:11:56.506Z,1755882716.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:56.564Z,1755882716.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039076
2025-08-22T17:11:56.815Z,1755882716.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290037
2025-08-22T17:11:56.901Z,1755882716.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:57.067Z,1755882717.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542170
2025-08-22T17:11:57.322Z,1755882717.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797915
2025-08-22T17:11:57.419Z,1755882717.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:57.575Z,1755882717.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050051
2025-08-22T17:11:57.764Z,1755882717.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:57.827Z,1755882717.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302130
2025-08-22T17:11:58.079Z,1755882718.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554236
2025-08-22T17:11:58.189Z,1755882718.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:58.331Z,1755882718.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806113
2025-08-22T17:11:58.583Z,1755882718.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058064
2025-08-22T17:11:58.610Z,1755882718.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:58.835Z,1755882718.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310249
2025-08-22T17:11:58.965Z,1755882718.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:59.087Z,1755882719.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562043
2025-08-22T17:11:59.339Z,1755882719.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814190
2025-08-22T17:11:59.429Z,1755882719.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:59.590Z,1755882719.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065941
2025-08-22T17:11:59.786Z,1755882719.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:11:59.845Z,1755882719.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319791
2025-08-22T17:12:00.095Z,1755882720.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570005
2025-08-22T17:12:00.201Z,1755882720.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:00.350Z,1755882720.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825381
2025-08-22T17:12:00.599Z,1755882720.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074121
2025-08-22T17:12:00.628Z,1755882720.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:00.851Z,1755882720.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326333
2025-08-22T17:12:00.989Z,1755882720.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:01.102Z,1755882721.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577944
2025-08-22T17:12:01.356Z,1755882721.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831267
2025-08-22T17:12:01.423Z,1755882721.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:01.606Z,1755882721.606 [DAT](INFO): Reached modem response timeout
2025-08-22T17:12:01.815Z,1755882721.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:02.209Z,1755882722.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:02.623Z,1755882722.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:03.012Z,1755882723.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:03.436Z,1755882723.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:03.810Z,1755882723.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:03.875Z,1755882723.875 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:12:03.875Z,1755882723.875 [DAT](INFO): response not received
2025-08-22T17:12:03.875Z,1755882723.875 [DAT](ERROR): No response from remote modem.
2025-08-22T17:12:04.284Z,1755882724.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:04.728Z,1755882724.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:05.262Z,1755882725.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:05.647Z,1755882725.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:06.036Z,1755882726.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:06.483Z,1755882726.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:06.872Z,1755882726.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:07.255Z,1755882727.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:07.683Z,1755882727.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:08.051Z,1755882728.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:08.526Z,1755882728.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:08.885Z,1755882728.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:09.260Z,1755882729.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:09.697Z,1755882729.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:10.066Z,1755882730.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:10.539Z,1755882730.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:10.892Z,1755882730.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:11.292Z,1755882731.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:11.779Z,1755882731.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:12.189Z,1755882732.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:12.587Z,1755882732.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:12.975Z,1755882732.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:13.355Z,1755882733.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:13.762Z,1755882733.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:14.138Z,1755882734.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:14.604Z,1755882734.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:14.953Z,1755882734.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:15.278Z,1755882735.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:12:15.368Z,1755882735.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:15.831Z,1755882735.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:16.167Z,1755882736.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:16.283Z,1755882736.283 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:12:16.634Z,1755882736.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:16.982Z,1755882736.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:17.372Z,1755882737.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:17.801Z,1755882737.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:18.196Z,1755882738.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:18.714Z,1755882738.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:19.044Z,1755882739.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:19.487Z,1755882739.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:19.873Z,1755882739.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:20.267Z,1755882740.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:20.706Z,1755882740.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:21.096Z,1755882741.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:21.465Z,1755882741.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:21.890Z,1755882741.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:22.267Z,1755882742.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:22.725Z,1755882742.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:23.065Z,1755882743.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:23.470Z,1755882743.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:23.895Z,1755882743.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:24.291Z,1755882744.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:24.765Z,1755882744.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:25.083Z,1755882745.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:25.492Z,1755882745.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:25.988Z,1755882745.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:26.396Z,1755882746.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:26.849Z,1755882746.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:27.215Z,1755882747.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:27.583Z,1755882747.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:28.017Z,1755882748.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:28.410Z,1755882748.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:28.842Z,1755882748.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:29.207Z,1755882749.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:29.611Z,1755882749.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:30.044Z,1755882750.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:30.422Z,1755882750.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:30.923Z,1755882750.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:31.329Z,1755882751.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:31.873Z,1755882751.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:32.269Z,1755882752.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:32.610Z,1755882752.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:33.061Z,1755882753.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:33.439Z,1755882753.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:33.872Z,1755882753.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:34.223Z,1755882754.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:34.629Z,1755882754.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:35.051Z,1755882755.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:35.432Z,1755882755.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:35.903Z,1755882755.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:36.260Z,1755882756.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:36.642Z,1755882756.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:37.081Z,1755882757.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:37.477Z,1755882757.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:37.936Z,1755882757.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:38.277Z,1755882758.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:38.663Z,1755882758.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:39.086Z,1755882759.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:39.477Z,1755882759.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:39.943Z,1755882759.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:40.384Z,1755882760.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:40.735Z,1755882760.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:41.168Z,1755882761.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:41.542Z,1755882761.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:42.012Z,1755882762.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:42.351Z,1755882762.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:42.772Z,1755882762.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:43.204Z,1755882763.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:43.563Z,1755882763.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:44.041Z,1755882764.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:44.383Z,1755882764.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:44.802Z,1755882764.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:45.297Z,1755882765.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:45.601Z,1755882765.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:46.107Z,1755882766.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:46.402Z,1755882766.402 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:12:46.590Z,1755882766.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:47.106Z,1755882767.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:47.406Z,1755882767.406 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:12:47.536Z,1755882767.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:47.939Z,1755882767.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:48.367Z,1755882768.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:48.780Z,1755882768.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:49.197Z,1755882769.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:49.575Z,1755882769.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:49.977Z,1755882769.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:50.410Z,1755882770.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:50.787Z,1755882770.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:51.208Z,1755882771.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:12:51.226Z,1755882771.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:51.310Z,1755882771.310 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:12:51.311Z,1755882771.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:12:51.566Z,1755882771.566 [DAT](INFO): DAT read: user:514>

2025-08-22T17:12:51.568Z,1755882771.568 [DAT](INFO): DAT read: Tx time:17:12:52.5885

2025-08-22T17:12:51.568Z,1755882771.568 [DAT](INFO): Ping request sent.
2025-08-22T17:12:51.568Z,1755882771.568 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:12:51.568Z,1755882771.568 [DAT](INFO): publishing transmit ping time
2025-08-22T17:12:51.569Z,1755882771.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000793
2025-08-22T17:12:51.585Z,1755882771.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:51.815Z,1755882771.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246851
2025-08-22T17:12:51.985Z,1755882771.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:52.071Z,1755882772.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501744
2025-08-22T17:12:52.318Z,1755882772.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750181
2025-08-22T17:12:52.412Z,1755882772.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:52.571Z,1755882772.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002251
2025-08-22T17:12:52.798Z,1755882772.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:52.823Z,1755882772.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254306
2025-08-22T17:12:53.078Z,1755882773.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509006
2025-08-22T17:12:53.224Z,1755882773.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:53.327Z,1755882773.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758381
2025-08-22T17:12:53.579Z,1755882773.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010356
2025-08-22T17:12:53.618Z,1755882773.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:53.830Z,1755882773.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262163
2025-08-22T17:12:54.003Z,1755882774.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:54.087Z,1755882774.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517833
2025-08-22T17:12:54.335Z,1755882774.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766284
2025-08-22T17:12:54.428Z,1755882774.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:54.587Z,1755882774.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018707
2025-08-22T17:12:54.839Z,1755882774.839 [DAT](INFO): DAT read: Rx Time:17:12:55.3370

2025-08-22T17:12:54.839Z,1755882774.839 [DAT](INFO): Rx dataTimestamp_ set to:1755882774.838729
2025-08-22T17:12:54.840Z,1755882774.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271285
2025-08-22T17:12:54.890Z,1755882774.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:55.091Z,1755882775.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522262
2025-08-22T17:12:55.326Z,1755882775.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.85 m.
2025-08-22T17:12:55.349Z,1755882775.349 [DAT](INFO): DAT read: 17:12:55.3370 LVL= 29600, 23537, 26866, 29763, AGC= 71, IDX= 434,-0.03,-2.723,-0.568,-2.182,-1.928, PHS=-0.693, 1.405,-0.298, RAW= 319.8,  -4.3, CAL= 318.9,  -7.6, ROT= 191.1,   7.6

2025-08-22T17:12:55.350Z,1755882775.350 [DAT](INFO): got valid direction response:
 17:12:55.3370 LVL= 29600, 23537, 26866, 29763, AGC= 71, IDX= 434,-0.03,-2.723,-0.568,-2.182,-1.928, PHS=-0.693, 1.405,-0.298, RAW= 319.8,  -4.3, CAL= 318.9,  -7.6, ROT= 191.1,   7.6

2025-08-22T17:12:55.351Z,1755882775.351 [DAT](INFO): DAT read: Bearing 130.5,  -7.6 (Local)

2025-08-22T17:12:55.351Z,1755882775.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.5,  -7.6 (Local)

2025-08-22T17:12:55.352Z,1755882775.352 [DAT](INFO): DAT read: Range 11 to 50 : 258.2 m  (Round-trip  344.3 ms) speed -0.4 m/s

2025-08-22T17:12:55.353Z,1755882775.353 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:12:55.354Z,1755882775.354 [DAT](INFO): direction in FSK: [-0.972673,-0.190831,-0.132256]
2025-08-22T17:12:55.354Z,1755882775.354 [DAT](INFO): publishing direction and range info
2025-08-22T17:12:55.652Z,1755882775.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.200012 m,
      deltaT: 207.808107 s,
      deltaX: 187.900009 m,
      approachRate: 0.904200 m/s,
      rangeRepo size: 4

2025-08-22T17:12:55.655Z,1755882775.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.578979 m,
      bearing: 326.910155 deg,
      lat: 36.779466 deg,
      lon: -121.859641 deg,
      deltaT: 207.808107 s,
      deltaX: 186.728516 m,
      approachRate: 0.898562 m/s,
      posRepo size: 4

2025-08-22T17:12:55.655Z,1755882775.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.58 m.
2025-08-22T17:12:55.655Z,1755882775.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 258.20 m. Resuming terminal guidance.
2025-08-22T17:12:55.655Z,1755882775.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T17:12:56.117Z,1755882776.117 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T17:12:56.122Z,1755882776.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T17:12:56.123Z,1755882776.123 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T17:12:56.132Z,1755882776.132 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 258.200012 m (mode  1.000000 count ).
2025-08-22T17:12:56.132Z,1755882776.132 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T17:12:56.133Z,1755882776.133 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T17:12:56.568Z,1755882776.568 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T17:12:56.568Z,1755882776.568 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T17:12:56.569Z,1755882776.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:12:56.602Z,1755882776.602 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:12:56.602Z,1755882776.602 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:12:56.603Z,1755882776.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:12:56.854Z,1755882776.854 [DAT](INFO): DAT read: user:515>

2025-08-22T17:12:56.855Z,1755882776.855 [DAT](INFO): DAT read: Tx time:17:12:57.8885

2025-08-22T17:12:56.855Z,1755882776.855 [DAT](INFO): Ping request sent.
2025-08-22T17:12:56.856Z,1755882776.856 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:12:56.856Z,1755882776.856 [DAT](INFO): publishing transmit ping time
2025-08-22T17:12:56.856Z,1755882776.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-22T17:12:57.040Z,1755882777.040 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T17:12:57.040Z,1755882777.040 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T17:12:57.110Z,1755882777.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253626
2025-08-22T17:12:57.359Z,1755882777.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502993
2025-08-22T17:12:57.458Z,1755882777.458 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T17:12:57.458Z,1755882777.458 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T17:12:57.458Z,1755882777.458 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T17:12:57.458Z,1755882777.458 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T17:12:57.611Z,1755882777.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754963
2025-08-22T17:12:57.863Z,1755882777.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007064
2025-08-22T17:12:58.115Z,1755882778.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259091
2025-08-22T17:12:58.367Z,1755882778.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511494
2025-08-22T17:12:58.619Z,1755882778.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763165
2025-08-22T17:12:58.721Z,1755882778.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:12:58.871Z,1755882778.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015700
2025-08-22T17:12:59.123Z,1755882779.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266954
2025-08-22T17:12:59.375Z,1755882779.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922
2025-08-22T17:12:59.627Z,1755882779.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771663
2025-08-22T17:12:59.879Z,1755882779.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022978
2025-08-22T17:13:00.131Z,1755882780.131 [DAT](INFO): DAT read: Rx Time:17:13:00.6424

2025-08-22T17:13:00.131Z,1755882780.131 [DAT](INFO): Rx dataTimestamp_ set to:1755882780.130715
2025-08-22T17:13:00.132Z,1755882780.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275972
2025-08-22T17:13:00.383Z,1755882780.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527804
2025-08-22T17:13:00.640Z,1755882780.640 [DAT](INFO): DAT read: 17:13:00.6424 LVL= 32752, 30193, 32754, 32755, AGC= 71, IDX= 490, 0.32, 1.103, 2.518, 1.564, 1.265, PHS=-0.060, 1.298, 0.255, RAW= 317.2, -23.2, CAL= 317.1, -27.1, ROT= 192.9,  27.1

2025-08-22T17:13:00.641Z,1755882780.641 [DAT](INFO): got valid direction response:
 17:13:00.6424 LVL= 32752, 30193, 32754, 32755, AGC= 71, IDX= 490, 0.32, 1.103, 2.518, 1.564, 1.265, PHS=-0.060, 1.298, 0.255, RAW= 317.2, -23.2, CAL= 317.1, -27.1, ROT= 192.9,  27.1

2025-08-22T17:13:00.654Z,1755882780.654 [DAT](INFO): DAT read: Bearing 151.1, -11.3 (Local)

2025-08-22T17:13:00.654Z,1755882780.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.1, -11.3 (Local)

2025-08-22T17:13:00.655Z,1755882780.655 [DAT](INFO): DAT read: Range 11 to 50 : 262.3 m  (Round-trip  349.8 ms) speed -1.0 m/s

2025-08-22T17:13:00.656Z,1755882780.656 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:00.657Z,1755882780.657 [DAT](INFO): direction in FSK: [-0.867745,-0.198740,-0.455545]
2025-08-22T17:13:00.666Z,1755882780.666 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:00.669Z,1755882780.669 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:00.669Z,1755882780.669 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:00.669Z,1755882780.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:00.757Z,1755882780.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.299988 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-22T17:13:00.768Z,1755882780.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.655304 m,
      bearing: 327.798166 deg,
      lat: 36.779466 deg,
      lon: -121.859638 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-22T17:13:00.770Z,1755882780.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:00.781Z,1755882780.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 244.383728 m,
      bearing: 321.769571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 315.883277 deg,
      new cmd heading: 321.769571 deg.

2025-08-22T17:13:00.782Z,1755882780.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615939 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:00.887Z,1755882780.887 [DAT](INFO): DAT read: user:516>

2025-08-22T17:13:00.888Z,1755882780.888 [DAT](INFO): DAT read: Tx time:17:13:01.9385

2025-08-22T17:13:00.888Z,1755882780.888 [DAT](INFO): Ping request sent.
2025-08-22T17:13:00.888Z,1755882780.888 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:00.888Z,1755882780.888 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:00.889Z,1755882780.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-08-22T17:13:01.119Z,1755882781.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:01.121Z,1755882781.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:01.123Z,1755882781.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 244.730835 m,
      bearing: 321.781810 deg,
      approach rate: 0.950337 m/s,
      LOS rate: 0.033460 deg/s,
      cmd heading: 321.769583 deg,
      new cmd heading: 321.781810 deg.

2025-08-22T17:13:01.124Z,1755882781.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616152 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:01.139Z,1755882781.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250554
2025-08-22T17:13:01.391Z,1755882781.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502378
2025-08-22T17:13:01.558Z,1755882781.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:01.560Z,1755882781.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 245.091461 m,
      bearing: 321.794875 deg,
      approach rate: 0.825606 m/s,
      LOS rate: 0.029866 deg/s,
      cmd heading: 321.781823 deg,
      new cmd heading: 321.794875 deg.

2025-08-22T17:13:01.561Z,1755882781.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616380 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:01.643Z,1755882781.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955
2025-08-22T17:13:01.893Z,1755882781.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:01.895Z,1755882781.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006547
2025-08-22T17:13:01.897Z,1755882781.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 245.369736 m,
      bearing: 321.806365 deg,
      approach rate: 0.829712 m/s,
      LOS rate: 0.034220 deg/s,
      cmd heading: 321.794882 deg,
      new cmd heading: 321.806365 deg.

2025-08-22T17:13:01.898Z,1755882781.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616580 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:02.147Z,1755882782.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258522
2025-08-22T17:13:02.314Z,1755882782.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:02.316Z,1755882782.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 245.715286 m,
      bearing: 321.822485 deg,
      approach rate: 0.821556 m/s,
      LOS rate: 0.038273 deg/s,
      cmd heading: 321.806357 deg,
      new cmd heading: 321.822485 deg.

2025-08-22T17:13:02.317Z,1755882782.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616862 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:02.400Z,1755882782.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511472
2025-08-22T17:13:02.651Z,1755882782.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762421
2025-08-22T17:13:02.723Z,1755882782.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:02.729Z,1755882782.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 246.048904 m,
      bearing: 321.839814 deg,
      approach rate: 0.816229 m/s,
      LOS rate: 0.042339 deg/s,
      cmd heading: 321.822476 deg,
      new cmd heading: 321.839814 deg.

2025-08-22T17:13:02.730Z,1755882782.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617165 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:02.903Z,1755882782.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014346
2025-08-22T17:13:03.155Z,1755882783.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267040
2025-08-22T17:13:03.187Z,1755882783.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:03.194Z,1755882783.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:03.202Z,1755882783.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 246.411758 m,
      bearing: 321.860669 deg,
      approach rate: 0.776067 m/s,
      LOS rate: 0.044540 deg/s,
      cmd heading: 321.839825 deg,
      new cmd heading: 321.860669 deg.

2025-08-22T17:13:03.203Z,1755882783.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617528 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:03.407Z,1755882783.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518375
2025-08-22T17:13:03.618Z,1755882783.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:03.621Z,1755882783.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 246.773056 m,
      bearing: 321.882749 deg,
      approach rate: 0.844536 m/s,
      LOS rate: 0.051535 deg/s,
      cmd heading: 321.860671 deg,
      new cmd heading: 321.882749 deg.

2025-08-22T17:13:03.622Z,1755882783.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617914 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:03.659Z,1755882783.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770446
2025-08-22T17:13:03.911Z,1755882783.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022814
2025-08-22T17:13:03.998Z,1755882783.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:04.000Z,1755882784.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 247.076172 m,
      bearing: 321.902993 deg,
      approach rate: 0.797766 m/s,
      LOS rate: 0.053215 deg/s,
      cmd heading: 321.882746 deg,
      new cmd heading: 321.902993 deg.

2025-08-22T17:13:04.001Z,1755882784.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618267 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:04.163Z,1755882784.163 [DAT](INFO): DAT read: Rx Time:17:13:04.6967

2025-08-22T17:13:04.164Z,1755882784.164 [DAT](INFO): Rx dataTimestamp_ set to:1755882784.163580
2025-08-22T17:13:04.165Z,1755882784.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276618
2025-08-22T17:13:04.415Z,1755882784.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526451
2025-08-22T17:13:04.445Z,1755882784.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.66 m.
2025-08-22T17:13:04.447Z,1755882784.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 260.655304 m,
      nav range: 247.415695 m,
      bearing: 321.926951 deg,
      approach rate: 0.808782 m/s,
      LOS rate: 0.056993 deg/s,
      cmd heading: 321.902991 deg,
      new cmd heading: 321.926951 deg.

2025-08-22T17:13:04.448Z,1755882784.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618685 target range: 260.655304 and range: 262.30 m.
2025-08-22T17:13:04.672Z,1755882784.672 [DAT](INFO): DAT read: 17:13:04.6967 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 471,-0.09,-1.431, 0.190,-1.571,-0.905, PHS=-0.424, 1.140,-0.710, RAW= 338.2,  -0.1, CAL= 337.7,  -3.0, ROT= 172.3,   3.0

2025-08-22T17:13:04.673Z,1755882784.673 [DAT](INFO): got valid direction response:
 17:13:04.6967 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 471,-0.09,-1.431, 0.190,-1.571,-0.905, PHS=-0.424, 1.140,-0.710, RAW= 338.2,  -0.1, CAL= 337.7,  -3.0, ROT= 172.3,   3.0

2025-08-22T17:13:04.674Z,1755882784.674 [DAT](INFO): DAT read: Bearing 142.2,   8.0 (Local)

2025-08-22T17:13:04.674Z,1755882784.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.2,   8.0 (Local)

2025-08-22T17:13:04.675Z,1755882784.675 [DAT](INFO): DAT read: Range 11 to 50 : 265.5 m  (Round-trip  354.1 ms) speed -0.5 m/s

2025-08-22T17:13:04.676Z,1755882784.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:04.677Z,1755882784.677 [DAT](INFO): direction in FSK: [-0.989625,0.133802,-0.052336]
2025-08-22T17:13:04.677Z,1755882784.677 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:04.681Z,1755882784.681 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:04.681Z,1755882784.681 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:04.681Z,1755882784.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:04.841Z,1755882784.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.500000 m,
      deltaT: 4.032096 s,
      deltaX: 3.200012 m,
      approachRate: 0.793635 m/s,
      rangeRepo size: 2

2025-08-22T17:13:04.855Z,1755882784.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 263.836273 m,
      bearing: 325.866382 deg,
      lat: 36.779531 deg,
      lon: -121.859586 deg,
      deltaT: 4.032096 s,
      deltaX: 3.180969 m,
      approachRate: 0.788912 m/s,
      posRepo size: 2

2025-08-22T17:13:04.856Z,1755882784.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:04.863Z,1755882784.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 250.701462 m,
      bearing: 323.807260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056993 deg/s,
      cmd heading: 321.926951 deg,
      new cmd heading: 321.974752 deg.

2025-08-22T17:13:04.864Z,1755882784.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619520 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:04.919Z,1755882784.919 [DAT](INFO): DAT read: user:517>

2025-08-22T17:13:04.921Z,1755882784.921 [DAT](INFO): DAT read: Tx time:17:13:05.9384

2025-08-22T17:13:04.921Z,1755882784.921 [DAT](INFO): Ping request sent.
2025-08-22T17:13:04.922Z,1755882784.922 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:04.922Z,1755882784.922 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:04.923Z,1755882784.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001486
2025-08-22T17:13:05.171Z,1755882785.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249801
2025-08-22T17:13:05.219Z,1755882785.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:05.224Z,1755882785.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:05.232Z,1755882785.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 251.020721 m,
      bearing: 323.832435 deg,
      approach rate: 0.824826 m/s,
      LOS rate: 0.064958 deg/s,
      cmd heading: 321.974762 deg,
      new cmd heading: 322.025048 deg.

2025-08-22T17:13:05.234Z,1755882785.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620398 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:05.422Z,1755882785.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501251
2025-08-22T17:13:05.633Z,1755882785.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:05.652Z,1755882785.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 251.343430 m,
      bearing: 323.859593 deg,
      approach rate: 0.788447 m/s,
      LOS rate: 0.066267 deg/s,
      cmd heading: 322.025060 deg,
      new cmd heading: 322.079306 deg.

2025-08-22T17:13:05.653Z,1755882785.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621345 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:05.675Z,1755882785.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753518
2025-08-22T17:13:05.926Z,1755882785.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005278
2025-08-22T17:13:06.021Z,1755882786.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:06.024Z,1755882786.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 251.643036 m,
      bearing: 323.886620 deg,
      approach rate: 0.772076 m/s,
      LOS rate: 0.069565 deg/s,
      cmd heading: 322.079319 deg,
      new cmd heading: 322.133308 deg.

2025-08-22T17:13:06.025Z,1755882786.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622287 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:06.180Z,1755882786.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258378
2025-08-22T17:13:06.431Z,1755882786.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509442
2025-08-22T17:13:06.436Z,1755882786.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:06.439Z,1755882786.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 251.956955 m,
      bearing: 323.916411 deg,
      approach rate: 0.755845 m/s,
      LOS rate: 0.071641 deg/s,
      cmd heading: 322.133305 deg,
      new cmd heading: 322.192812 deg.

2025-08-22T17:13:06.440Z,1755882786.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623325 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:06.683Z,1755882786.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761343
2025-08-22T17:13:06.815Z,1755882786.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:06.819Z,1755882786.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 252.243134 m,
      bearing: 323.945334 deg,
      approach rate: 0.754983 m/s,
      LOS rate: 0.076219 deg/s,
      cmd heading: 322.192809 deg,
      new cmd heading: 322.250591 deg.

2025-08-22T17:13:06.820Z,1755882786.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624334 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:06.935Z,1755882786.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013399
2025-08-22T17:13:07.187Z,1755882787.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266173
2025-08-22T17:13:07.262Z,1755882787.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:07.264Z,1755882787.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:07.267Z,1755882787.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 252.570358 m,
      bearing: 323.980443 deg,
      approach rate: 0.729554 m/s,
      LOS rate: 0.078174 deg/s,
      cmd heading: 322.250593 deg,
      new cmd heading: 322.320719 deg.

2025-08-22T17:13:07.268Z,1755882787.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625558 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:07.439Z,1755882787.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517842
2025-08-22T17:13:07.681Z,1755882787.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:07.684Z,1755882787.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 252.875443 m,
      bearing: 324.014264 deg,
      approach rate: 0.731361 m/s,
      LOS rate: 0.080978 deg/s,
      cmd heading: 322.320725 deg,
      new cmd heading: 322.388284 deg.

2025-08-22T17:13:07.685Z,1755882787.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626737 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:07.691Z,1755882787.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769689
2025-08-22T17:13:07.943Z,1755882787.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021359
2025-08-22T17:13:08.052Z,1755882788.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:08.055Z,1755882788.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 253.138657 m,
      bearing: 324.045086 deg,
      approach rate: 0.709210 m/s,
      LOS rate: 0.082961 deg/s,
      cmd heading: 322.388289 deg,
      new cmd heading: 322.449869 deg.

2025-08-22T17:13:08.056Z,1755882788.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627812 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:08.195Z,1755882788.195 [DAT](INFO): DAT read: Rx Time:17:13:08.6791

2025-08-22T17:13:08.195Z,1755882788.195 [DAT](INFO): Rx dataTimestamp_ set to:1755882788.194698
2025-08-22T17:13:08.196Z,1755882788.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274324
2025-08-22T17:13:08.447Z,1755882788.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525368
2025-08-22T17:13:08.484Z,1755882788.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.84 m.
2025-08-22T17:13:08.487Z,1755882788.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.836273 m,
      nav range: 253.457870 m,
      bearing: 324.081734 deg,
      approach rate: 0.739753 m/s,
      LOS rate: 0.084822 deg/s,
      cmd heading: 322.449870 deg,
      new cmd heading: 322.523074 deg.

2025-08-22T17:13:08.488Z,1755882788.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629089 target range: 263.836273 and range: 265.50 m.
2025-08-22T17:13:08.704Z,1755882788.704 [DAT](INFO): DAT read: 17:13:08.6791 LVL= 32752, 29425, 32754, 32755, AGC= 73, IDX= 243,-0.09, 1.046, 2.573, 0.486, 1.429, PHS=-0.281, 1.189,-0.986, RAW= 348.5,   0.8, CAL= 348.1,  -2.2, ROT= 161.9,   2.2

2025-08-22T17:13:08.705Z,1755882788.705 [DAT](INFO): got valid direction response:
 17:13:08.6791 LVL= 32752, 29425, 32754, 32755, AGC= 73, IDX= 243,-0.09, 1.046, 2.573, 0.486, 1.429, PHS=-0.281, 1.189,-0.986, RAW= 348.5,   0.8, CAL= 348.1,  -2.2, ROT= 161.9,   2.2

2025-08-22T17:13:08.706Z,1755882788.706 [DAT](INFO): DAT read: Bearing 157.2,  17.1 (Local)

2025-08-22T17:13:08.706Z,1755882788.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.2,  17.1 (Local)

2025-08-22T17:13:08.707Z,1755882788.707 [DAT](INFO): DAT read: Range 11 to 50 : 252.4 m  (Round-trip  336.6 ms) speed -0.5 m/s

2025-08-22T17:13:08.708Z,1755882788.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:08.712Z,1755882788.712 [DAT](INFO): direction in FSK: [-0.949815,0.310448,-0.038388]
2025-08-22T17:13:08.712Z,1755882788.712 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:08.719Z,1755882788.719 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:08.719Z,1755882788.719 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:08.720Z,1755882788.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:08.891Z,1755882788.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.399994 m,
      deltaT: 4.031953 s,
      deltaX: -13.100006 m,
      approachRate: -3.249047 m/s,
      rangeRepo size: 3

2025-08-22T17:13:08.893Z,1755882788.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.818146 m,
      bearing: 329.323616 deg,
      lat: 36.779622 deg,
      lon: -121.859534 deg,
      deltaT: 4.031953 s,
      deltaX: -13.018127 m,
      approachRate: -3.228740 m/s,
      posRepo size: 3

2025-08-22T17:13:08.898Z,1755882788.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:08.904Z,1755882788.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 259.358612 m,
      bearing: 326.247977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084822 deg/s,
      cmd heading: 322.523063 deg,
      new cmd heading: 322.592013 deg.

2025-08-22T17:13:08.905Z,1755882788.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630293 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:08.951Z,1755882788.951 [DAT](INFO): DAT read: user:518>

2025-08-22T17:13:08.952Z,1755882788.952 [DAT](INFO): DAT read: Tx time:17:13:09.9884

2025-08-22T17:13:08.953Z,1755882788.953 [DAT](INFO): Ping request sent.
2025-08-22T17:13:08.953Z,1755882788.953 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:08.953Z,1755882788.953 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:08.954Z,1755882788.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001283
2025-08-22T17:13:09.203Z,1755882789.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249510
2025-08-22T17:13:09.416Z,1755882789.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:09.418Z,1755882789.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:09.421Z,1755882789.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 259.766052 m,
      bearing: 326.293044 deg,
      approach rate: 0.771591 m/s,
      LOS rate: 0.085212 deg/s,
      cmd heading: 322.592020 deg,
      new cmd heading: 322.682013 deg.

2025-08-22T17:13:09.423Z,1755882789.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631864 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:09.455Z,1755882789.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501889
2025-08-22T17:13:09.708Z,1755882789.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796
2025-08-22T17:13:09.791Z,1755882789.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:09.793Z,1755882789.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 260.033875 m,
      bearing: 326.324301 deg,
      approach rate: 0.719415 m/s,
      LOS rate: 0.083874 deg/s,
      cmd heading: 322.682015 deg,
      new cmd heading: 322.744463 deg.

2025-08-22T17:13:09.795Z,1755882789.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632954 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:09.958Z,1755882789.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005476
2025-08-22T17:13:10.183Z,1755882790.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:10.191Z,1755882790.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 260.304718 m,
      bearing: 326.357649 deg,
      approach rate: 0.690105 m/s,
      LOS rate: 0.084883 deg/s,
      cmd heading: 322.744470 deg,
      new cmd heading: 322.811098 deg.

2025-08-22T17:13:10.192Z,1755882790.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634117 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:10.213Z,1755882790.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482
2025-08-22T17:13:10.462Z,1755882790.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509447
2025-08-22T17:13:10.581Z,1755882790.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:10.584Z,1755882790.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 260.614960 m,
      bearing: 326.395635 deg,
      approach rate: 0.779288 m/s,
      LOS rate: 0.095301 deg/s,
      cmd heading: 322.811105 deg,
      new cmd heading: 322.886986 deg.

2025-08-22T17:13:10.585Z,1755882790.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635441 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:10.716Z,1755882790.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762199
2025-08-22T17:13:10.967Z,1755882790.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013587
2025-08-22T17:13:11.083Z,1755882791.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:11.087Z,1755882791.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 260.976074 m,
      bearing: 326.439720 deg,
      approach rate: 0.719498 m/s,
      LOS rate: 0.087715 deg/s,
      cmd heading: 322.886975 deg,
      new cmd heading: 322.975023 deg.

2025-08-22T17:13:11.088Z,1755882791.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636978 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:11.220Z,1755882791.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873
2025-08-22T17:13:11.471Z,1755882791.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517570
2025-08-22T17:13:11.496Z,1755882791.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:11.498Z,1755882791.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:11.501Z,1755882791.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 261.277283 m,
      bearing: 326.475020 deg,
      approach rate: 0.726269 m/s,
      LOS rate: 0.085018 deg/s,
      cmd heading: 322.975030 deg,
      new cmd heading: 323.045550 deg.

2025-08-22T17:13:11.530Z,1755882791.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638208 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:11.724Z,1755882791.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770251
2025-08-22T17:13:11.974Z,1755882791.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021378
2025-08-22T17:13:12.124Z,1755882792.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:12.128Z,1755882792.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 261.709564 m,
      bearing: 326.536986 deg,
      approach rate: 0.690327 m/s,
      LOS rate: 0.098793 deg/s,
      cmd heading: 323.045545 deg,
      new cmd heading: 323.169272 deg.

2025-08-22T17:13:12.128Z,1755882792.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640368 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:12.228Z,1755882792.228 [DAT](INFO): DAT read: Rx Time:17:13:12.7332

2025-08-22T17:13:12.229Z,1755882792.229 [DAT](INFO): Rx dataTimestamp_ set to:1755882792.228127
2025-08-22T17:13:12.231Z,1755882792.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278339
2025-08-22T17:13:12.478Z,1755882792.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525435
2025-08-22T17:13:12.497Z,1755882792.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.82 m.
2025-08-22T17:13:12.504Z,1755882792.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.818146 m,
      nav range: 261.949799 m,
      bearing: 326.573127 deg,
      approach rate: 0.644179 m/s,
      LOS rate: 0.096820 deg/s,
      cmd heading: 323.169280 deg,
      new cmd heading: 323.241495 deg.

2025-08-22T17:13:12.505Z,1755882792.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641628 target range: 250.818146 and range: 252.40 m.
2025-08-22T17:13:12.737Z,1755882792.737 [DAT](INFO): DAT read: 17:13:12.7332 LVL= 32752, 29025, 32754, 32755, AGC= 66, IDX= 460, 0.24, 3.131,-1.915, 2.443,-2.839, PHS=-0.211, 0.969,-1.045, RAW= 354.3,   3.3, CAL= 354.0,   0.5, ROT= 156.0,  -0.5

2025-08-22T17:13:12.738Z,1755882792.738 [DAT](INFO): got valid direction response:
 17:13:12.7332 LVL= 32752, 29025, 32754, 32755, AGC= 66, IDX= 460, 0.24, 3.131,-1.915, 2.443,-2.839, PHS=-0.211, 0.969,-1.045, RAW= 354.3,   3.3, CAL= 354.0,   0.5, ROT= 156.0,  -0.5

2025-08-22T17:13:12.739Z,1755882792.739 [DAT](INFO): DAT read: Bearing 169.1,  23.0 (Local)

2025-08-22T17:13:12.739Z,1755882792.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.1,  23.0 (Local)

2025-08-22T17:13:12.741Z,1755882792.741 [DAT](INFO): DAT read: Range 11 to 50 : 255.4 m  (Round-trip  340.6 ms) speed -0.8 m/s

2025-08-22T17:13:12.742Z,1755882792.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:12.743Z,1755882792.743 [DAT](INFO): direction in FSK: [-0.913511,0.406721,0.008727]
2025-08-22T17:13:12.743Z,1755882792.743 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:12.746Z,1755882792.746 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:12.747Z,1755882792.747 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:12.747Z,1755882792.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:12.903Z,1755882792.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.399994 m,
      deltaT: 4.032351 s,
      deltaX: 3.000000 m,
      approachRate: 0.743983 m/s,
      rangeRepo size: 4

2025-08-22T17:13:12.905Z,1755882792.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 253.798920 m,
      bearing: 337.114047 deg,
      lat: 36.779676 deg,
      lon: -121.859353 deg,
      deltaT: 4.032351 s,
      deltaX: 2.980774 m,
      approachRate: 0.739215 m/s,
      posRepo size: 4

2025-08-22T17:13:12.910Z,1755882792.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:12.912Z,1755882792.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 258.873199 m,
      bearing: 330.340224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.096820 deg/s,
      cmd heading: 323.241489 deg,
      new cmd heading: 323.319126 deg.

2025-08-22T17:13:12.913Z,1755882792.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642983 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:12.983Z,1755882792.983 [DAT](INFO): DAT read: user:519>

2025-08-22T17:13:12.984Z,1755882792.984 [DAT](INFO): DAT read: Tx time:17:13:14.0384

2025-08-22T17:13:12.985Z,1755882792.985 [DAT](INFO): Ping request sent.
2025-08-22T17:13:12.985Z,1755882792.985 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:12.985Z,1755882792.985 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:12.986Z,1755882792.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001224
2025-08-22T17:13:13.235Z,1755882793.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249399
2025-08-22T17:13:13.284Z,1755882793.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:13.287Z,1755882793.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 259.150970 m,
      bearing: 330.380606 deg,
      approach rate: 0.719780 m/s,
      LOS rate: 0.104530 deg/s,
      cmd heading: 323.319135 deg,
      new cmd heading: 323.399813 deg.

2025-08-22T17:13:13.288Z,1755882793.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644392 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:13.486Z,1755882793.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501375
2025-08-22T17:13:13.687Z,1755882793.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:13.689Z,1755882793.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:13.692Z,1755882793.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 259.430298 m,
      bearing: 330.421302 deg,
      approach rate: 0.689835 m/s,
      LOS rate: 0.100395 deg/s,
      cmd heading: 323.399813 deg,
      new cmd heading: 323.481117 deg.

2025-08-22T17:13:13.693Z,1755882793.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645811 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:13.739Z,1755882793.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753477
2025-08-22T17:13:13.991Z,1755882793.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005553
2025-08-22T17:13:14.081Z,1755882794.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:14.084Z,1755882794.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 259.701965 m,
      bearing: 330.460777 deg,
      approach rate: 0.691933 m/s,
      LOS rate: 0.100437 deg/s,
      cmd heading: 323.481120 deg,
      new cmd heading: 323.559987 deg.

2025-08-22T17:13:14.085Z,1755882794.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647187 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:14.242Z,1755882794.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257369
2025-08-22T17:13:14.487Z,1755882794.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:14.490Z,1755882794.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 259.968170 m,
      bearing: 330.503259 deg,
      approach rate: 0.655286 m/s,
      LOS rate: 0.104464 deg/s,
      cmd heading: 323.559995 deg,
      new cmd heading: 323.644870 deg.

2025-08-22T17:13:14.491Z,1755882794.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648669 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:14.495Z,1755882794.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509512
2025-08-22T17:13:14.747Z,1755882794.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761438
2025-08-22T17:13:14.890Z,1755882794.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:14.893Z,1755882794.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 260.217438 m,
      bearing: 330.544862 deg,
      approach rate: 0.618865 m/s,
      LOS rate: 0.103192 deg/s,
      cmd heading: 323.644880 deg,
      new cmd heading: 323.728008 deg.

2025-08-22T17:13:14.894Z,1755882794.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650120 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:14.998Z,1755882794.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013365
2025-08-22T17:13:15.251Z,1755882795.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265619
2025-08-22T17:13:15.298Z,1755882795.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:15.300Z,1755882795.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 260.478424 m,
      bearing: 330.590394 deg,
      approach rate: 0.646886 m/s,
      LOS rate: 0.112743 deg/s,
      cmd heading: 323.728017 deg,
      new cmd heading: 323.818989 deg.

2025-08-22T17:13:15.310Z,1755882795.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651708 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:15.503Z,1755882795.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517411
2025-08-22T17:13:15.708Z,1755882795.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:15.712Z,1755882795.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:15.717Z,1755882795.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 260.748962 m,
      bearing: 330.636132 deg,
      approach rate: 0.647311 m/s,
      LOS rate: 0.109322 deg/s,
      cmd heading: 323.818995 deg,
      new cmd heading: 323.910376 deg.

2025-08-22T17:13:15.734Z,1755882795.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653303 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:15.755Z,1755882795.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769468
2025-08-22T17:13:16.006Z,1755882796.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021363
2025-08-22T17:13:16.103Z,1755882796.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:16.106Z,1755882796.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 261.002838 m,
      bearing: 330.680951 deg,
      approach rate: 0.648295 m/s,
      LOS rate: 0.114339 deg/s,
      cmd heading: 323.910383 deg,
      new cmd heading: 323.999935 deg.

2025-08-22T17:13:16.107Z,1755882796.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654866 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:16.259Z,1755882796.259 [DAT](INFO): DAT read: Rx Time:17:13:16.7866

2025-08-22T17:13:16.259Z,1755882796.259 [DAT](INFO): Rx dataTimestamp_ set to:1755882796.258788
2025-08-22T17:13:16.260Z,1755882796.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274523
2025-08-22T17:13:16.511Z,1755882796.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525458
2025-08-22T17:13:16.543Z,1755882796.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.80 m.
2025-08-22T17:13:16.546Z,1755882796.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.798920 m,
      nav range: 261.276825 m,
      bearing: 330.729473 deg,
      approach rate: 0.622685 m/s,
      LOS rate: 0.110158 deg/s,
      cmd heading: 323.999941 deg,
      new cmd heading: 324.096882 deg.

2025-08-22T17:13:16.547Z,1755882796.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656558 target range: 253.798920 and range: 255.40 m.
2025-08-22T17:13:16.768Z,1755882796.768 [DAT](INFO): DAT read: 17:13:16.7866 LVL= 32752, 22737, 32754, 32755, AGC= 69, IDX= 463, 0.00,-1.654,-0.831,-2.684,-1.598, PHS= 0.046, 0.813,-1.130, RAW=   6.9,   3.2, CAL=   6.8,   1.1, ROT= 143.2,  -1.1

2025-08-22T17:13:16.769Z,1755882796.769 [DAT](INFO): got valid direction response:
 17:13:16.7866 LVL= 32752, 22737, 32754, 32755, AGC= 69, IDX= 463, 0.00,-1.654,-0.831,-2.684,-1.598, PHS= 0.046, 0.813,-1.130, RAW=   6.9,   3.2, CAL=   6.8,   1.1, ROT= 143.2,  -1.1

2025-08-22T17:13:16.770Z,1755882796.770 [DAT](INFO): DAT read: Bearing 184.8,  35.5 (Local)

2025-08-22T17:13:16.770Z,1755882796.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.8,  35.5 (Local)

2025-08-22T17:13:16.771Z,1755882796.771 [DAT](INFO): DAT read: Range 11 to 50 : 258.0 m  (Round-trip  344.0 ms) speed -0.6 m/s

2025-08-22T17:13:16.772Z,1755882796.772 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:16.773Z,1755882796.773 [DAT](INFO): direction in FSK: [-0.800584,0.598913,0.019197]
2025-08-22T17:13:16.773Z,1755882796.773 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:16.776Z,1755882796.776 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:16.777Z,1755882796.777 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:16.777Z,1755882796.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:16.908Z,1755882796.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.000000 m,
      deltaT: 4.031613 s,
      deltaX: 2.600006 m,
      approachRate: 0.644905 m/s,
      rangeRepo size: 4

2025-08-22T17:13:16.923Z,1755882796.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.383636 m,
      bearing: 337.571291 deg,
      lat: 36.779676 deg,
      lon: -121.859349 deg,
      deltaT: 4.031613 s,
      deltaX: 2.584717 m,
      approachRate: 0.641112 m/s,
      posRepo size: 4

2025-08-22T17:13:16.923Z,1755882796.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:16.930Z,1755882796.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 261.327118 m,
      bearing: 330.833295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110158 deg/s,
      cmd heading: 324.096875 deg,
      new cmd heading: 324.177162 deg.

2025-08-22T17:13:16.931Z,1755882796.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657959 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:17.018Z,1755882797.018 [DAT](INFO): DAT read: user:520>

2025-08-22T17:13:17.019Z,1755882797.019 [DAT](INFO): DAT read: Tx time:17:13:18.0384

2025-08-22T17:13:17.020Z,1755882797.020 [DAT](INFO): Ping request sent.
2025-08-22T17:13:17.020Z,1755882797.020 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:17.020Z,1755882797.020 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:17.021Z,1755882797.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001082
2025-08-22T17:13:17.270Z,1755882797.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250722
2025-08-22T17:13:17.316Z,1755882797.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:17.318Z,1755882797.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 261.578918 m,
      bearing: 330.881893 deg,
      approach rate: 0.617287 m/s,
      LOS rate: 0.119023 deg/s,
      cmd heading: 324.177170 deg,
      new cmd heading: 324.274273 deg.

2025-08-22T17:13:17.319Z,1755882797.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659654 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:17.523Z,1755882797.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502762
2025-08-22T17:13:17.542Z,1755882797.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:13:17.748Z,1755882797.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:17.754Z,1755882797.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:17.757Z,1755882797.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 261.819061 m,
      bearing: 330.930127 deg,
      approach rate: 0.547460 m/s,
      LOS rate: 0.109859 deg/s,
      cmd heading: 324.274268 deg,
      new cmd heading: 324.370648 deg.

2025-08-22T17:13:17.762Z,1755882797.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661336 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:17.775Z,1755882797.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754908
2025-08-22T17:13:18.026Z,1755882798.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684
2025-08-22T17:13:18.115Z,1755882798.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:18.118Z,1755882798.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 262.029114 m,
      bearing: 330.974131 deg,
      approach rate: 0.582202 m/s,
      LOS rate: 0.121868 deg/s,
      cmd heading: 324.370656 deg,
      new cmd heading: 324.458594 deg.

2025-08-22T17:13:18.119Z,1755882798.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662871 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:18.278Z,1755882798.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258715
2025-08-22T17:13:18.531Z,1755882798.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510846
2025-08-22T17:13:18.542Z,1755882798.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:18.545Z,1755882798.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 262.278809 m,
      bearing: 331.026321 deg,
      approach rate: 0.584433 m/s,
      LOS rate: 0.122040 deg/s,
      cmd heading: 324.458602 deg,
      new cmd heading: 324.562883 deg.

2025-08-22T17:13:18.546Z,1755882798.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:13:18.547Z,1755882798.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664691 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:18.782Z,1755882798.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739
2025-08-22T17:13:18.922Z,1755882798.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:18.924Z,1755882798.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 262.479950 m,
      bearing: 331.070115 deg,
      approach rate: 0.535957 m/s,
      LOS rate: 0.116601 deg/s,
      cmd heading: 324.562885 deg,
      new cmd heading: 324.650404 deg.

2025-08-22T17:13:18.931Z,1755882798.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666218 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:19.037Z,1755882799.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016780
2025-08-22T17:13:19.287Z,1755882799.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266895
2025-08-22T17:13:19.336Z,1755882799.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:19.343Z,1755882799.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 262.708588 m,
      bearing: 331.122048 deg,
      approach rate: 0.546832 m/s,
      LOS rate: 0.124101 deg/s,
      cmd heading: 324.650393 deg,
      new cmd heading: 324.754170 deg.

2025-08-22T17:13:19.344Z,1755882799.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668029 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:19.538Z,1755882799.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518694
2025-08-22T17:13:19.750Z,1755882799.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:19.752Z,1755882799.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:19.775Z,1755882799.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 262.942688 m,
      bearing: 331.175052 deg,
      approach rate: 0.561975 m/s,
      LOS rate: 0.127127 deg/s,
      cmd heading: 324.754158 deg,
      new cmd heading: 324.860072 deg.

2025-08-22T17:13:19.776Z,1755882799.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669878 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:19.791Z,1755882799.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771145
2025-08-22T17:13:20.043Z,1755882800.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022799
2025-08-22T17:13:20.118Z,1755882800.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:20.121Z,1755882800.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 263.140717 m,
      bearing: 331.221806 deg,
      approach rate: 0.541818 m/s,
      LOS rate: 0.127823 deg/s,
      cmd heading: 324.860080 deg,
      new cmd heading: 324.953516 deg.

2025-08-22T17:13:20.138Z,1755882800.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671509 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:20.300Z,1755882800.300 [DAT](INFO): DAT read: Rx Time:17:13:20.7897

2025-08-22T17:13:20.300Z,1755882800.300 [DAT](INFO): Rx dataTimestamp_ set to:1755882800.300178
2025-08-22T17:13:20.301Z,1755882800.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281286
2025-08-22T17:13:20.551Z,1755882800.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531006
2025-08-22T17:13:20.571Z,1755882800.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.38 m.
2025-08-22T17:13:20.573Z,1755882800.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.383636 m,
      nav range: 263.378448 m,
      bearing: 331.279750 deg,
      approach rate: 0.524939 m/s,
      LOS rate: 0.127833 deg/s,
      cmd heading: 324.953517 deg,
      new cmd heading: 325.069301 deg.

2025-08-22T17:13:20.575Z,1755882800.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673530 target range: 256.383636 and range: 258.00 m.
2025-08-22T17:13:20.808Z,1755882800.808 [DAT](INFO): DAT read: 17:13:20.7897 LVL= 32672, 28785, 32754, 32755, AGC= 66, IDX= 462, 0.23,-2.250,-2.241, 2.336,-2.837, PHS= 0.689, 0.640,-1.155, RAW=  31.3,  -1.9, CAL=  32.0,  -3.7, ROT= 118.0,   3.7

2025-08-22T17:13:20.809Z,1755882800.809 [DAT](INFO): got valid direction response:
 17:13:20.7897 LVL= 32672, 28785, 32754, 32755, AGC= 66, IDX= 462, 0.23,-2.250,-2.241, 2.336,-2.837, PHS= 0.689, 0.640,-1.155, RAW=  31.3,  -1.9, CAL=  32.0,  -3.7, ROT= 118.0,   3.7

2025-08-22T17:13:20.810Z,1755882800.810 [DAT](INFO): DAT read: Bearing 216.8,  57.6 (Local)

2025-08-22T17:13:20.810Z,1755882800.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.8,  57.6 (Local)

2025-08-22T17:13:20.811Z,1755882800.811 [DAT](INFO): DAT read: Range 11 to 50 : 260.3 m  (Round-trip  347.1 ms) speed -0.5 m/s

2025-08-22T17:13:20.812Z,1755882800.812 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:20.813Z,1755882800.813 [DAT](INFO): direction in FSK: [-0.468493,0.881107,-0.064532]
2025-08-22T17:13:20.813Z,1755882800.813 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:20.817Z,1755882800.817 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:20.817Z,1755882800.817 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:20.817Z,1755882800.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:20.950Z,1755882800.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.299988 m,
      deltaT: 4.040039 s,
      deltaX: 2.299988 m,
      approachRate: 0.569298 m/s,
      rangeRepo size: 4

2025-08-22T17:13:20.952Z,1755882800.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.669922 m,
      bearing: 323.239958 deg,
      lat: 36.779676 deg,
      lon: -121.859353 deg,
      deltaT: 4.040039 s,
      deltaX: 2.286285 m,
      approachRate: 0.565907 m/s,
      posRepo size: 4

2025-08-22T17:13:20.952Z,1755882800.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:20.955Z,1755882800.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 263.734283 m,
      bearing: 331.265090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.127833 deg/s,
      cmd heading: 325.069302 deg,
      new cmd heading: 325.165984 deg.

2025-08-22T17:13:20.956Z,1755882800.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675217 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:21.058Z,1755882801.058 [DAT](INFO): DAT read: user:521>

2025-08-22T17:13:21.059Z,1755882801.059 [DAT](INFO): DAT read: Tx time:17:13:22.1384

2025-08-22T17:13:21.060Z,1755882801.060 [DAT](INFO): Ping request sent.
2025-08-22T17:13:21.060Z,1755882801.060 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:21.060Z,1755882801.060 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:21.061Z,1755882801.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001075
2025-08-22T17:13:21.307Z,1755882801.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246743
2025-08-22T17:13:21.342Z,1755882801.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:21.344Z,1755882801.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 263.932587 m,
      bearing: 331.317839 deg,
      approach rate: 0.504773 m/s,
      LOS rate: 0.134170 deg/s,
      cmd heading: 325.165991 deg,
      new cmd heading: 325.271409 deg.

2025-08-22T17:13:21.346Z,1755882801.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677057 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:21.559Z,1755882801.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498675
2025-08-22T17:13:21.774Z,1755882801.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:21.776Z,1755882801.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:21.779Z,1755882801.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 264.141571 m,
      bearing: 331.375771 deg,
      approach rate: 0.481004 m/s,
      LOS rate: 0.133233 deg/s,
      cmd heading: 325.271421 deg,
      new cmd heading: 325.387194 deg.

2025-08-22T17:13:21.780Z,1755882801.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679078 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:21.811Z,1755882801.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750671
2025-08-22T17:13:22.063Z,1755882802.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002633
2025-08-22T17:13:22.147Z,1755882802.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:22.156Z,1755882802.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 264.320862 m,
      bearing: 331.425337 deg,
      approach rate: 0.482976 m/s,
      LOS rate: 0.133431 deg/s,
      cmd heading: 325.387207 deg,
      new cmd heading: 325.486272 deg.

2025-08-22T17:13:22.157Z,1755882802.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680807 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:22.315Z,1755882802.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254752
2025-08-22T17:13:22.567Z,1755882802.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506682
2025-08-22T17:13:22.592Z,1755882802.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:22.595Z,1755882802.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 264.530609 m,
      bearing: 331.485696 deg,
      approach rate: 0.471841 m/s,
      LOS rate: 0.135674 deg/s,
      cmd heading: 325.486272 deg,
      new cmd heading: 325.606894 deg.

2025-08-22T17:13:22.596Z,1755882802.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682912 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:22.818Z,1755882802.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758590
2025-08-22T17:13:22.960Z,1755882802.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:22.963Z,1755882802.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 264.698975 m,
      bearing: 331.536392 deg,
      approach rate: 0.457474 m/s,
      LOS rate: 0.137660 deg/s,
      cmd heading: 325.606893 deg,
      new cmd heading: 325.708219 deg.

2025-08-22T17:13:22.964Z,1755882802.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684681 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:23.074Z,1755882803.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014583
2025-08-22T17:13:23.323Z,1755882803.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262662
2025-08-22T17:13:23.358Z,1755882803.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:23.360Z,1755882803.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 264.875824 m,
      bearing: 331.592123 deg,
      approach rate: 0.444727 m/s,
      LOS rate: 0.140055 deg/s,
      cmd heading: 325.708226 deg,
      new cmd heading: 325.819614 deg.

2025-08-22T17:13:23.362Z,1755882803.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686625 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:23.578Z,1755882803.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517015
2025-08-22T17:13:23.827Z,1755882803.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766757
2025-08-22T17:13:23.871Z,1755882803.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:23.874Z,1755882803.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:23.876Z,1755882803.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 265.085968 m,
      bearing: 331.660424 deg,
      approach rate: 0.407355 m/s,
      LOS rate: 0.132295 deg/s,
      cmd heading: 325.819612 deg,
      new cmd heading: 325.956107 deg.

2025-08-22T17:13:23.877Z,1755882803.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689007 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:24.079Z,1755882804.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018998
2025-08-22T17:13:24.253Z,1755882804.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:24.256Z,1755882804.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 265.245239 m,
      bearing: 331.717340 deg,
      approach rate: 0.419862 m/s,
      LOS rate: 0.149948 deg/s,
      cmd heading: 325.956107 deg,
      new cmd heading: 326.069870 deg.

2025-08-22T17:13:24.257Z,1755882804.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690993 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:24.332Z,1755882804.332 [DAT](INFO): DAT read: Rx Time:17:13:24.8919

2025-08-22T17:13:24.332Z,1755882804.332 [DAT](INFO): Rx dataTimestamp_ set to:1755882804.331837
2025-08-22T17:13:24.333Z,1755882804.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273114
2025-08-22T17:13:24.583Z,1755882804.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522773
2025-08-22T17:13:24.668Z,1755882804.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.67 m.
2025-08-22T17:13:24.671Z,1755882804.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.669922 m,
      nav range: 265.411987 m,
      bearing: 331.776668 deg,
      approach rate: 0.401573 m/s,
      LOS rate: 0.142786 deg/s,
      cmd heading: 326.069871 deg,
      new cmd heading: 326.188450 deg.

2025-08-22T17:13:24.672Z,1755882804.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693062 target range: 258.669922 and range: 260.30 m.
2025-08-22T17:13:24.843Z,1755882804.843 [DAT](INFO): DAT read: 17:13:24.8919 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 455,-0.36,-0.869,-1.152,-2.585,-1.500, PHS= 0.734, 0.393,-1.129, RAW=  39.9,   0.0, CAL=  40.6,  -1.6, ROT= 109.4,   1.6

2025-08-22T17:13:24.845Z,1755882804.845 [DAT](INFO): got valid direction response:
 17:13:24.8919 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 455,-0.36,-0.869,-1.152,-2.585,-1.500, PHS= 0.734, 0.393,-1.129, RAW=  39.9,   0.0, CAL=  40.6,  -1.6, ROT= 109.4,   1.6

2025-08-22T17:13:24.847Z,1755882804.847 [DAT](INFO): DAT read: Bearing 235.2,  65.7 (Local)

2025-08-22T17:13:24.847Z,1755882804.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.2,  65.7 (Local)

2025-08-22T17:13:24.849Z,1755882804.849 [DAT](INFO): DAT read: Range 11 to 50 : 262.1 m  (Round-trip  349.5 ms) speed -0.3 m/s

2025-08-22T17:13:24.850Z,1755882804.850 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:24.852Z,1755882804.852 [DAT](INFO): direction in FSK: [-0.332032,0.942855,-0.027922]
2025-08-22T17:13:24.852Z,1755882804.852 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:24.859Z,1755882804.859 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:24.859Z,1755882804.859 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:24.859Z,1755882804.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:25.034Z,1755882805.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.100006 m,
      deltaT: 4.032258 s,
      deltaX: 1.800018 m,
      approachRate: 0.446405 m/s,
      rangeRepo size: 4

2025-08-22T17:13:25.036Z,1755882805.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.459808 m,
      bearing: 327.655077 deg,
      lat: 36.779622 deg,
      lon: -121.859353 deg,
      deltaT: 4.032258 s,
      deltaX: 1.789886 m,
      approachRate: 0.443892 m/s,
      posRepo size: 4

2025-08-22T17:13:25.037Z,1755882805.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:25.040Z,1755882805.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.282654 m,
      bearing: 331.204520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.142786 deg/s,
      cmd heading: 326.188443 deg,
      new cmd heading: 326.292837 deg.

2025-08-22T17:13:25.041Z,1755882805.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694884 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:25.087Z,1755882805.087 [DAT](INFO): DAT read: user:522>

2025-08-22T17:13:25.087Z,1755882805.087 [DAT](INFO): DAT read: Tx time:17:13:26.1383

2025-08-22T17:13:25.088Z,1755882805.088 [DAT](INFO): Ping request sent.
2025-08-22T17:13:25.088Z,1755882805.088 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:25.088Z,1755882805.088 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:25.089Z,1755882805.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-22T17:13:25.339Z,1755882805.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250731
2025-08-22T17:13:25.487Z,1755882805.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:25.490Z,1755882805.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.449951 m,
      bearing: 331.273179 deg,
      approach rate: 0.368773 m/s,
      LOS rate: 0.151248 deg/s,
      cmd heading: 326.292835 deg,
      new cmd heading: 326.430066 deg.

2025-08-22T17:13:25.491Z,1755882805.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697279 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:25.594Z,1755882805.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505077
2025-08-22T17:13:25.843Z,1755882805.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868
2025-08-22T17:13:25.879Z,1755882805.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:25.882Z,1755882805.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:25.885Z,1755882805.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.596161 m,
      bearing: 331.332147 deg,
      approach rate: 0.370959 m/s,
      LOS rate: 0.149528 deg/s,
      cmd heading: 326.430067 deg,
      new cmd heading: 326.547937 deg.

2025-08-22T17:13:25.898Z,1755882805.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699337 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:26.095Z,1755882806.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006717
2025-08-22T17:13:26.257Z,1755882806.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:26.260Z,1755882806.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.724640 m,
      bearing: 331.389700 deg,
      approach rate: 0.342213 m/s,
      LOS rate: 0.153219 deg/s,
      cmd heading: 326.547929 deg,
      new cmd heading: 326.662977 deg.

2025-08-22T17:13:26.261Z,1755882806.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701344 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:26.347Z,1755882806.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259385
2025-08-22T17:13:26.601Z,1755882806.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512533
2025-08-22T17:13:26.684Z,1755882806.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:26.689Z,1755882806.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.867401 m,
      bearing: 331.453728 deg,
      approach rate: 0.334616 m/s,
      LOS rate: 0.149992 deg/s,
      cmd heading: 326.662977 deg,
      new cmd heading: 326.790963 deg.

2025-08-22T17:13:26.691Z,1755882806.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703578 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:26.851Z,1755882806.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762745
2025-08-22T17:13:27.054Z,1755882807.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:27.057Z,1755882807.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 260.995056 m,
      bearing: 331.510799 deg,
      approach rate: 0.344782 m/s,
      LOS rate: 0.154068 deg/s,
      cmd heading: 326.790975 deg,
      new cmd heading: 326.905062 deg.

2025-08-22T17:13:27.058Z,1755882807.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705570 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:27.103Z,1755882807.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920
2025-08-22T17:13:27.355Z,1755882807.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266711
2025-08-22T17:13:27.443Z,1755882807.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:27.446Z,1755882807.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 261.115570 m,
      bearing: 331.571161 deg,
      approach rate: 0.309800 m/s,
      LOS rate: 0.155097 deg/s,
      cmd heading: 326.905066 deg,
      new cmd heading: 327.025733 deg.

2025-08-22T17:13:27.447Z,1755882807.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707676 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:27.609Z,1755882807.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520958
2025-08-22T17:13:27.859Z,1755882807.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770753
2025-08-22T17:13:27.865Z,1755882807.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:27.868Z,1755882807.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 261.245392 m,
      bearing: 331.633353 deg,
      approach rate: 0.307584 m/s,
      LOS rate: 0.147278 deg/s,
      cmd heading: 327.025742 deg,
      new cmd heading: 327.150064 deg.

2025-08-22T17:13:27.869Z,1755882807.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709846 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:28.110Z,1755882808.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022679
2025-08-22T17:13:28.245Z,1755882808.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:28.247Z,1755882808.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:28.250Z,1755882808.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 261.358307 m,
      bearing: 331.690621 deg,
      approach rate: 0.295133 m/s,
      LOS rate: 0.149620 deg/s,
      cmd heading: 327.150051 deg,
      new cmd heading: 327.264537 deg.

2025-08-22T17:13:28.251Z,1755882808.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711843 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:28.364Z,1755882808.364 [DAT](INFO): DAT read: Rx Time:17:13:28.8938

2025-08-22T17:13:28.364Z,1755882808.364 [DAT](INFO): Rx dataTimestamp_ set to:1755882808.364044
2025-08-22T17:13:28.365Z,1755882808.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277409
2025-08-22T17:13:28.617Z,1755882808.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528718
2025-08-22T17:13:28.726Z,1755882808.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.46 m.
2025-08-22T17:13:28.728Z,1755882808.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.459808 m,
      nav range: 261.487732 m,
      bearing: 331.757275 deg,
      approach rate: 0.270642 m/s,
      LOS rate: 0.139312 deg/s,
      cmd heading: 327.264525 deg,
      new cmd heading: 327.397768 deg.

2025-08-22T17:13:28.730Z,1755882808.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714169 target range: 260.459808 and range: 262.10 m.
2025-08-22T17:13:28.872Z,1755882808.872 [DAT](INFO): DAT read: 17:13:28.8938 LVL= 30944, 29361, 32754, 32755, AGC= 70, IDX= 441, 0.44,-1.644,-2.241, 2.869,-2.386, PHS= 0.844, 0.190,-1.072, RAW=  49.6,   0.5, CAL=  50.2,  -1.7, ROT=  99.8,   1.7

2025-08-22T17:13:28.873Z,1755882808.873 [DAT](INFO): got valid direction response:
 17:13:28.8938 LVL= 30944, 29361, 32754, 32755, AGC= 70, IDX= 441, 0.44,-1.644,-2.241, 2.869,-2.386, PHS= 0.844, 0.190,-1.072, RAW=  49.6,   0.5, CAL=  50.2,  -1.7, ROT=  99.8,   1.7

2025-08-22T17:13:28.874Z,1755882808.874 [DAT](INFO): DAT read: Bearing 266.2,  73.3 (Local)

2025-08-22T17:13:28.874Z,1755882808.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.2,  73.3 (Local)

2025-08-22T17:13:28.876Z,1755882808.876 [DAT](INFO): DAT read: Range 11 to 50 : 263.4 m  (Round-trip  351.3 ms) speed -0.2 m/s

2025-08-22T17:13:28.876Z,1755882808.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:28.878Z,1755882808.878 [DAT](INFO): direction in FSK: [-0.170135,0.984974,-0.029666]
2025-08-22T17:13:28.879Z,1755882808.879 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:28.891Z,1755882808.891 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:28.891Z,1755882808.891 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:28.891Z,1755882808.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:29.070Z,1755882809.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.399994 m,
      deltaT: 4.032033 s,
      deltaX: 1.299988 m,
      approachRate: 0.322415 m/s,
      rangeRepo size: 4

2025-08-22T17:13:29.072Z,1755882809.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.750946 m,
      bearing: 332.057678 deg,
      lat: 36.779599 deg,
      lon: -121.859323 deg,
      deltaT: 4.032033 s,
      deltaX: 1.291138 m,
      approachRate: 0.320220 m/s,
      posRepo size: 4

2025-08-22T17:13:29.073Z,1755882809.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:29.075Z,1755882809.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.086761 m,
      bearing: 332.058402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.139312 deg/s,
      cmd heading: 327.397769 deg,
      new cmd heading: 327.493495 deg.

2025-08-22T17:13:29.076Z,1755882809.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715840 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:29.119Z,1755882809.119 [DAT](INFO): DAT read: user:523>

2025-08-22T17:13:29.120Z,1755882809.120 [DAT](INFO): DAT read: Tx time:17:13:30.1383

2025-08-22T17:13:29.121Z,1755882809.121 [DAT](INFO): Ping request sent.
2025-08-22T17:13:29.121Z,1755882809.121 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:29.121Z,1755882809.121 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:29.122Z,1755882809.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001168
2025-08-22T17:13:29.370Z,1755882809.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249825
2025-08-22T17:13:29.459Z,1755882809.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:29.462Z,1755882809.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.188324 m,
      bearing: 332.117680 deg,
      approach rate: 0.260520 m/s,
      LOS rate: 0.151996 deg/s,
      cmd heading: 327.493501 deg,
      new cmd heading: 327.612010 deg.

2025-08-22T17:13:29.463Z,1755882809.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717908 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:29.625Z,1755882809.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503907
2025-08-22T17:13:29.875Z,1755882809.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753944
2025-08-22T17:13:29.889Z,1755882809.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:29.892Z,1755882809.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.300018 m,
      bearing: 332.185035 deg,
      approach rate: 0.259670 m/s,
      LOS rate: 0.156522 deg/s,
      cmd heading: 327.612018 deg,
      new cmd heading: 327.746670 deg.

2025-08-22T17:13:29.893Z,1755882809.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720259 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:30.127Z,1755882810.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005856
2025-08-22T17:13:30.268Z,1755882810.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:30.271Z,1755882810.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:30.274Z,1755882810.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.392975 m,
      bearing: 332.245023 deg,
      approach rate: 0.243467 m/s,
      LOS rate: 0.157060 deg/s,
      cmd heading: 327.746682 deg,
      new cmd heading: 327.866613 deg.

2025-08-22T17:13:30.275Z,1755882810.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722352 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:30.379Z,1755882810.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258681
2025-08-22T17:13:30.633Z,1755882810.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511841
2025-08-22T17:13:30.743Z,1755882810.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:30.750Z,1755882810.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.498505 m,
      bearing: 332.315376 deg,
      approach rate: 0.223590 m/s,
      LOS rate: 0.148999 deg/s,
      cmd heading: 327.866620 deg,
      new cmd heading: 328.007269 deg.

2025-08-22T17:13:30.751Z,1755882810.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724807 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:30.882Z,1755882810.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761820
2025-08-22T17:13:31.088Z,1755882811.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:31.090Z,1755882811.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.574066 m,
      bearing: 332.369656 deg,
      approach rate: 0.219192 m/s,
      LOS rate: 0.157413 deg/s,
      cmd heading: 328.007267 deg,
      new cmd heading: 328.115796 deg.

2025-08-22T17:13:31.091Z,1755882811.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726701 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:31.135Z,1755882811.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014365
2025-08-22T17:13:31.387Z,1755882811.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265934
2025-08-22T17:13:31.483Z,1755882811.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:31.486Z,1755882811.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.655121 m,
      bearing: 332.432830 deg,
      approach rate: 0.205022 m/s,
      LOS rate: 0.159744 deg/s,
      cmd heading: 328.115785 deg,
      new cmd heading: 328.242094 deg.

2025-08-22T17:13:31.487Z,1755882811.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728905 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:31.641Z,1755882811.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519901
2025-08-22T17:13:31.891Z,1755882811.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770188
2025-08-22T17:13:31.912Z,1755882811.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:31.915Z,1755882811.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.733673 m,
      bearing: 332.499476 deg,
      approach rate: 0.183114 m/s,
      LOS rate: 0.155312 deg/s,
      cmd heading: 328.242089 deg,
      new cmd heading: 328.375340 deg.

2025-08-22T17:13:31.916Z,1755882811.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731231 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:32.143Z,1755882812.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021861
2025-08-22T17:13:32.291Z,1755882812.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:32.294Z,1755882812.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:32.296Z,1755882812.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.797638 m,
      bearing: 332.559000 deg,
      approach rate: 0.167649 m/s,
      LOS rate: 0.155969 deg/s,
      cmd heading: 328.375333 deg,
      new cmd heading: 328.494350 deg.

2025-08-22T17:13:32.313Z,1755882812.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733308 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:32.397Z,1755882812.397 [DAT](INFO): DAT read: Rx Time:17:13:32.8951

2025-08-22T17:13:32.397Z,1755882812.397 [DAT](INFO): Rx dataTimestamp_ set to:1755882812.397070
2025-08-22T17:13:32.398Z,1755882812.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277722
2025-08-22T17:13:32.649Z,1755882812.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527956
2025-08-22T17:13:32.788Z,1755882812.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.75 m.
2025-08-22T17:13:32.810Z,1755882812.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.750946 m,
      nav range: 258.862305 m,
      bearing: 332.630188 deg,
      approach rate: 0.131155 m/s,
      LOS rate: 0.144345 deg/s,
      cmd heading: 328.494342 deg,
      new cmd heading: 328.636682 deg.

2025-08-22T17:13:32.811Z,1755882812.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735792 target range: 261.750946 and range: 263.40 m.
2025-08-22T17:13:32.905Z,1755882812.905 [DAT](INFO): DAT read: 17:13:32.8951 LVL= 21136, 27969, 31730, 28499, AGC= 64, IDX= 438, 0.28,-2.547, 2.835, 1.965, 2.887, PHS= 0.951,-0.007,-0.967, RAW=  60.0,   0.3, CAL=  60.3,  -2.0, ROT=  89.7,   2.0

2025-08-22T17:13:32.906Z,1755882812.906 [DAT](INFO): got valid direction response:
 17:13:32.8951 LVL= 21136, 27969, 31730, 28499, AGC= 64, IDX= 438, 0.28,-2.547, 2.835, 1.965, 2.887, PHS= 0.951,-0.007,-0.967, RAW=  60.0,   0.3, CAL=  60.3,  -2.0, ROT=  89.7,   2.0

2025-08-22T17:13:32.907Z,1755882812.907 [DAT](INFO): DAT read: Bearing 318.6,  76.6 (Local)

2025-08-22T17:13:32.908Z,1755882812.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6,  76.6 (Local)

2025-08-22T17:13:32.909Z,1755882812.909 [DAT](INFO): DAT read: Range 11 to 50 : 264.4 m  (Round-trip  352.6 ms) speed -0.1 m/s

2025-08-22T17:13:32.910Z,1755882812.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:32.911Z,1755882812.911 [DAT](INFO): direction in FSK: [0.005233,0.999377,-0.034899]
2025-08-22T17:13:32.911Z,1755882812.911 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:32.914Z,1755882812.914 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:32.914Z,1755882812.914 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:32.915Z,1755882812.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:33.120Z,1755882813.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.399994 m,
      deltaT: 4.032380 s,
      deltaX: 1.000000 m,
      approachRate: 0.247993 m/s,
      rangeRepo size: 4

2025-08-22T17:13:33.123Z,1755882813.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.743378 m,
      bearing: 334.750295 deg,
      lat: 36.779599 deg,
      lon: -121.859323 deg,
      deltaT: 4.032380 s,
      deltaX: 0.992432 m,
      approachRate: 0.246116 m/s,
      posRepo size: 4

2025-08-22T17:13:33.123Z,1755882813.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:33.126Z,1755882813.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.908020 m,
      bearing: 332.686732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.144345 deg/s,
      cmd heading: 328.636683 deg,
      new cmd heading: 328.732888 deg.

2025-08-22T17:13:33.127Z,1755882813.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737471 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:33.150Z,1755882813.150 [DAT](INFO): DAT read: user:524>

2025-08-22T17:13:33.152Z,1755882813.152 [DAT](INFO): DAT read: Tx time:17:13:34.1883

2025-08-22T17:13:33.152Z,1755882813.152 [DAT](INFO): Ping request sent.
2025-08-22T17:13:33.152Z,1755882813.152 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:33.152Z,1755882813.152 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:33.153Z,1755882813.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001059
2025-08-22T17:13:33.403Z,1755882813.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250542
2025-08-22T17:13:33.506Z,1755882813.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:33.509Z,1755882813.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.953857 m,
      bearing: 332.751372 deg,
      approach rate: 0.118596 m/s,
      LOS rate: 0.167214 deg/s,
      cmd heading: 328.732879 deg,
      new cmd heading: 328.862136 deg.

2025-08-22T17:13:33.510Z,1755882813.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739727 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:33.655Z,1755882813.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502612
2025-08-22T17:13:33.907Z,1755882813.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754554
2025-08-22T17:13:33.928Z,1755882813.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:33.931Z,1755882813.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.997437 m,
      bearing: 332.817410 deg,
      approach rate: 0.103288 m/s,
      LOS rate: 0.156493 deg/s,
      cmd heading: 328.862134 deg,
      new cmd heading: 328.994188 deg.

2025-08-22T17:13:33.932Z,1755882813.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742032 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:34.160Z,1755882814.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007644
2025-08-22T17:13:34.309Z,1755882814.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:34.312Z,1755882814.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:34.314Z,1755882814.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.031219 m,
      bearing: 332.877423 deg,
      approach rate: 0.088132 m/s,
      LOS rate: 0.156540 deg/s,
      cmd heading: 328.994175 deg,
      new cmd heading: 329.114185 deg.

2025-08-22T17:13:34.315Z,1755882814.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744126 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:34.411Z,1755882814.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258688
2025-08-22T17:13:34.665Z,1755882814.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512706
2025-08-22T17:13:34.769Z,1755882814.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:34.772Z,1755882814.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.068726 m,
      bearing: 332.950241 deg,
      approach rate: 0.081981 m/s,
      LOS rate: 0.159144 deg/s,
      cmd heading: 329.114195 deg,
      new cmd heading: 329.259811 deg.

2025-08-22T17:13:34.773Z,1755882814.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746668 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:34.918Z,1755882814.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766326
2025-08-22T17:13:35.111Z,1755882815.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:35.114Z,1755882815.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.091492 m,
      bearing: 333.004695 deg,
      approach rate: 0.066601 m/s,
      LOS rate: 0.159287 deg/s,
      cmd heading: 329.259815 deg,
      new cmd heading: 329.368711 deg.

2025-08-22T17:13:35.115Z,1755882815.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748569 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:35.168Z,1755882815.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015896
2025-08-22T17:13:35.419Z,1755882815.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266507
2025-08-22T17:13:35.522Z,1755882815.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:35.524Z,1755882815.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.112427 m,
      bearing: 333.070260 deg,
      approach rate: 0.050972 m/s,
      LOS rate: 0.159626 deg/s,
      cmd heading: 329.368715 deg,
      new cmd heading: 329.499836 deg.

2025-08-22T17:13:35.526Z,1755882815.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750857 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:35.672Z,1755882815.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519894
2025-08-22T17:13:35.923Z,1755882815.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633
2025-08-22T17:13:35.951Z,1755882815.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:35.967Z,1755882815.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.134277 m,
      bearing: 333.136554 deg,
      approach rate: 0.050865 m/s,
      LOS rate: 0.154310 deg/s,
      cmd heading: 329.499828 deg,
      new cmd heading: 329.632404 deg.

2025-08-22T17:13:35.968Z,1755882815.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753171 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:36.175Z,1755882816.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023005
2025-08-22T17:13:36.380Z,1755882816.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:36.383Z,1755882816.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:36.385Z,1755882816.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.156555 m,
      bearing: 333.203006 deg,
      approach rate: 0.051638 m/s,
      LOS rate: 0.154014 deg/s,
      cmd heading: 329.632415 deg,
      new cmd heading: 329.765306 deg.

2025-08-22T17:13:36.386Z,1755882816.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755490 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:36.432Z,1755882816.432 [DAT](INFO): DAT read: 17:13:36.9453 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 425, 0.21,-0.492,-1.909,-2.070,-1.335, PHS= 0.945,-0.529,-0.779, RAW=  82.3,   4.5, CAL=  81.1,   1.1, ROT=  68.9,  -1.1

2025-08-22T17:13:36.434Z,1755882816.434 [DAT](INFO): got valid direction response:
 17:13:36.9453 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 425, 0.21,-0.492,-1.909,-2.070,-1.335, PHS= 0.945,-0.529,-0.779, RAW=  82.3,   4.5, CAL=  81.1,   1.1, ROT=  68.9,  -1.1

2025-08-22T17:13:36.435Z,1755882816.435 [DAT](INFO): DAT read: Rx Time:17:13:36.9453

2025-08-22T17:13:36.436Z,1755882816.436 [DAT](INFO): Rx dataTimestamp_ set to:1755882816.435589
2025-08-22T17:13:36.437Z,1755882816.437 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T17:13:36.437Z,1755882816.437 [DAT](INFO): Received low SNR in chirp
2025-08-22T17:13:36.451Z,1755882816.451 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:13:36.452Z,1755882816.452 [DAT](INFO): direction in FSK: [0.359930,0.932782,0.019197]
2025-08-22T17:13:36.457Z,1755882816.457 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:36.457Z,1755882816.457 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:36.457Z,1755882816.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:36.681Z,1755882816.681 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:36.681Z,1755882816.681 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:36.681Z,1755882816.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:36.816Z,1755882816.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:36.819Z,1755882816.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.169159 m,
      bearing: 333.268534 deg,
      approach rate: 0.029047 m/s,
      LOS rate: 0.151013 deg/s,
      cmd heading: 329.765303 deg,
      new cmd heading: 329.896353 deg.

2025-08-22T17:13:36.820Z,1755882816.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757778 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:36.930Z,1755882816.930 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:36.930Z,1755882816.930 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:36.931Z,1755882816.931 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:37.132Z,1755882817.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:37.135Z,1755882817.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.173920 m,
      bearing: 333.317280 deg,
      approach rate: 0.015091 m/s,
      LOS rate: 0.154513 deg/s,
      cmd heading: 329.896361 deg,
      new cmd heading: 329.993851 deg.

2025-08-22T17:13:37.136Z,1755882817.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759479 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:37.184Z,1755882817.184 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:37.184Z,1755882817.184 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:37.184Z,1755882817.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:37.434Z,1755882817.434 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:37.434Z,1755882817.434 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:37.435Z,1755882817.435 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:37.564Z,1755882817.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:37.567Z,1755882817.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.180450 m,
      bearing: 333.381127 deg,
      approach rate: 0.015103 m/s,
      LOS rate: 0.147649 deg/s,
      cmd heading: 329.993842 deg,
      new cmd heading: 330.121532 deg.

2025-08-22T17:13:37.568Z,1755882817.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761708 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:37.686Z,1755882817.686 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:37.686Z,1755882817.686 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:37.686Z,1755882817.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:37.938Z,1755882817.938 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:37.938Z,1755882817.938 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:37.939Z,1755882817.939 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:37.991Z,1755882817.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:37.998Z,1755882817.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.180725 m,
      bearing: 333.441408 deg,
      approach rate: 0.000644 m/s,
      LOS rate: 0.141278 deg/s,
      cmd heading: 330.121539 deg,
      new cmd heading: 330.242101 deg.

2025-08-22T17:13:37.999Z,1755882817.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763812 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:38.190Z,1755882818.190 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:38.191Z,1755882818.191 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:38.191Z,1755882818.191 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:38.424Z,1755882818.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:38.426Z,1755882818.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:38.428Z,1755882818.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.174835 m,
      bearing: 333.507727 deg,
      approach rate: -0.013552 m/s,
      LOS rate: 0.152599 deg/s,
      cmd heading: 330.242105 deg,
      new cmd heading: 330.374745 deg.

2025-08-22T17:13:38.430Z,1755882818.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766127 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:38.442Z,1755882818.442 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:38.442Z,1755882818.442 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:38.442Z,1755882818.442 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:38.695Z,1755882818.695 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:38.695Z,1755882818.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:38.695Z,1755882818.695 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:38.931Z,1755882818.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:38.938Z,1755882818.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.167816 m,
      bearing: 333.579185 deg,
      approach rate: -0.013899 m/s,
      LOS rate: 0.141504 deg/s,
      cmd heading: 330.374748 deg,
      new cmd heading: 330.517667 deg.

2025-08-22T17:13:38.939Z,1755882818.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768621 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:38.946Z,1755882818.946 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:38.946Z,1755882818.946 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:38.947Z,1755882818.947 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:39.198Z,1755882819.198 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:39.198Z,1755882819.198 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:39.199Z,1755882819.199 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:39.308Z,1755882819.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:39.311Z,1755882819.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.144348 m,
      bearing: 333.637549 deg,
      approach rate: -0.062136 m/s,
      LOS rate: 0.154544 deg/s,
      cmd heading: 330.517662 deg,
      new cmd heading: 330.634401 deg.

2025-08-22T17:13:39.312Z,1755882819.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770659 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:39.451Z,1755882819.451 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:39.451Z,1755882819.451 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:39.451Z,1755882819.451 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:39.701Z,1755882819.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:39.702Z,1755882819.702 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:39.703Z,1755882819.703 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:39.703Z,1755882819.703 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:39.705Z,1755882819.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.116547 m,
      bearing: 333.692969 deg,
      approach rate: -0.070869 m/s,
      LOS rate: 0.141287 deg/s,
      cmd heading: 330.634404 deg,
      new cmd heading: 330.745257 deg.

2025-08-22T17:13:39.706Z,1755882819.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772593 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:39.954Z,1755882819.954 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:39.954Z,1755882819.954 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:39.954Z,1755882819.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:40.099Z,1755882820.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:40.101Z,1755882820.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.087067 m,
      bearing: 333.750620 deg,
      approach rate: -0.074073 m/s,
      LOS rate: 0.144873 deg/s,
      cmd heading: 330.745244 deg,
      new cmd heading: 330.860559 deg.

2025-08-22T17:13:40.102Z,1755882820.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774606 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:40.206Z,1755882820.206 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:40.206Z,1755882820.206 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:40.207Z,1755882820.207 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:40.458Z,1755882820.458 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:40.458Z,1755882820.458 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:40.459Z,1755882820.459 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:40.473Z,1755882820.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:40.475Z,1755882820.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:40.478Z,1755882820.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.054993 m,
      bearing: 333.803162 deg,
      approach rate: -0.085208 m/s,
      LOS rate: 0.139601 deg/s,
      cmd heading: 330.860565 deg,
      new cmd heading: 330.965663 deg.

2025-08-22T17:13:40.479Z,1755882820.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776441 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:40.710Z,1755882820.710 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:40.710Z,1755882820.710 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:40.710Z,1755882820.710 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:40.905Z,1755882820.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:40.908Z,1755882820.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 259.020050 m,
      bearing: 333.863568 deg,
      approach rate: -0.081262 m/s,
      LOS rate: 0.140495 deg/s,
      cmd heading: 330.965668 deg,
      new cmd heading: 331.086495 deg.

2025-08-22T17:13:40.909Z,1755882820.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778550 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:40.963Z,1755882820.963 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:40.963Z,1755882820.963 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:40.963Z,1755882820.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:41.216Z,1755882821.216 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:41.216Z,1755882821.216 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:41.216Z,1755882821.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:41.288Z,1755882821.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:41.291Z,1755882821.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.978119 m,
      bearing: 333.917090 deg,
      approach rate: -0.109596 m/s,
      LOS rate: 0.139914 deg/s,
      cmd heading: 331.086508 deg,
      new cmd heading: 331.193569 deg.

2025-08-22T17:13:41.292Z,1755882821.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780418 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:41.466Z,1755882821.466 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:41.466Z,1755882821.466 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:41.466Z,1755882821.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:41.687Z,1755882821.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:41.690Z,1755882821.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.929077 m,
      bearing: 333.972660 deg,
      approach rate: -0.122757 m/s,
      LOS rate: 0.139125 deg/s,
      cmd heading: 331.193578 deg,
      new cmd heading: 331.304740 deg.

2025-08-22T17:13:41.691Z,1755882821.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782359 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:41.718Z,1755882821.718 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:41.718Z,1755882821.718 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:41.719Z,1755882821.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:41.970Z,1755882821.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:41.970Z,1755882821.970 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:41.970Z,1755882821.970 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:42.105Z,1755882822.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:42.108Z,1755882822.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.871155 m,
      bearing: 334.030283 deg,
      approach rate: -0.138618 m/s,
      LOS rate: 0.137932 deg/s,
      cmd heading: 331.304746 deg,
      new cmd heading: 331.420017 deg.

2025-08-22T17:13:42.109Z,1755882822.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784370 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:42.223Z,1755882822.223 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:42.223Z,1755882822.223 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:42.223Z,1755882822.223 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:42.474Z,1755882822.474 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:42.474Z,1755882822.474 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:42.475Z,1755882822.475 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:42.483Z,1755882822.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:42.485Z,1755882822.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:42.488Z,1755882822.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.813446 m,
      bearing: 334.082423 deg,
      approach rate: -0.151759 m/s,
      LOS rate: 0.137145 deg/s,
      cmd heading: 331.420012 deg,
      new cmd heading: 331.524315 deg.

2025-08-22T17:13:42.489Z,1755882822.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786191 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:42.726Z,1755882822.726 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:42.726Z,1755882822.726 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:42.727Z,1755882822.727 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:42.902Z,1755882822.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:42.905Z,1755882822.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.747192 m,
      bearing: 334.137941 deg,
      approach rate: -0.159061 m/s,
      LOS rate: 0.133320 deg/s,
      cmd heading: 331.524323 deg,
      new cmd heading: 331.635387 deg.

2025-08-22T17:13:42.909Z,1755882822.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788129 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:42.979Z,1755882822.979 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:42.979Z,1755882822.979 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:42.979Z,1755882822.979 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:13:43.230Z,1755882823.230 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:43.230Z,1755882823.230 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:43.231Z,1755882823.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:43.298Z,1755882823.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:43.301Z,1755882823.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.679077 m,
      bearing: 334.190451 deg,
      approach rate: -0.171761 m/s,
      LOS rate: 0.132446 deg/s,
      cmd heading: 331.635382 deg,
      new cmd heading: 331.740430 deg.

2025-08-22T17:13:43.311Z,1755882823.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789963 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:43.482Z,1755882823.482 [DAT](INFO): DAT read: 

2025-08-22T17:13:43.483Z,1755882823.483 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:43.483Z,1755882823.483 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:43.483Z,1755882823.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:43.712Z,1755882823.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:43.715Z,1755882823.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.605713 m,
      bearing: 334.242791 deg,
      approach rate: -0.177363 m/s,
      LOS rate: 0.126571 deg/s,
      cmd heading: 331.740430 deg,
      new cmd heading: 331.845139 deg.

2025-08-22T17:13:43.716Z,1755882823.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791790 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:43.734Z,1755882823.734 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:43.734Z,1755882823.734 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:43.735Z,1755882823.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:43.986Z,1755882823.986 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:43.986Z,1755882823.986 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:43.987Z,1755882823.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:44.106Z,1755882824.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:44.109Z,1755882824.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.525024 m,
      bearing: 334.296394 deg,
      approach rate: -0.204619 m/s,
      LOS rate: 0.135975 deg/s,
      cmd heading: 331.845151 deg,
      new cmd heading: 331.952390 deg.

2025-08-22T17:13:44.110Z,1755882824.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793662 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:44.238Z,1755882824.238 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:44.239Z,1755882824.239 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:44.239Z,1755882824.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:44.490Z,1755882824.490 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:44.490Z,1755882824.490 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:44.491Z,1755882824.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:44.524Z,1755882824.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:44.534Z,1755882824.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:44.537Z,1755882824.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.437408 m,
      bearing: 334.350784 deg,
      approach rate: -0.204782 m/s,
      LOS rate: 0.127168 deg/s,
      cmd heading: 331.952385 deg,
      new cmd heading: 332.061202 deg.

2025-08-22T17:13:44.542Z,1755882824.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795561 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:44.742Z,1755882824.742 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:44.742Z,1755882824.742 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:44.743Z,1755882824.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:44.934Z,1755882824.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:44.937Z,1755882824.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.351471 m,
      bearing: 334.400788 deg,
      approach rate: -0.214827 m/s,
      LOS rate: 0.125043 deg/s,
      cmd heading: 332.061203 deg,
      new cmd heading: 332.161245 deg.

2025-08-22T17:13:44.942Z,1755882824.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797307 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:44.995Z,1755882824.995 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:44.995Z,1755882824.995 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:44.996Z,1755882824.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:45.246Z,1755882825.246 [DAT](INFO): Reached modem response timeout
2025-08-22T17:13:45.246Z,1755882825.246 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:13:45.247Z,1755882825.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:45.322Z,1755882825.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:45.325Z,1755882825.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.256165 m,
      bearing: 334.452856 deg,
      approach rate: -0.245659 m/s,
      LOS rate: 0.134259 deg/s,
      cmd heading: 332.161252 deg,
      new cmd heading: 332.265427 deg.

2025-08-22T17:13:45.338Z,1755882825.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799126 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:45.499Z,1755882825.499 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:13:45.499Z,1755882825.499 [DAT](INFO): response not received
2025-08-22T17:13:45.499Z,1755882825.499 [DAT](INFO): DAT read: user:526>

2025-08-22T17:13:45.500Z,1755882825.500 [DAT](INFO): DAT read: Tx time:17:13:46.6382

2025-08-22T17:13:45.500Z,1755882825.500 [DAT](INFO): Ping request sent.
2025-08-22T17:13:45.500Z,1755882825.500 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:45.500Z,1755882825.500 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:45.501Z,1755882825.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T17:13:45.731Z,1755882825.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:45.740Z,1755882825.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.159882 m,
      bearing: 334.502434 deg,
      approach rate: -0.235658 m/s,
      LOS rate: 0.121389 deg/s,
      cmd heading: 332.265426 deg,
      new cmd heading: 332.364617 deg.

2025-08-22T17:13:45.741Z,1755882825.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800857 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:45.751Z,1755882825.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250345
2025-08-22T17:13:46.002Z,1755882826.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502186
2025-08-22T17:13:46.151Z,1755882826.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:46.161Z,1755882826.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 258.064728 m,
      bearing: 334.552871 deg,
      approach rate: -0.226250 m/s,
      LOS rate: 0.119970 deg/s,
      cmd heading: 332.364628 deg,
      new cmd heading: 332.465539 deg.

2025-08-22T17:13:46.166Z,1755882826.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802619 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:46.257Z,1755882826.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756335
2025-08-22T17:13:46.507Z,1755882826.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006257
2025-08-22T17:13:46.529Z,1755882826.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:46.531Z,1755882826.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:46.534Z,1755882826.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.970428 m,
      bearing: 334.600038 deg,
      approach rate: -0.248424 m/s,
      LOS rate: 0.124304 deg/s,
      cmd heading: 332.465550 deg,
      new cmd heading: 332.559919 deg.

2025-08-22T17:13:46.535Z,1755882826.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804265 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:46.758Z,1755882826.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258191
2025-08-22T17:13:46.983Z,1755882826.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:46.985Z,1755882826.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.864838 m,
      bearing: 334.653217 deg,
      approach rate: -0.233826 m/s,
      LOS rate: 0.117811 deg/s,
      cmd heading: 332.559916 deg,
      new cmd heading: 332.666318 deg.

2025-08-22T17:13:46.986Z,1755882826.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806123 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:47.011Z,1755882827.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510346
2025-08-22T17:13:47.263Z,1755882827.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762237
2025-08-22T17:13:47.344Z,1755882827.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:47.346Z,1755882827.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.772491 m,
      bearing: 334.694740 deg,
      approach rate: -0.255784 m/s,
      LOS rate: 0.115052 deg/s,
      cmd heading: 332.666331 deg,
      new cmd heading: 332.749406 deg.

2025-08-22T17:13:47.347Z,1755882827.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807573 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:47.514Z,1755882827.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014122
2025-08-22T17:13:47.730Z,1755882827.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:47.733Z,1755882827.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.669128 m,
      bearing: 334.738811 deg,
      approach rate: -0.267258 m/s,
      LOS rate: 0.113996 deg/s,
      cmd heading: 332.749413 deg,
      new cmd heading: 332.837590 deg.

2025-08-22T17:13:47.734Z,1755882827.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809112 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:47.767Z,1755882827.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266453
2025-08-22T17:13:48.022Z,1755882828.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521581
2025-08-22T17:13:48.196Z,1755882828.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:48.203Z,1755882828.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.555145 m,
      bearing: 334.786340 deg,
      approach rate: -0.244948 m/s,
      LOS rate: 0.102186 deg/s,
      cmd heading: 332.837577 deg,
      new cmd heading: 332.932679 deg.

2025-08-22T17:13:48.204Z,1755882828.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810771 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:48.271Z,1755882828.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770715
2025-08-22T17:13:48.523Z,1755882828.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022302
2025-08-22T17:13:48.540Z,1755882828.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:48.543Z,1755882828.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:48.546Z,1755882828.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.456421 m,
      bearing: 334.825514 deg,
      approach rate: -0.284489 m/s,
      LOS rate: 0.112928 deg/s,
      cmd heading: 332.932681 deg,
      new cmd heading: 333.011058 deg.

2025-08-22T17:13:48.547Z,1755882828.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812140 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:48.674Z,1755882828.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:13:48.775Z,1755882828.775 [DAT](INFO): DAT read: Rx Time:17:13:49.3928

2025-08-22T17:13:48.775Z,1755882828.775 [DAT](INFO): Rx dataTimestamp_ set to:1755882828.774792
2025-08-22T17:13:48.776Z,1755882828.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275345
2025-08-22T17:13:48.991Z,1755882828.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.74 m.
2025-08-22T17:13:48.994Z,1755882828.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.743378 m,
      nav range: 257.329224 m,
      bearing: 334.872330 deg,
      approach rate: -0.283780 m/s,
      LOS rate: 0.104499 deg/s,
      cmd heading: 333.011064 deg,
      new cmd heading: 333.104742 deg.

2025-08-22T17:13:48.995Z,1755882828.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813775 target range: 262.743378 and range: 264.40 m.
2025-08-22T17:13:49.027Z,1755882829.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526272
2025-08-22T17:13:49.295Z,1755882829.295 [DAT](INFO): DAT read: 17:13:49.3928 LVL= 25536, 32753, 32754, 32755, AGC= 69, IDX= 402,-0.13,-0.535,-2.435,-1.564,-1.278, PHS= 0.845,-1.112,-0.330, RAW= 113.4,   7.1, CAL= 114.8,   8.0, ROT=  35.2,  -8.0

2025-08-22T17:13:49.302Z,1755882829.302 [DAT](INFO): got valid direction response:
 17:13:49.3928 LVL= 25536, 32753, 32754, 32755, AGC= 69, IDX= 402,-0.13,-0.535,-2.435,-1.564,-1.278, PHS= 0.845,-1.112,-0.330, RAW= 113.4,   7.1, CAL= 114.8,   8.0, ROT=  35.2,  -8.0

2025-08-22T17:13:49.303Z,1755882829.303 [DAT](INFO): DAT read: Bearing 102.6,  34.4 (Local)

2025-08-22T17:13:49.303Z,1755882829.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.6,  34.4 (Local)

2025-08-22T17:13:49.305Z,1755882829.305 [DAT](INFO): DAT read: Range 11 to 50 : 262.8 m  (Round-trip  350.4 ms) speed  0.2 m/s

2025-08-22T17:13:49.306Z,1755882829.306 [DAT](INFO): DAT read: user:527>

2025-08-22T17:13:49.306Z,1755882829.306 [DAT](INFO): DAT read: Tx time:17:13:50.4882

2025-08-22T17:13:49.307Z,1755882829.307 [DAT](INFO): Ping request sent.
2025-08-22T17:13:49.307Z,1755882829.307 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:49.307Z,1755882829.307 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:49.308Z,1755882829.308 [DAT](INFO): direction in FSK: [0.809192,0.570823,0.139173]
2025-08-22T17:13:49.308Z,1755882829.308 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:49.308Z,1755882829.308 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:49.332Z,1755882829.332 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:49.332Z,1755882829.332 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:49.384Z,1755882829.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.799988 m,
      deltaT: 16.380499 s,
      deltaX: -1.600006 m,
      approachRate: -0.097677 m/s,
      rangeRepo size: 4

2025-08-22T17:13:49.395Z,1755882829.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.149658 m,
      bearing: 330.465038 deg,
      lat: 36.779522 deg,
      lon: -121.859488 deg,
      deltaT: 16.380499 s,
      deltaX: -1.593719 m,
      approachRate: -0.097294 m/s,
      posRepo size: 4

2025-08-22T17:13:49.395Z,1755882829.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:49.414Z,1755882829.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 256.284607 m,
      bearing: 331.125797 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104499 deg/s,
      cmd heading: 333.104747 deg,
      new cmd heading: 333.186745 deg.

2025-08-22T17:13:49.422Z,1755882829.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815206 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:49.678Z,1755882829.678 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:13:49.761Z,1755882829.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:49.764Z,1755882829.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 256.150909 m,
      bearing: 331.164926 deg,
      approach rate: -0.353897 m/s,
      LOS rate: 0.103626 deg/s,
      cmd heading: 333.186736 deg,
      new cmd heading: 333.265033 deg.

2025-08-22T17:13:49.765Z,1755882829.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816572 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:50.221Z,1755882830.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:50.224Z,1755882830.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.996979 m,
      bearing: 331.207058 deg,
      approach rate: -0.334498 m/s,
      LOS rate: 0.091610 deg/s,
      cmd heading: 333.265038 deg,
      new cmd heading: 333.349353 deg.

2025-08-22T17:13:50.225Z,1755882830.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818044 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:50.275Z,1755882830.275 [CTD_Seabird](ERROR): Failed to parse device response: .29
2025-08-22T17:13:50.558Z,1755882830.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:50.560Z,1755882830.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:50.563Z,1755882830.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.880829 m,
      bearing: 331.237546 deg,
      approach rate: -0.342609 m/s,
      LOS rate: 0.089972 deg/s,
      cmd heading: 333.349350 deg,
      new cmd heading: 333.410353 deg.

2025-08-22T17:13:50.564Z,1755882830.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819108 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:50.790Z,1755882830.790 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:50.790Z,1755882830.790 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:50.791Z,1755882830.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:51.013Z,1755882831.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:51.016Z,1755882831.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.730560 m,
      bearing: 331.275731 deg,
      approach rate: -0.332111 m/s,
      LOS rate: 0.084443 deg/s,
      cmd heading: 333.410357 deg,
      new cmd heading: 333.486772 deg.

2025-08-22T17:13:51.017Z,1755882831.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820442 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:51.043Z,1755882831.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735919
2025-08-22T17:13:51.295Z,1755882831.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987802
2025-08-22T17:13:51.383Z,1755882831.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:51.392Z,1755882831.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.609940 m,
      bearing: 331.305078 deg,
      approach rate: -0.325784 m/s,
      LOS rate: 0.079300 deg/s,
      cmd heading: 333.486773 deg,
      new cmd heading: 333.545494 deg.

2025-08-22T17:13:51.394Z,1755882831.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821467 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:51.547Z,1755882831.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239804
2025-08-22T17:13:51.794Z,1755882831.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:51.796Z,1755882831.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.467087 m,
      bearing: 331.338381 deg,
      approach rate: -0.362115 m/s,
      LOS rate: 0.084467 deg/s,
      cmd heading: 333.545485 deg,
      new cmd heading: 333.612129 deg.

2025-08-22T17:13:51.799Z,1755882831.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492009
2025-08-22T17:13:51.797Z,1755882831.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822630 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:52.050Z,1755882832.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743784
2025-08-22T17:13:52.303Z,1755882832.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995943
2025-08-22T17:13:52.311Z,1755882832.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:52.314Z,1755882832.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.267426 m,
      bearing: 331.381769 deg,
      approach rate: -0.373900 m/s,
      LOS rate: 0.081313 deg/s,
      cmd heading: 333.612121 deg,
      new cmd heading: 333.698963 deg.

2025-08-22T17:13:52.315Z,1755882832.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824146 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:52.555Z,1755882832.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247947
2025-08-22T17:13:52.597Z,1755882832.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:52.599Z,1755882832.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:52.602Z,1755882832.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 255.156784 m,
      bearing: 331.404837 deg,
      approach rate: -0.384602 m/s,
      LOS rate: 0.080222 deg/s,
      cmd heading: 333.698973 deg,
      new cmd heading: 333.745129 deg.

2025-08-22T17:13:52.603Z,1755882832.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824951 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:52.806Z,1755882832.806 [DAT](INFO): DAT read: Rx Time:17:13:53.2416

2025-08-22T17:13:52.807Z,1755882832.807 [DAT](INFO): Rx dataTimestamp_ set to:1755882832.806668
2025-08-22T17:13:52.807Z,1755882832.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500822
2025-08-22T17:13:53.059Z,1755882833.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751809
2025-08-22T17:13:53.201Z,1755882833.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.15 m.
2025-08-22T17:13:53.208Z,1755882833.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.149658 m,
      nav range: 254.936447 m,
      bearing: 331.449303 deg,
      approach rate: -0.376098 m/s,
      LOS rate: 0.075966 deg/s,
      cmd heading: 333.745118 deg,
      new cmd heading: 333.834127 deg.

2025-08-22T17:13:53.209Z,1755882833.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826505 target range: 261.149658 and range: 262.80 m.
2025-08-22T17:13:53.322Z,1755882833.322 [DAT](INFO): DAT read: 17:13:53.2416 LVL= 26272, 32753, 32754, 32755, AGC= 65, IDX= 437, 0.21, 2.466, 0.643, 1.865, 1.992, PHS= 0.576,-1.304,-0.172, RAW= 126.7,  11.0, CAL= 126.8,  12.2, ROT=  23.2, -12.2

2025-08-22T17:13:53.324Z,1755882833.324 [DAT](INFO): got valid direction response:
 17:13:53.2416 LVL= 26272, 32753, 32754, 32755, AGC= 65, IDX= 437, 0.21, 2.466, 0.643, 1.865, 1.992, PHS= 0.576,-1.304,-0.172, RAW= 126.7,  11.0, CAL= 126.8,  12.2, ROT=  23.2, -12.2

2025-08-22T17:13:53.325Z,1755882833.325 [DAT](INFO): DAT read: Bearing 121.4,  23.0 (Local)

2025-08-22T17:13:53.325Z,1755882833.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 121.4,  23.0 (Local)

2025-08-22T17:13:53.327Z,1755882833.327 [DAT](INFO): DAT read: Range 11 to 50 : 261.9 m  (Round-trip  349.3 ms) speed  0.3 m/s

2025-08-22T17:13:53.327Z,1755882833.327 [DAT](INFO): DAT read: user:528>

2025-08-22T17:13:53.328Z,1755882833.328 [DAT](INFO): DAT read: Tx time:17:13:54.3381

2025-08-22T17:13:53.328Z,1755882833.328 [DAT](INFO): Ping request sent.
2025-08-22T17:13:53.329Z,1755882833.329 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:53.329Z,1755882833.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:53.330Z,1755882833.330 [DAT](INFO): direction in FSK: [0.898377,0.385045,0.211325]
2025-08-22T17:13:53.331Z,1755882833.331 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:53.331Z,1755882833.331 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:53.335Z,1755882833.335 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:53.335Z,1755882833.335 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:53.524Z,1755882833.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.899994 m,
      deltaT: 4.034808 s,
      deltaX: -0.899994 m,
      approachRate: -0.223057 m/s,
      rangeRepo size: 4

2025-08-22T17:13:53.530Z,1755882833.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.254395 m,
      bearing: 330.184450 deg,
      lat: 36.779522 deg,
      lon: -121.859488 deg,
      deltaT: 4.034808 s,
      deltaX: -0.895264 m,
      approachRate: -0.221885 m/s,
      posRepo size: 4

2025-08-22T17:13:53.531Z,1755882833.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:53.538Z,1755882833.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.808746 m,
      bearing: 331.474036 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075966 deg/s,
      cmd heading: 333.834129 deg,
      new cmd heading: 333.885546 deg.

2025-08-22T17:13:53.539Z,1755882833.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827402 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:53.839Z,1755882833.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:53.842Z,1755882833.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.677994 m,
      bearing: 331.498343 deg,
      approach rate: -0.414520 m/s,
      LOS rate: 0.077099 deg/s,
      cmd heading: 333.885547 deg,
      new cmd heading: 333.934185 deg.

2025-08-22T17:13:53.843Z,1755882833.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828251 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:54.265Z,1755882834.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:54.268Z,1755882834.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.509445 m,
      bearing: 331.529540 deg,
      approach rate: -0.395670 m/s,
      LOS rate: 0.073283 deg/s,
      cmd heading: 333.934178 deg,
      new cmd heading: 333.996612 deg.

2025-08-22T17:13:54.269Z,1755882834.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829340 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:54.648Z,1755882834.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:54.651Z,1755882834.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:54.654Z,1755882834.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.356720 m,
      bearing: 331.556585 deg,
      approach rate: -0.395173 m/s,
      LOS rate: 0.070020 deg/s,
      cmd heading: 333.996606 deg,
      new cmd heading: 334.050728 deg.

2025-08-22T17:13:54.655Z,1755882834.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830285 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:54.828Z,1755882834.828 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:54.828Z,1755882834.828 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:54.829Z,1755882834.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:55.079Z,1755882835.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750109
2025-08-22T17:13:55.081Z,1755882835.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:55.099Z,1755882835.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.183838 m,
      bearing: 331.585407 deg,
      approach rate: -0.402732 m/s,
      LOS rate: 0.067189 deg/s,
      cmd heading: 334.050728 deg,
      new cmd heading: 334.108412 deg.

2025-08-22T17:13:55.100Z,1755882835.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831292 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:55.330Z,1755882835.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001920
2025-08-22T17:13:55.437Z,1755882835.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:55.439Z,1755882835.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 254.039520 m,
      bearing: 331.608427 deg,
      approach rate: -0.405381 m/s,
      LOS rate: 0.064699 deg/s,
      cmd heading: 334.108402 deg,
      new cmd heading: 334.154468 deg.

2025-08-22T17:13:55.440Z,1755882835.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832096 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:55.582Z,1755882835.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253904
2025-08-22T17:13:55.835Z,1755882835.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506112
2025-08-22T17:13:55.869Z,1755882835.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:55.872Z,1755882835.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 253.871063 m,
      bearing: 331.634077 deg,
      approach rate: -0.389456 m/s,
      LOS rate: 0.059338 deg/s,
      cmd heading: 334.154465 deg,
      new cmd heading: 334.205797 deg.

2025-08-22T17:13:55.873Z,1755882835.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832992 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:56.086Z,1755882836.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757910
2025-08-22T17:13:56.282Z,1755882836.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:56.284Z,1755882836.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 253.707260 m,
      bearing: 331.659366 deg,
      approach rate: -0.397071 m/s,
      LOS rate: 0.061342 deg/s,
      cmd heading: 334.205801 deg,
      new cmd heading: 334.256411 deg.

2025-08-22T17:13:56.286Z,1755882836.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833875 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:56.339Z,1755882836.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010788
2025-08-22T17:13:56.591Z,1755882836.591 [DAT](INFO): DAT read: Rx Time:17:13:57.1101

2025-08-22T17:13:56.591Z,1755882836.591 [DAT](INFO): Rx dataTimestamp_ set to:1755882836.590766
2025-08-22T17:13:56.592Z,1755882836.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263051
2025-08-22T17:13:56.692Z,1755882836.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:56.694Z,1755882836.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.25 m.
2025-08-22T17:13:56.697Z,1755882836.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.254395 m,
      nav range: 253.552368 m,
      bearing: 331.682204 deg,
      approach rate: -0.375335 m/s,
      LOS rate: 0.055377 deg/s,
      cmd heading: 334.256399 deg,
      new cmd heading: 334.302104 deg.

2025-08-22T17:13:56.707Z,1755882836.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834672 target range: 260.254395 and range: 261.90 m.
2025-08-22T17:13:56.843Z,1755882836.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514029
2025-08-22T17:13:57.100Z,1755882837.100 [DAT](INFO): DAT read: 17:13:57.1101 LVL= 32304, 32753, 32754, 32755, AGC= 69, IDX= 115,-0.06,-0.172,-1.734,-0.088,-0.948, PHS= 0.879,-0.740, 0.816, RAW= 148.0, -12.0, CAL= 148.9, -14.1, ROT=   1.1,  14.1

2025-08-22T17:13:57.101Z,1755882837.101 [DAT](INFO): got valid direction response:
 17:13:57.1101 LVL= 32304, 32753, 32754, 32755, AGC= 69, IDX= 115,-0.06,-0.172,-1.734,-0.088,-0.948, PHS= 0.879,-0.740, 0.816, RAW= 148.0, -12.0, CAL= 148.9, -14.1, ROT=   1.1,  14.1

2025-08-22T17:13:57.102Z,1755882837.102 [DAT](INFO): DAT read: Bearing 111.6,  -4.0 (Local)

2025-08-22T17:13:57.102Z,1755882837.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.6,  -4.0 (Local)

2025-08-22T17:13:57.104Z,1755882837.104 [DAT](INFO): DAT read: Range 11 to 50 : 275.8 m  (Round-trip  367.8 ms) speed  0.3 m/s

2025-08-22T17:13:57.104Z,1755882837.104 [DAT](INFO): DAT read: user:529>

2025-08-22T17:13:57.105Z,1755882837.105 [DAT](INFO): DAT read: Tx time:17:13:58.2381

2025-08-22T17:13:57.106Z,1755882837.106 [DAT](INFO): Ping request sent.
2025-08-22T17:13:57.106Z,1755882837.106 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:13:57.106Z,1755882837.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:13:57.107Z,1755882837.107 [DAT](INFO): direction in FSK: [0.969693,0.018619,-0.243615]
2025-08-22T17:13:57.107Z,1755882837.107 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:57.107Z,1755882837.107 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:57.132Z,1755882837.132 [DAT](INFO): publishing transmit ping time
2025-08-22T17:13:57.132Z,1755882837.132 [DAT](INFO): publishing direction and range info
2025-08-22T17:13:57.289Z,1755882837.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.799988 m,
      deltaT: 3.779914 s,
      deltaX: 13.899994 m,
      approachRate: 3.677331 m/s,
      rangeRepo size: 4

2025-08-22T17:13:57.295Z,1755882837.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 274.063416 m,
      bearing: 324.102705 deg,
      lat: 36.779491 deg,
      lon: -121.859504 deg,
      deltaT: 3.779914 s,
      deltaX: 13.809021 m,
      approachRate: 3.653263 m/s,
      posRepo size: 4

2025-08-22T17:13:57.296Z,1755882837.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:57.308Z,1755882837.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.958664 m,
      bearing: 331.050991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055377 deg/s,
      cmd heading: 334.302106 deg,
      new cmd heading: 334.367857 deg.

2025-08-22T17:13:57.309Z,1755882837.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835820 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:57.535Z,1755882837.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:57.542Z,1755882837.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.861755 m,
      bearing: 331.063004 deg,
      approach rate: -0.392651 m/s,
      LOS rate: 0.048694 deg/s,
      cmd heading: 334.367867 deg,
      new cmd heading: 334.391903 deg.

2025-08-22T17:13:57.543Z,1755882837.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836240 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:57.894Z,1755882837.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:57.896Z,1755882837.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.709579 m,
      bearing: 331.081072 deg,
      approach rate: -0.424363 m/s,
      LOS rate: 0.050414 deg/s,
      cmd heading: 334.391910 deg,
      new cmd heading: 334.428066 deg.

2025-08-22T17:13:57.897Z,1755882837.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836871 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:58.315Z,1755882838.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:58.317Z,1755882838.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.541931 m,
      bearing: 331.101007 deg,
      approach rate: -0.397929 m/s,
      LOS rate: 0.047350 deg/s,
      cmd heading: 334.428055 deg,
      new cmd heading: 334.467952 deg.

2025-08-22T17:13:58.318Z,1755882838.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837567 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:58.693Z,1755882838.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:13:58.695Z,1755882838.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:58.698Z,1755882838.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.385056 m,
      bearing: 331.118138 deg,
      approach rate: -0.412314 m/s,
      LOS rate: 0.045055 deg/s,
      cmd heading: 334.467943 deg,
      new cmd heading: 334.502228 deg.

2025-08-22T17:13:58.699Z,1755882838.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838165 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:58.858Z,1755882838.858 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:13:58.858Z,1755882838.858 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:13:58.859Z,1755882838.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:13:59.119Z,1755882839.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013782
2025-08-22T17:13:59.177Z,1755882839.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:59.185Z,1755882839.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.192352 m,
      bearing: 331.138325 deg,
      approach rate: -0.400350 m/s,
      LOS rate: 0.041971 deg/s,
      cmd heading: 334.502231 deg,
      new cmd heading: 334.542635 deg.

2025-08-22T17:13:59.190Z,1755882839.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838871 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:59.370Z,1755882839.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264762
2025-08-22T17:13:59.522Z,1755882839.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:59.524Z,1755882839.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 250.043655 m,
      bearing: 331.153315 deg,
      approach rate: -0.430824 m/s,
      LOS rate: 0.043456 deg/s,
      cmd heading: 334.542638 deg,
      new cmd heading: 334.572636 deg.

2025-08-22T17:13:59.526Z,1755882839.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839394 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:13:59.624Z,1755882839.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517889
2025-08-22T17:13:59.875Z,1755882839.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768924
2025-08-22T17:13:59.929Z,1755882839.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:13:59.932Z,1755882839.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 249.873886 m,
      bearing: 331.169796 deg,
      approach rate: -0.416897 m/s,
      LOS rate: 0.040500 deg/s,
      cmd heading: 334.572636 deg,
      new cmd heading: 334.605621 deg.

2025-08-22T17:13:59.933Z,1755882839.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839970 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:14:00.128Z,1755882840.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021820
2025-08-22T17:14:00.379Z,1755882840.379 [DAT](INFO): DAT read: Rx Time:17:14:00.9874

2025-08-22T17:14:00.380Z,1755882840.380 [DAT](INFO): Rx dataTimestamp_ set to:1755882840.379339
2025-08-22T17:14:00.380Z,1755882840.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274495
2025-08-22T17:14:00.383Z,1755882840.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:14:00.386Z,1755882840.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 249.698990 m,
      bearing: 331.184300 deg,
      approach rate: -0.384949 m/s,
      LOS rate: 0.031944 deg/s,
      cmd heading: 334.605613 deg,
      new cmd heading: 334.634639 deg.

2025-08-22T17:14:00.387Z,1755882840.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840476 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:14:00.632Z,1755882840.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525656
2025-08-22T17:14:00.768Z,1755882840.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:00.790Z,1755882840.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.06 m.
2025-08-22T17:14:00.792Z,1755882840.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.063416 m,
      nav range: 249.539337 m,
      bearing: 331.197558 deg,
      approach rate: -0.392815 m/s,
      LOS rate: 0.032643 deg/s,
      cmd heading: 334.634627 deg,
      new cmd heading: 334.661162 deg.

2025-08-22T17:14:00.794Z,1755882840.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840939 target range: 274.063416 and range: 275.80 m.
2025-08-22T17:14:00.896Z,1755882840.896 [DAT](INFO): DAT read: 17:14:00.9874 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 202, 0.10, 2.148, 0.262, 2.040, 1.790, PHS= 0.460,-1.483, 0.206, RAW= 143.1,   9.0, CAL= 142.7,   9.8, ROT=   7.3,  -9.8

2025-08-22T17:14:00.898Z,1755882840.898 [DAT](INFO): got valid direction response:
 17:14:00.9874 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 202, 0.10, 2.148, 0.262, 2.040, 1.790, PHS= 0.460,-1.483, 0.206, RAW= 143.1,   9.0, CAL= 142.7,   9.8, ROT=   7.3,  -9.8

2025-08-22T17:14:00.898Z,1755882840.898 [DAT](INFO): DAT read: Bearing 144.1,   6.1 (Local)

2025-08-22T17:14:00.899Z,1755882840.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.1,   6.1 (Local)

2025-08-22T17:14:00.900Z,1755882840.900 [DAT](INFO): DAT read: Range 11 to 50 : 258.8 m  (Round-trip  345.1 ms) speed  0.3 m/s

2025-08-22T17:14:00.901Z,1755882840.901 [DAT](INFO): DAT read: user:530>

2025-08-22T17:14:00.902Z,1755882840.902 [DAT](INFO): DAT read: Tx time:17:14:02.0881

2025-08-22T17:14:00.902Z,1755882840.902 [DAT](INFO): Ping request sent.
2025-08-22T17:14:00.902Z,1755882840.902 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:00.902Z,1755882840.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:00.903Z,1755882840.903 [DAT](INFO): direction in FSK: [0.977421,0.125210,0.170209]
2025-08-22T17:14:00.904Z,1755882840.904 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:00.904Z,1755882840.904 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:00.952Z,1755882840.952 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:00.952Z,1755882840.952 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:01.240Z,1755882841.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.799988 m,
      deltaT: 3.789653 s,
      deltaX: -17.000000 m,
      approachRate: -4.485899 m/s,
      rangeRepo size: 4

2025-08-22T17:14:01.246Z,1755882841.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 257.167725 m,
      bearing: 335.852888 deg,
      lat: 36.779491 deg,
      lon: -121.859504 deg,
      deltaT: 3.789653 s,
      deltaX: -16.895691 m,
      approachRate: -4.458374 m/s,
      posRepo size: 4

2025-08-22T17:14:01.247Z,1755882841.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:01.254Z,1755882841.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 249.345978 m,
      bearing: 331.211349 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032643 deg/s,
      cmd heading: 334.661156 deg,
      new cmd heading: 334.690524 deg.

2025-08-22T17:14:01.255Z,1755882841.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841452 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:01.597Z,1755882841.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:01.600Z,1755882841.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 249.193604 m,
      bearing: 331.222232 deg,
      approach rate: -0.426551 m/s,
      LOS rate: 0.030483 deg/s,
      cmd heading: 334.690525 deg,
      new cmd heading: 334.712304 deg.

2025-08-22T17:14:01.600Z,1755882841.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841832 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:01.973Z,1755882841.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:01.976Z,1755882841.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 249.021149 m,
      bearing: 331.233771 deg,
      approach rate: -0.458133 m/s,
      LOS rate: 0.030674 deg/s,
      cmd heading: 334.712300 deg,
      new cmd heading: 334.735393 deg.

2025-08-22T17:14:01.977Z,1755882841.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842235 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:02.407Z,1755882842.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:02.410Z,1755882842.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 248.831299 m,
      bearing: 331.245858 deg,
      approach rate: -0.437187 m/s,
      LOS rate: 0.027856 deg/s,
      cmd heading: 334.735386 deg,
      new cmd heading: 334.759579 deg.

2025-08-22T17:14:02.411Z,1755882842.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842657 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:02.776Z,1755882842.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:02.779Z,1755882842.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:02.782Z,1755882842.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 248.668808 m,
      bearing: 331.255994 deg,
      approach rate: -0.437538 m/s,
      LOS rate: 0.027312 deg/s,
      cmd heading: 334.759592 deg,
      new cmd heading: 334.779879 deg.

2025-08-22T17:14:02.783Z,1755882842.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843011 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:02.899Z,1755882842.899 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:02.899Z,1755882842.899 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:02.900Z,1755882842.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:03.151Z,1755882843.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248367
2025-08-22T17:14:03.224Z,1755882843.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:03.227Z,1755882843.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 248.477890 m,
      bearing: 331.267143 deg,
      approach rate: -0.429001 m/s,
      LOS rate: 0.025070 deg/s,
      cmd heading: 334.779892 deg,
      new cmd heading: 334.802206 deg.

2025-08-22T17:14:03.228Z,1755882843.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843401 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:03.403Z,1755882843.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500458
2025-08-22T17:14:03.578Z,1755882843.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:03.581Z,1755882843.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 248.325821 m,
      bearing: 331.275858 deg,
      approach rate: -0.429056 m/s,
      LOS rate: 0.024603 deg/s,
      cmd heading: 334.802213 deg,
      new cmd heading: 334.819653 deg.

2025-08-22T17:14:03.582Z,1755882843.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843705 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:03.656Z,1755882843.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753485
2025-08-22T17:14:03.907Z,1755882843.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004489
2025-08-22T17:14:03.989Z,1755882843.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:03.992Z,1755882843.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 248.149216 m,
      bearing: 331.285812 deg,
      approach rate: -0.429861 m/s,
      LOS rate: 0.024246 deg/s,
      cmd heading: 334.819643 deg,
      new cmd heading: 334.839566 deg.

2025-08-22T17:14:03.993Z,1755882843.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844053 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:04.162Z,1755882844.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258892
2025-08-22T17:14:04.411Z,1755882844.411 [DAT](INFO): DAT read: Rx Time:17:14:04.8352

2025-08-22T17:14:04.411Z,1755882844.411 [DAT](INFO): Rx dataTimestamp_ set to:1755882844.410838
2025-08-22T17:14:04.412Z,1755882844.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509640
2025-08-22T17:14:04.419Z,1755882844.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:04.422Z,1755882844.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 247.961533 m,
      bearing: 331.296646 deg,
      approach rate: -0.436655 m/s,
      LOS rate: 0.025224 deg/s,
      cmd heading: 334.839560 deg,
      new cmd heading: 334.861244 deg.

2025-08-22T17:14:04.423Z,1755882844.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844431 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:04.663Z,1755882844.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760455
2025-08-22T17:14:04.796Z,1755882844.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:04.798Z,1755882844.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.17 m.
2025-08-22T17:14:04.801Z,1755882844.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.167725 m,
      nav range: 247.793839 m,
      bearing: 331.306235 deg,
      approach rate: -0.441673 m/s,
      LOS rate: 0.025273 deg/s,
      cmd heading: 334.861253 deg,
      new cmd heading: 334.880444 deg.

2025-08-22T17:14:04.818Z,1755882844.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844766 target range: 257.167725 and range: 258.80 m.
2025-08-22T17:14:04.923Z,1755882844.923 [DAT](INFO): DAT read: 17:14:04.8352 LVL= 29168, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.03,-2.751, 1.793,-2.552,-2.927, PHS= 0.278,-1.518, 0.331, RAW= 151.4,  10.0, CAL= 151.2,  10.9, ROT= 358.8, -10.9

2025-08-22T17:14:04.925Z,1755882844.925 [DAT](INFO): got valid direction response:
 17:14:04.8352 LVL= 29168, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.03,-2.751, 1.793,-2.552,-2.927, PHS= 0.278,-1.518, 0.331, RAW= 151.4,  10.0, CAL= 151.2,  10.9, ROT= 358.8, -10.9

2025-08-22T17:14:04.926Z,1755882844.926 [DAT](INFO): DAT read: Bearing 151.3,  -3.2 (Local)

2025-08-22T17:14:04.927Z,1755882844.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3,  -3.2 (Local)

2025-08-22T17:14:04.928Z,1755882844.928 [DAT](INFO): DAT read: Range 11 to 50 : 257.1 m  (Round-trip  342.9 ms) speed  0.4 m/s

2025-08-22T17:14:04.929Z,1755882844.929 [DAT](INFO): DAT read: user:531>

2025-08-22T17:14:04.938Z,1755882844.938 [DAT](INFO): DAT read: Tx time:17:14:05.9381

2025-08-22T17:14:04.938Z,1755882844.938 [DAT](INFO): Ping request sent.
2025-08-22T17:14:04.938Z,1755882844.938 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:04.939Z,1755882844.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:04.940Z,1755882844.940 [DAT](INFO): direction in FSK: [0.981743,-0.020565,0.189095]
2025-08-22T17:14:04.940Z,1755882844.940 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:04.940Z,1755882844.940 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:04.944Z,1755882844.944 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:04.944Z,1755882844.944 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:05.253Z,1755882845.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.100006 m,
      deltaT: 4.030509 s,
      deltaX: -1.699982 m,
      approachRate: -0.421778 m/s,
      rangeRepo size: 4

2025-08-22T17:14:05.256Z,1755882845.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.477356 m,
      bearing: 331.449954 deg,
      lat: 36.779491 deg,
      lon: -121.859526 deg,
      deltaT: 4.030509 s,
      deltaX: -1.690369 m,
      approachRate: -0.419393 m/s,
      posRepo size: 4

2025-08-22T17:14:05.256Z,1755882845.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:05.259Z,1755882845.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 248.545700 m,
      bearing: 330.914427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025273 deg/s,
      cmd heading: 334.880432 deg,
      new cmd heading: 334.903375 deg.

2025-08-22T17:14:05.260Z,1755882845.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845167 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:05.699Z,1755882845.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:05.702Z,1755882845.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 248.335434 m,
      bearing: 330.924803 deg,
      approach rate: -0.471058 m/s,
      LOS rate: 0.023265 deg/s,
      cmd heading: 334.903381 deg,
      new cmd heading: 334.924151 deg.

2025-08-22T17:14:05.703Z,1755882845.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845529 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:06.288Z,1755882846.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:06.295Z,1755882846.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 248.070038 m,
      bearing: 330.938401 deg,
      approach rate: -0.450690 m/s,
      LOS rate: 0.023116 deg/s,
      cmd heading: 334.924145 deg,
      new cmd heading: 334.951370 deg.

2025-08-22T17:14:06.296Z,1755882846.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846004 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:06.791Z,1755882846.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:06.794Z,1755882846.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 247.837311 m,
      bearing: 330.950202 deg,
      approach rate: -0.461960 m/s,
      LOS rate: 0.023447 deg/s,
      cmd heading: 334.951357 deg,
      new cmd heading: 334.974981 deg.

2025-08-22T17:14:06.795Z,1755882846.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846416 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:07.392Z,1755882847.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:07.395Z,1755882847.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:07.398Z,1755882847.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 247.558273 m,
      bearing: 330.963969 deg,
      approach rate: -0.461970 m/s,
      LOS rate: 0.022819 deg/s,
      cmd heading: 334.974989 deg,
      new cmd heading: 335.002555 deg.

2025-08-22T17:14:07.399Z,1755882847.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846898 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:07.442Z,1755882847.442 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:07.442Z,1755882847.442 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:07.443Z,1755882847.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:07.694Z,1755882847.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756014
2025-08-22T17:14:07.735Z,1755882847.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:07.738Z,1755882847.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 247.401474 m,
      bearing: 330.971463 deg,
      approach rate: -0.462171 m/s,
      LOS rate: 0.022102 deg/s,
      cmd heading: 335.002556 deg,
      new cmd heading: 335.017553 deg.

2025-08-22T17:14:07.739Z,1755882847.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847159 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:07.947Z,1755882847.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008272
2025-08-22T17:14:08.209Z,1755882848.209 [DAT](INFO): DAT read: Rx Time:17:14:08.6827

2025-08-22T17:14:08.211Z,1755882848.211 [DAT](INFO): Rx dataTimestamp_ set to:1755882848.209836
2025-08-22T17:14:08.212Z,1755882848.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273591
2025-08-22T17:14:08.230Z,1755882848.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:08.240Z,1755882848.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 247.194443 m,
      bearing: 330.981243 deg,
      approach rate: -0.423036 m/s,
      LOS rate: 0.020002 deg/s,
      cmd heading: 335.017555 deg,
      new cmd heading: 335.037132 deg.

2025-08-22T17:14:08.240Z,1755882848.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847501 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:08.459Z,1755882848.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520167
2025-08-22T17:14:08.652Z,1755882848.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.48 m.
2025-08-22T17:14:08.659Z,1755882848.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.477356 m,
      nav range: 246.987961 m,
      bearing: 330.990821 deg,
      approach rate: -0.482292 m/s,
      LOS rate: 0.022390 deg/s,
      cmd heading: 335.037144 deg,
      new cmd heading: 335.056315 deg.

2025-08-22T17:14:08.660Z,1755882848.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847836 target range: 255.477356 and range: 257.10 m.
2025-08-22T17:14:08.718Z,1755882848.718 [DAT](INFO): DAT read: 17:14:08.6827 LVL= 30768, 32753, 28306, 32755, AGC= 70, IDX= 410,-0.01,-1.385,-3.079,-0.999,-1.480, PHS= 0.197,-1.555, 0.437, RAW= 156.3,   9.8, CAL= 156.2,  10.6, ROT= 353.8, -10.6

2025-08-22T17:14:08.719Z,1755882848.719 [DAT](INFO): got valid direction response:
 17:14:08.6827 LVL= 30768, 32753, 28306, 32755, AGC= 70, IDX= 410,-0.01,-1.385,-3.079,-0.999,-1.480, PHS= 0.197,-1.555, 0.437, RAW= 156.3,   9.8, CAL= 156.2,  10.6, ROT= 353.8, -10.6

2025-08-22T17:14:08.721Z,1755882848.721 [DAT](INFO): DAT read: Bearing 153.3,  -9.3 (Local)

2025-08-22T17:14:08.721Z,1755882848.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3,  -9.3 (Local)

2025-08-22T17:14:08.723Z,1755882848.723 [DAT](INFO): DAT read: Range 11 to 50 : 255.3 m  (Round-trip  340.4 ms) speed  0.4 m/s

2025-08-22T17:14:08.724Z,1755882848.724 [DAT](INFO): DAT read: user:532>

2025-08-22T17:14:08.738Z,1755882848.738 [DAT](INFO): DAT read: Tx time:17:14:09.7881

2025-08-22T17:14:08.739Z,1755882848.739 [DAT](INFO): Ping request sent.
2025-08-22T17:14:08.739Z,1755882848.739 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:08.739Z,1755882848.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:08.741Z,1755882848.741 [DAT](INFO): direction in FSK: [0.977186,-0.106156,0.183951]
2025-08-22T17:14:08.741Z,1755882848.741 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:08.746Z,1755882848.746 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:08.754Z,1755882848.754 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:08.755Z,1755882848.755 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:08.964Z,1755882848.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.300003 m,
      deltaT: 3.796053 s,
      deltaX: -1.800003 m,
      approachRate: -0.474178 m/s,
      rangeRepo size: 4

2025-08-22T17:14:08.971Z,1755882848.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 253.685577 m,
      bearing: 328.278467 deg,
      lat: 36.779481 deg,
      lon: -121.859531 deg,
      deltaT: 3.796053 s,
      deltaX: -1.791779 m,
      approachRate: -0.472011 m/s,
      posRepo size: 4

2025-08-22T17:14:08.971Z,1755882848.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:08.979Z,1755882848.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 246.133713 m,
      bearing: 330.796642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022390 deg/s,
      cmd heading: 335.056323 deg,
      new cmd heading: 335.070257 deg.

2025-08-22T17:14:08.980Z,1755882848.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848079 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:09.402Z,1755882849.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:09.404Z,1755882849.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:09.411Z,1755882849.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 245.927399 m,
      bearing: 330.805328 deg,
      approach rate: -0.468500 m/s,
      LOS rate: 0.019739 deg/s,
      cmd heading: 335.070257 deg,
      new cmd heading: 335.087641 deg.

2025-08-22T17:14:09.412Z,1755882849.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848382 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:09.466Z,1755882849.466 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:09.466Z,1755882849.466 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:09.467Z,1755882849.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:09.719Z,1755882849.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980738
2025-08-22T17:14:09.809Z,1755882849.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:09.811Z,1755882849.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 245.719162 m,
      bearing: 330.814053 deg,
      approach rate: -0.514498 m/s,
      LOS rate: 0.021577 deg/s,
      cmd heading: 335.087633 deg,
      new cmd heading: 335.105098 deg.

2025-08-22T17:14:09.812Z,1755882849.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848687 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:09.971Z,1755882849.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231814
2025-08-22T17:14:10.226Z,1755882850.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486953
2025-08-22T17:14:10.283Z,1755882850.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:10.290Z,1755882850.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 245.507843 m,
      bearing: 330.822866 deg,
      approach rate: -0.445626 m/s,
      LOS rate: 0.018600 deg/s,
      cmd heading: 335.105091 deg,
      new cmd heading: 335.122731 deg.

2025-08-22T17:14:10.291Z,1755882850.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848995 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:10.475Z,1755882850.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736525
2025-08-22T17:14:10.727Z,1755882850.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987900
2025-08-22T17:14:10.790Z,1755882850.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:10.792Z,1755882850.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 245.254532 m,
      bearing: 330.833664 deg,
      approach rate: -0.503664 m/s,
      LOS rate: 0.021492 deg/s,
      cmd heading: 335.122740 deg,
      new cmd heading: 335.144358 deg.

2025-08-22T17:14:10.798Z,1755882850.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849372 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:10.979Z,1755882850.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239970
2025-08-22T17:14:11.235Z,1755882851.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495395
2025-08-22T17:14:11.347Z,1755882851.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:11.349Z,1755882851.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 244.997162 m,
      bearing: 330.843779 deg,
      approach rate: -0.458887 m/s,
      LOS rate: 0.018055 deg/s,
      cmd heading: 335.144351 deg,
      new cmd heading: 335.164603 deg.

2025-08-22T17:14:11.355Z,1755882851.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849726 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:11.483Z,1755882851.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743820
2025-08-22T17:14:11.735Z,1755882851.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995884
2025-08-22T17:14:11.810Z,1755882851.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:11.812Z,1755882851.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:11.815Z,1755882851.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 244.771439 m,
      bearing: 330.852610 deg,
      approach rate: -0.484505 m/s,
      LOS rate: 0.018972 deg/s,
      cmd heading: 335.164595 deg,
      new cmd heading: 335.182272 deg.

2025-08-22T17:14:11.816Z,1755882851.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850034 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:11.987Z,1755882851.987 [DAT](INFO): DAT read: Rx Time:17:14:12.5302

2025-08-22T17:14:11.987Z,1755882851.987 [DAT](INFO): Rx dataTimestamp_ set to:1755882851.986829
2025-08-22T17:14:11.988Z,1755882851.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248989
2025-08-22T17:14:12.238Z,1755882852.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499721
2025-08-22T17:14:12.309Z,1755882852.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.69 m.
2025-08-22T17:14:12.312Z,1755882852.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.685577 m,
      nav range: 244.581619 m,
      bearing: 330.860027 deg,
      approach rate: -0.385158 m/s,
      LOS rate: 0.015061 deg/s,
      cmd heading: 335.182272 deg,
      new cmd heading: 335.197117 deg.

2025-08-22T17:14:12.313Z,1755882852.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850293 target range: 253.685577 and range: 255.30 m.
2025-08-22T17:14:12.496Z,1755882852.496 [DAT](INFO): DAT read: 17:14:12.5302 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.32,-3.022, 1.689,-2.539,-3.062, PHS= 0.143,-1.487, 0.479, RAW= 159.2,   9.5, CAL= 159.1,  10.2, ROT= 350.9, -10.2

2025-08-22T17:14:12.497Z,1755882852.497 [DAT](INFO): got valid direction response:
 17:14:12.5302 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.32,-3.022, 1.689,-2.539,-3.062, PHS= 0.143,-1.487, 0.479, RAW= 159.2,   9.5, CAL= 159.1,  10.2, ROT= 350.9, -10.2

2025-08-22T17:14:12.498Z,1755882852.498 [DAT](INFO): DAT read: Bearing 153.3, -12.8 (Local)

2025-08-22T17:14:12.499Z,1755882852.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3, -12.8 (Local)

2025-08-22T17:14:12.500Z,1755882852.500 [DAT](INFO): DAT read: Range 11 to 50 : 253.5 m  (Round-trip  338.0 ms) speed  0.3 m/s

2025-08-22T17:14:12.501Z,1755882852.501 [DAT](INFO): DAT read: user:533>

2025-08-22T17:14:12.502Z,1755882852.502 [DAT](INFO): DAT read: Tx time:17:14:13.6380

2025-08-22T17:14:12.502Z,1755882852.502 [DAT](INFO): Ping request sent.
2025-08-22T17:14:12.502Z,1755882852.502 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:12.503Z,1755882852.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:12.504Z,1755882852.504 [DAT](INFO): direction in FSK: [0.971808,-0.155659,0.177085]
2025-08-22T17:14:12.504Z,1755882852.504 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:12.504Z,1755882852.504 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:12.507Z,1755882852.507 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:12.508Z,1755882852.508 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:12.684Z,1755882852.684 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022721013219,35.0, +10.2,   0.0,1  0.00,  82.15,  88.26,  79.77,  89.96
2025-08-22T17:14:12.727Z,1755882852.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.500000 m,
      deltaT: 3.779950 s,
      deltaX: -1.800003 m,
      approachRate: -0.476198 m/s,
      rangeRepo size: 4

2025-08-22T17:14:12.733Z,1755882852.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 251.897507 m,
      bearing: 326.151172 deg,
      lat: 36.779481 deg,
      lon: -121.859674 deg,
      deltaT: 3.779950 s,
      deltaX: -1.788071 m,
      approachRate: -0.473041 m/s,
      posRepo size: 4

2025-08-22T17:14:12.734Z,1755882852.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:12.737Z,1755882852.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 250.782791 m,
      bearing: 328.331857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015061 deg/s,
      cmd heading: 335.197107 deg,
      new cmd heading: 335.209798 deg.

2025-08-22T17:14:12.743Z,1755882852.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850515 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:13.112Z,1755882853.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:13.117Z,1755882853.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 250.597565 m,
      bearing: 328.337011 deg,
      approach rate: -0.481004 m/s,
      LOS rate: 0.013394 deg/s,
      cmd heading: 335.209811 deg,
      new cmd heading: 335.220127 deg.

2025-08-22T17:14:13.118Z,1755882853.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850695 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:13.531Z,1755882853.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:13.533Z,1755882853.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 250.393738 m,
      bearing: 328.341055 deg,
      approach rate: -0.486466 m/s,
      LOS rate: 0.009659 deg/s,
      cmd heading: 335.220138 deg,
      new cmd heading: 335.228232 deg.

2025-08-22T17:14:13.534Z,1755882853.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850836 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:13.910Z,1755882853.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:13.912Z,1755882853.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:13.915Z,1755882853.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 250.211365 m,
      bearing: 328.344638 deg,
      approach rate: -0.478055 m/s,
      LOS rate: 0.009399 deg/s,
      cmd heading: 335.228225 deg,
      new cmd heading: 335.235396 deg.

2025-08-22T17:14:13.916Z,1755882853.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850961 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:14.003Z,1755882854.003 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:14.003Z,1755882854.003 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:14.004Z,1755882854.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:14.255Z,1755882854.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752122
2025-08-22T17:14:14.375Z,1755882854.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:14.378Z,1755882854.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 249.986435 m,
      bearing: 328.348055 deg,
      approach rate: -0.487193 m/s,
      LOS rate: 0.007407 deg/s,
      cmd heading: 335.235383 deg,
      new cmd heading: 335.242222 deg.

2025-08-22T17:14:14.379Z,1755882854.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851080 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:14.507Z,1755882854.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004162
2025-08-22T17:14:14.725Z,1755882854.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:14.727Z,1755882854.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 249.812317 m,
      bearing: 328.350648 deg,
      approach rate: -0.496432 m/s,
      LOS rate: 0.007399 deg/s,
      cmd heading: 335.242214 deg,
      new cmd heading: 335.247404 deg.

2025-08-22T17:14:14.728Z,1755882854.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851171 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:14.759Z,1755882854.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256252
2025-08-22T17:14:15.010Z,1755882855.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507921
2025-08-22T17:14:15.155Z,1755882855.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:15.159Z,1755882855.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 249.601654 m,
      bearing: 328.353790 deg,
      approach rate: -0.489539 m/s,
      LOS rate: 0.007309 deg/s,
      cmd heading: 335.247404 deg,
      new cmd heading: 335.253695 deg.

2025-08-22T17:14:15.161Z,1755882855.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851281 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:15.267Z,1755882855.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763738
2025-08-22T17:14:15.515Z,1755882855.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012125
2025-08-22T17:14:15.575Z,1755882855.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:15.578Z,1755882855.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 249.392990 m,
      bearing: 328.356722 deg,
      approach rate: -0.496190 m/s,
      LOS rate: 0.006978 deg/s,
      cmd heading: 335.253688 deg,
      new cmd heading: 335.259557 deg.

2025-08-22T17:14:15.581Z,1755882855.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851383 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:15.767Z,1755882855.767 [DAT](INFO): DAT read: Rx Time:17:14:16.3778

2025-08-22T17:14:15.767Z,1755882855.767 [DAT](INFO): Rx dataTimestamp_ set to:1755882855.766708
2025-08-22T17:14:15.768Z,1755882855.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265122
2025-08-22T17:14:15.951Z,1755882855.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:15.953Z,1755882855.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.90 m.
2025-08-22T17:14:15.956Z,1755882855.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.897507 m,
      nav range: 249.215195 m,
      bearing: 328.359115 deg,
      approach rate: -0.470908 m/s,
      LOS rate: 0.006340 deg/s,
      cmd heading: 335.259562 deg,
      new cmd heading: 335.264350 deg.

2025-08-22T17:14:15.957Z,1755882855.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851467 target range: 251.897507 and range: 253.50 m.
2025-08-22T17:14:16.019Z,1755882856.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516523
2025-08-22T17:14:16.291Z,1755882856.291 [DAT](INFO): DAT read: 17:14:16.3778 LVL= 32752, 31425, 31154, 32755, AGC= 68, IDX= 408, 0.50,-2.363, 2.394,-1.792,-2.393, PHS= 0.132,-1.452, 0.556, RAW= 161.6,   8.4, CAL= 161.2,   8.7, ROT= 348.8,  -8.7

2025-08-22T17:14:16.307Z,1755882856.307 [DAT](INFO): got valid direction response:
 17:14:16.3778 LVL= 32752, 31425, 31154, 32755, AGC= 68, IDX= 408, 0.50,-2.363, 2.394,-1.792,-2.393, PHS= 0.132,-1.452, 0.556, RAW= 161.6,   8.4, CAL= 161.2,   8.7, ROT= 348.8,  -8.7

2025-08-22T17:14:16.332Z,1755882856.332 [DAT](INFO): DAT read: Bearing 151.8, -15.2 (Local)

2025-08-22T17:14:16.333Z,1755882856.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8, -15.2 (Local)

2025-08-22T17:14:16.353Z,1755882856.353 [DAT](INFO): DAT read: Range 11 to 50 : 251.7 m  (Round-trip  335.6 ms) speed  0.3 m/s

2025-08-22T17:14:16.360Z,1755882856.360 [DAT](INFO): DAT read: user:534>

2025-08-22T17:14:16.361Z,1755882856.361 [DAT](INFO): DAT read: Tx time:17:14:17.4880

2025-08-22T17:14:16.361Z,1755882856.361 [DAT](INFO): Ping request sent.
2025-08-22T17:14:16.361Z,1755882856.361 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:16.402Z,1755882856.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:16.411Z,1755882856.411 [DAT](INFO): direction in FSK: [0.969668,-0.192000,0.151261]
2025-08-22T17:14:16.412Z,1755882856.412 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:16.412Z,1755882856.412 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:16.427Z,1755882856.427 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:16.428Z,1755882856.428 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:16.518Z,1755882856.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.699997 m,
      deltaT: 3.783757 s,
      deltaX: -1.800003 m,
      approachRate: -0.475718 m/s,
      rangeRepo size: 4

2025-08-22T17:14:16.520Z,1755882856.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.113480 m,
      bearing: 324.659015 deg,
      lat: 36.779481 deg,
      lon: -121.859674 deg,
      deltaT: 3.783757 s,
      deltaX: -1.784027 m,
      approachRate: -0.471496 m/s,
      posRepo size: 4

2025-08-22T17:14:16.521Z,1755882856.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:16.532Z,1755882856.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 248.936478 m,
      bearing: 328.363507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006340 deg/s,
      cmd heading: 335.264343 deg,
      new cmd heading: 335.271501 deg.

2025-08-22T17:14:16.538Z,1755882856.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851592 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:17.036Z,1755882857.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:17.043Z,1755882857.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 248.686569 m,
      bearing: 328.367358 deg,
      approach rate: -0.482258 m/s,
      LOS rate: 0.007439 deg/s,
      cmd heading: 335.271501 deg,
      new cmd heading: 335.279211 deg.

2025-08-22T17:14:17.044Z,1755882857.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851726 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:17.535Z,1755882857.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:17.542Z,1755882857.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 248.433197 m,
      bearing: 328.371244 deg,
      approach rate: -0.507595 m/s,
      LOS rate: 0.007793 deg/s,
      cmd heading: 335.279206 deg,
      new cmd heading: 335.286986 deg.

2025-08-22T17:14:17.543Z,1755882857.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851862 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:17.899Z,1755882857.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:17.902Z,1755882857.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 248.238205 m,
      bearing: 328.374214 deg,
      approach rate: -0.534848 m/s,
      LOS rate: 0.008153 deg/s,
      cmd heading: 335.286992 deg,
      new cmd heading: 335.292937 deg.

2025-08-22T17:14:17.903Z,1755882857.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851966 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:18.302Z,1755882858.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:18.304Z,1755882858.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:18.337Z,1755882858.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 248.033279 m,
      bearing: 328.377304 deg,
      approach rate: -0.506038 m/s,
      LOS rate: 0.007637 deg/s,
      cmd heading: 335.292948 deg,
      new cmd heading: 335.299133 deg.

2025-08-22T17:14:18.345Z,1755882858.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852074 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:18.538Z,1755882858.538 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:18.538Z,1755882858.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:18.539Z,1755882858.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:18.741Z,1755882858.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:18.744Z,1755882858.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 247.809708 m,
      bearing: 328.381163 deg,
      approach rate: -0.511935 m/s,
      LOS rate: 0.008844 deg/s,
      cmd heading: 335.299123 deg,
      new cmd heading: 335.306847 deg.

2025-08-22T17:14:18.745Z,1755882858.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852209 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:18.791Z,1755882858.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.429485
2025-08-22T17:14:19.043Z,1755882859.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.681681
2025-08-22T17:14:19.130Z,1755882859.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:19.133Z,1755882859.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 247.610916 m,
      bearing: 328.384597 deg,
      approach rate: -0.511628 m/s,
      LOS rate: 0.008844 deg/s,
      cmd heading: 335.306854 deg,
      new cmd heading: 335.313727 deg.

2025-08-22T17:14:19.134Z,1755882859.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852329 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:19.295Z,1755882859.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933433
2025-08-22T17:14:19.547Z,1755882859.547 [DAT](INFO): DAT read: Rx Time:17:14:20.2250

2025-08-22T17:14:19.547Z,1755882859.547 [DAT](INFO): Rx dataTimestamp_ set to:1755882859.546762
2025-08-22T17:14:19.548Z,1755882859.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186464
2025-08-22T17:14:19.634Z,1755882859.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:19.637Z,1755882859.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 247.347900 m,
      bearing: 328.389232 deg,
      approach rate: -0.521866 m/s,
      LOS rate: 0.009207 deg/s,
      cmd heading: 335.313739 deg,
      new cmd heading: 335.323019 deg.

2025-08-22T17:14:19.638Z,1755882859.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852491 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:19.799Z,1755882859.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.437394
2025-08-22T17:14:19.814Z,1755882859.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:14:19.962Z,1755882859.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.11 m.
2025-08-22T17:14:19.965Z,1755882859.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.113480 m,
      nav range: 247.176437 m,
      bearing: 328.392247 deg,
      approach rate: -0.521740 m/s,
      LOS rate: 0.009181 deg/s,
      cmd heading: 335.323028 deg,
      new cmd heading: 335.329063 deg.

2025-08-22T17:14:19.982Z,1755882859.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852596 target range: 250.113480 and range: 251.70 m.
2025-08-22T17:14:20.054Z,1755882860.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692806
2025-08-22T17:14:20.312Z,1755882860.312 [DAT](INFO): DAT read: 17:14:20.2250 LVL= 23600, 28961, 23154, 31923, AGC= 73, IDX= 413,-0.02, 1.485,-0.224, 2.034, 1.375, PHS= 0.212,-1.553, 0.616, RAW= 160.1,   7.3, CAL= 159.6,   7.3, ROT= 350.4,  -7.3

2025-08-22T17:14:20.313Z,1755882860.313 [DAT](INFO): got valid direction response:
 17:14:20.2250 LVL= 23600, 28961, 23154, 31923, AGC= 73, IDX= 413,-0.02, 1.485,-0.224, 2.034, 1.375, PHS= 0.212,-1.553, 0.616, RAW= 160.1,   7.3, CAL= 159.6,   7.3, ROT= 350.4,  -7.3

2025-08-22T17:14:20.314Z,1755882860.314 [DAT](INFO): DAT read: Bearing 150.2, -13.6 (Local)

2025-08-22T17:14:20.315Z,1755882860.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.2, -13.6 (Local)

2025-08-22T17:14:20.316Z,1755882860.316 [DAT](INFO): DAT read: Range 11 to 50 : 249.6 m  (Round-trip  332.9 ms) speed  0.1 m/s

2025-08-22T17:14:20.317Z,1755882860.317 [DAT](INFO): DAT read: user:535>

2025-08-22T17:14:20.317Z,1755882860.317 [DAT](INFO): DAT read: Tx time:17:14:21.3380

2025-08-22T17:14:20.318Z,1755882860.318 [DAT](INFO): Ping request sent.
2025-08-22T17:14:20.318Z,1755882860.318 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:20.318Z,1755882860.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:20.319Z,1755882860.319 [DAT](INFO): direction in FSK: [0.978004,-0.165417,0.127065]
2025-08-22T17:14:20.319Z,1755882860.319 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:20.320Z,1755882860.320 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:20.324Z,1755882860.324 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:20.324Z,1755882860.324 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:20.548Z,1755882860.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.600006 m,
      deltaT: 4.032158 s,
      deltaX: -2.099991 m,
      approachRate: -0.520811 m/s,
      rangeRepo size: 4

2025-08-22T17:14:20.559Z,1755882860.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.029221 m,
      bearing: 326.642924 deg,
      lat: 36.779452 deg,
      lon: -121.859751 deg,
      deltaT: 4.032158 s,
      deltaX: -2.084259 m,
      approachRate: -0.516909 m/s,
      posRepo size: 4

2025-08-22T17:14:20.560Z,1755882860.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:20.567Z,1755882860.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 247.863281 m,
      bearing: 326.643702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009181 deg/s,
      cmd heading: 335.329066 deg,
      new cmd heading: 335.339804 deg.

2025-08-22T17:14:20.568Z,1755882860.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852784 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:20.818Z,1755882860.818 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:14:20.881Z,1755882860.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:20.884Z,1755882860.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:20.886Z,1755882860.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 247.684692 m,
      bearing: 326.646583 deg,
      approach rate: -0.530611 m/s,
      LOS rate: 0.008565 deg/s,
      cmd heading: 335.339803 deg,
      new cmd heading: 335.345569 deg.

2025-08-22T17:14:20.887Z,1755882860.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852884 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:21.062Z,1755882861.062 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:21.063Z,1755882861.063 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:21.063Z,1755882861.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:21.269Z,1755882861.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:21.272Z,1755882861.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 247.477234 m,
      bearing: 326.649908 deg,
      approach rate: -0.538172 m/s,
      LOS rate: 0.008632 deg/s,
      cmd heading: 335.345568 deg,
      new cmd heading: 335.352223 deg.

2025-08-22T17:14:21.273Z,1755882861.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853001 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:21.316Z,1755882861.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997685
2025-08-22T17:14:21.567Z,1755882861.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248649
2025-08-22T17:14:21.767Z,1755882861.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:21.774Z,1755882861.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 247.232056 m,
      bearing: 326.654024 deg,
      approach rate: -0.492271 m/s,
      LOS rate: 0.008273 deg/s,
      cmd heading: 335.352234 deg,
      new cmd heading: 335.360475 deg.

2025-08-22T17:14:21.775Z,1755882861.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853145 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:21.820Z,1755882861.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501418
2025-08-22T17:14:22.073Z,1755882862.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754348
2025-08-22T17:14:22.136Z,1755882862.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:22.139Z,1755882862.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 247.036057 m,
      bearing: 326.657288 deg,
      approach rate: -0.530881 m/s,
      LOS rate: 0.008849 deg/s,
      cmd heading: 335.360485 deg,
      new cmd heading: 335.367019 deg.

2025-08-22T17:14:22.140Z,1755882862.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853259 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:22.323Z,1755882862.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005089
2025-08-22T17:14:22.576Z,1755882862.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257664
2025-08-22T17:14:22.669Z,1755882862.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:22.672Z,1755882862.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 246.760925 m,
      bearing: 326.661450 deg,
      approach rate: -0.516832 m/s,
      LOS rate: 0.007826 deg/s,
      cmd heading: 335.367015 deg,
      new cmd heading: 335.375347 deg.

2025-08-22T17:14:22.673Z,1755882862.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853404 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:22.830Z,1755882862.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511505
2025-08-22T17:14:23.081Z,1755882863.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762520
2025-08-22T17:14:23.189Z,1755882863.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:23.191Z,1755882863.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:23.194Z,1755882863.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 246.492874 m,
      bearing: 326.665458 deg,
      approach rate: -0.512968 m/s,
      LOS rate: 0.007678 deg/s,
      cmd heading: 335.375348 deg,
      new cmd heading: 335.383372 deg.

2025-08-22T17:14:23.195Z,1755882863.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853544 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:23.331Z,1755882863.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012644
2025-08-22T17:14:23.587Z,1755882863.587 [DAT](INFO): DAT read: Rx Time:17:14:24.0726

2025-08-22T17:14:23.587Z,1755882863.587 [DAT](INFO): Rx dataTimestamp_ set to:1755882863.586936
2025-08-22T17:14:23.589Z,1755882863.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270424
2025-08-22T17:14:23.705Z,1755882863.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:23.708Z,1755882863.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 246.222824 m,
      bearing: 326.669962 deg,
      approach rate: -0.525553 m/s,
      LOS rate: 0.008776 deg/s,
      cmd heading: 335.383380 deg,
      new cmd heading: 335.392399 deg.

2025-08-22T17:14:23.709Z,1755882863.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853702 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:23.839Z,1755882863.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520677
2025-08-22T17:14:24.082Z,1755882864.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.03 m.
2025-08-22T17:14:24.099Z,1755882864.099 [DAT](INFO): DAT read: 17:14:24.0726 LVL= 26304, 30321, 24290, 32755, AGC= 69, IDX= 420,-0.29, 1.402,-0.208, 1.953, 1.398, PHS= 0.106,-1.561, 0.511, RAW= 160.6,   9.9, CAL= 160.6,  10.7, ROT= 349.4, -10.7

2025-08-22T17:14:24.100Z,1755882864.100 [DAT](INFO): got valid direction response:
 17:14:24.0726 LVL= 26304, 30321, 24290, 32755, AGC= 69, IDX= 420,-0.29, 1.402,-0.208, 1.953, 1.398, PHS= 0.106,-1.561, 0.511, RAW= 160.6,   9.9, CAL= 160.6,  10.7, ROT= 349.4, -10.7

2025-08-22T17:14:24.101Z,1755882864.101 [DAT](INFO): DAT read: Bearing 153.4, -13.8 (Local)

2025-08-22T17:14:24.102Z,1755882864.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -13.8 (Local)

2025-08-22T17:14:24.103Z,1755882864.103 [DAT](INFO): DAT read: Range 11 to 50 : 247.8 m  (Round-trip  330.4 ms) speed  0.4 m/s

2025-08-22T17:14:24.104Z,1755882864.104 [DAT](INFO): DAT read: user:536>

2025-08-22T17:14:24.104Z,1755882864.104 [DAT](INFO): DAT read: Tx time:17:14:25.1880

2025-08-22T17:14:24.105Z,1755882864.105 [DAT](INFO): Ping request sent.
2025-08-22T17:14:24.105Z,1755882864.105 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:24.105Z,1755882864.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:24.107Z,1755882864.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.029221 m,
      nav range: 246.040634 m,
      bearing: 326.673002 deg,
      approach rate: -0.490253 m/s,
      LOS rate: 0.008185 deg/s,
      cmd heading: 335.392396 deg,
      new cmd heading: 335.398479 deg.

2025-08-22T17:14:24.108Z,1755882864.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853808 target range: 248.029221 and range: 249.60 m.
2025-08-22T17:14:24.110Z,1755882864.110 [DAT](INFO): direction in FSK: [0.965845,-0.180753,0.185667]
2025-08-22T17:14:24.111Z,1755882864.111 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:24.111Z,1755882864.111 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:24.122Z,1755882864.122 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:24.122Z,1755882864.122 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:24.530Z,1755882864.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.800003 m,
      deltaT: 3.785004 s,
      deltaX: -1.800003 m,
      approachRate: -0.475562 m/s,
      rangeRepo size: 4

2025-08-22T17:14:24.532Z,1755882864.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 246.241760 m,
      bearing: 325.759106 deg,
      lat: 36.779438 deg,
      lon: -121.859766 deg,
      deltaT: 3.785004 s,
      deltaX: -1.787460 m,
      approachRate: -0.472248 m/s,
      posRepo size: 4

2025-08-22T17:14:24.533Z,1755882864.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:24.536Z,1755882864.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 245.140198 m,
      bearing: 326.214593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008185 deg/s,
      cmd heading: 335.398488 deg,
      new cmd heading: 335.405900 deg.

2025-08-22T17:14:24.537Z,1755882864.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853937 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:24.900Z,1755882864.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:24.902Z,1755882864.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 244.945892 m,
      bearing: 326.217691 deg,
      approach rate: -0.525015 m/s,
      LOS rate: 0.008377 deg/s,
      cmd heading: 335.405892 deg,
      new cmd heading: 335.412093 deg.

2025-08-22T17:14:24.903Z,1755882864.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854045 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:25.323Z,1755882865.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:25.326Z,1755882865.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:25.328Z,1755882865.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 244.724075 m,
      bearing: 326.221249 deg,
      approach rate: -0.520888 m/s,
      LOS rate: 0.008362 deg/s,
      cmd heading: 335.412094 deg,
      new cmd heading: 335.419216 deg.

2025-08-22T17:14:25.329Z,1755882865.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854170 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T17:04:25.2Z
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:14:25.334Z,1755882865.334 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T17:14:25.350Z,1755882865.350 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:25.350Z,1755882865.350 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:25.351Z,1755882865.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:25.603Z,1755882865.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497732
2025-08-22T17:14:25.752Z,1755882865.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:25.759Z,1755882865.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 244.504364 m,
      bearing: 326.224601 deg,
      approach rate: -0.515146 m/s,
      LOS rate: 0.007867 deg/s,
      cmd heading: 335.419225 deg,
      new cmd heading: 335.425935 deg.

2025-08-22T17:14:25.760Z,1755882865.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854287 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:25.782Z,1755882865.782 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T17:14:25.782Z,1755882865.782 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T17:14:25.783Z,1755882865.783 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T17:14:25.783Z,1755882865.783 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:14:25.783Z,1755882865.783 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T17:14:25.856Z,1755882865.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751138
2025-08-22T17:14:26.107Z,1755882866.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002014
2025-08-22T17:14:26.359Z,1755882866.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253989
2025-08-22T17:14:26.611Z,1755882866.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505760
2025-08-22T17:14:26.863Z,1755882866.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757925
2025-08-22T17:14:26.942Z,1755882866.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:26.945Z,1755882866.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 243.865356 m,
      bearing: 326.229197 deg,
      approach rate: -0.536803 m/s,
      LOS rate: 0.003871 deg/s,
      cmd heading: 335.425946 deg,
      new cmd heading: 335.435162 deg.

2025-08-22T17:14:26.946Z,1755882866.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854448 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:27.114Z,1755882867.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009700
2025-08-22T17:14:27.329Z,1755882867.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:27.331Z,1755882867.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:27.334Z,1755882867.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 243.657318 m,
      bearing: 326.230675 deg,
      approach rate: -0.534771 m/s,
      LOS rate: 0.003804 deg/s,
      cmd heading: 335.435153 deg,
      new cmd heading: 335.438112 deg.

2025-08-22T17:14:27.335Z,1755882867.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854499 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:27.367Z,1755882867.367 [DAT](INFO): DAT read: Rx Time:17:14:27.9198

2025-08-22T17:14:27.368Z,1755882867.368 [DAT](INFO): Rx dataTimestamp_ set to:1755882867.367407
2025-08-22T17:14:27.369Z,1755882867.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263796
2025-08-22T17:14:27.619Z,1755882867.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513740
2025-08-22T17:14:27.719Z,1755882867.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.24 m.
2025-08-22T17:14:27.742Z,1755882867.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.241760 m,
      nav range: 243.452316 m,
      bearing: 326.232177 deg,
      approach rate: -0.528274 m/s,
      LOS rate: 0.003874 deg/s,
      cmd heading: 335.438103 deg,
      new cmd heading: 335.441110 deg.

2025-08-22T17:14:27.743Z,1755882867.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854552 target range: 246.241760 and range: 247.80 m.
2025-08-22T17:14:27.879Z,1755882867.879 [DAT](INFO): DAT read: 17:14:27.9197 LVL= 32752, 32753, 29682, 32755, AGC= 70, IDX= 407,-0.02, 2.261, 0.678, 2.737, 2.266, PHS= 0.097,-1.543, 0.427, RAW= 159.0,  11.1, CAL= 159.1,  12.3, ROT= 350.9, -12.3

2025-08-22T17:14:27.880Z,1755882867.880 [DAT](INFO): got valid direction response:
 17:14:27.9197 LVL= 32752, 32753, 29682, 32755, AGC= 70, IDX= 407,-0.02, 2.261, 0.678, 2.737, 2.266, PHS= 0.097,-1.543, 0.427, RAW= 159.0,  11.1, CAL= 159.1,  12.3, ROT= 350.9, -12.3

2025-08-22T17:14:27.881Z,1755882867.881 [DAT](INFO): DAT read: Bearing 154.7, -11.4 (Local)

2025-08-22T17:14:27.882Z,1755882867.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.7, -11.4 (Local)

2025-08-22T17:14:27.883Z,1755882867.883 [DAT](INFO): DAT read: Range 11 to 50 : 245.7 m  (Round-trip  327.6 ms) speed  0.4 m/s

2025-08-22T17:14:27.884Z,1755882867.884 [DAT](INFO): DAT read: user:537>

2025-08-22T17:14:27.884Z,1755882867.884 [DAT](INFO): DAT read: Tx time:17:14:29.0379

2025-08-22T17:14:27.885Z,1755882867.885 [DAT](INFO): Ping request sent.
2025-08-22T17:14:27.885Z,1755882867.885 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:27.885Z,1755882867.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:27.892Z,1755882867.892 [DAT](INFO): direction in FSK: [0.964748,-0.154528,0.213030]
2025-08-22T17:14:27.892Z,1755882867.892 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:27.892Z,1755882867.892 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:27.899Z,1755882867.899 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:27.900Z,1755882867.900 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:28.140Z,1755882868.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.699997 m,
      deltaT: 3.779633 s,
      deltaX: -2.100006 m,
      approachRate: -0.555611 m/s,
      rangeRepo size: 4

2025-08-22T17:14:28.142Z,1755882868.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 244.158035 m,
      bearing: 327.117579 deg,
      lat: 36.779438 deg,
      lon: -121.859766 deg,
      deltaT: 3.779633 s,
      deltaX: -2.083725 m,
      approachRate: -0.551304 m/s,
      posRepo size: 4

2025-08-22T17:14:28.143Z,1755882868.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:28.146Z,1755882868.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 243.232651 m,
      bearing: 326.233778 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003874 deg/s,
      cmd heading: 335.441109 deg,
      new cmd heading: 335.444362 deg.

2025-08-22T17:14:28.147Z,1755882868.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854609 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:28.619Z,1755882868.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:28.622Z,1755882868.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 242.974472 m,
      bearing: 326.234933 deg,
      approach rate: -0.537903 m/s,
      LOS rate: 0.002408 deg/s,
      cmd heading: 335.444360 deg,
      new cmd heading: 335.446672 deg.

2025-08-22T17:14:28.623Z,1755882868.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854649 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:28.941Z,1755882868.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:28.944Z,1755882868.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 242.802536 m,
      bearing: 326.235671 deg,
      approach rate: -0.534265 m/s,
      LOS rate: 0.002297 deg/s,
      cmd heading: 335.446682 deg,
      new cmd heading: 335.448160 deg.

2025-08-22T17:14:28.945Z,1755882868.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854675 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:29.340Z,1755882869.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:29.359Z,1755882869.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:29.362Z,1755882869.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 242.588287 m,
      bearing: 326.236546 deg,
      approach rate: -0.512927 m/s,
      LOS rate: 0.002096 deg/s,
      cmd heading: 335.448157 deg,
      new cmd heading: 335.449908 deg.

2025-08-22T17:14:29.363Z,1755882869.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854705 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:29.382Z,1755882869.382 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:29.382Z,1755882869.382 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:29.383Z,1755882869.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:29.635Z,1755882869.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750152
2025-08-22T17:14:29.783Z,1755882869.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:29.786Z,1755882869.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 242.372467 m,
      bearing: 326.237264 deg,
      approach rate: -0.508227 m/s,
      LOS rate: 0.001691 deg/s,
      cmd heading: 335.449906 deg,
      new cmd heading: 335.451342 deg.

2025-08-22T17:14:29.787Z,1755882869.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854731 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:29.887Z,1755882869.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001728
2025-08-22T17:14:30.139Z,1755882870.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253703
2025-08-22T17:14:30.155Z,1755882870.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:30.159Z,1755882870.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 242.173599 m,
      bearing: 326.237906 deg,
      approach rate: -0.535752 m/s,
      LOS rate: 0.001731 deg/s,
      cmd heading: 335.451354 deg,
      new cmd heading: 335.452639 deg.

2025-08-22T17:14:30.160Z,1755882870.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854753 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:30.391Z,1755882870.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506324
2025-08-22T17:14:30.630Z,1755882870.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:30.633Z,1755882870.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 241.934753 m,
      bearing: 326.237623 deg,
      approach rate: -0.502763 m/s,
      LOS rate: -0.000596 deg/s,
      cmd heading: 335.452638 deg,
      new cmd heading: 335.452072 deg.

2025-08-22T17:14:30.634Z,1755882870.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854743 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:30.643Z,1755882870.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757753
2025-08-22T17:14:30.895Z,1755882870.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009610
2025-08-22T17:14:30.965Z,1755882870.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:30.968Z,1755882870.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 241.766891 m,
      bearing: 326.237396 deg,
      approach rate: -0.500487 m/s,
      LOS rate: -0.000677 deg/s,
      cmd heading: 335.452064 deg,
      new cmd heading: 335.451610 deg.

2025-08-22T17:14:30.969Z,1755882870.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854735 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:31.149Z,1755882871.149 [DAT](INFO): DAT read: Rx Time:17:14:31.7669

2025-08-22T17:14:31.150Z,1755882871.150 [DAT](INFO): Rx dataTimestamp_ set to:1755882871.149680
2025-08-22T17:14:31.151Z,1755882871.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265903
2025-08-22T17:14:31.372Z,1755882871.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:31.375Z,1755882871.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.16 m.
2025-08-22T17:14:31.379Z,1755882871.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 244.158035 m,
      nav range: 241.561295 m,
      bearing: 326.237088 deg,
      approach rate: -0.501577 m/s,
      LOS rate: -0.000753 deg/s,
      cmd heading: 335.451600 deg,
      new cmd heading: 335.450983 deg.

2025-08-22T17:14:31.380Z,1755882871.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854724 target range: 244.158035 and range: 245.70 m.
2025-08-22T17:14:31.403Z,1755882871.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517703
2025-08-22T17:14:31.675Z,1755882871.675 [DAT](INFO): DAT read: 17:14:31.7669 LVL= 32752, 32753, 28498, 32755, AGC= 67, IDX= 411, 0.10,-1.432,-2.991,-0.987,-1.527, PHS= 0.196,-1.419, 0.496, RAW= 158.4,   8.2, CAL= 158.0,   8.5, ROT= 352.0,  -8.5

2025-08-22T17:14:31.676Z,1755882871.676 [DAT](INFO): got valid direction response:
 17:14:31.7669 LVL= 32752, 32753, 28498, 32755, AGC= 67, IDX= 411, 0.10,-1.432,-2.991,-0.987,-1.527, PHS= 0.196,-1.419, 0.496, RAW= 158.4,   8.2, CAL= 158.0,   8.5, ROT= 352.0,  -8.5

2025-08-22T17:14:31.677Z,1755882871.677 [DAT](INFO): DAT read: Bearing 150.8,  -9.7 (Local)

2025-08-22T17:14:31.678Z,1755882871.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8,  -9.7 (Local)

2025-08-22T17:14:31.682Z,1755882871.682 [DAT](INFO): DAT read: Range 11 to 50 : 243.6 m  (Round-trip  324.9 ms) speed  0.2 m/s

2025-08-22T17:14:31.683Z,1755882871.683 [DAT](INFO): DAT read: user:538>

2025-08-22T17:14:31.683Z,1755882871.683 [DAT](INFO): DAT read: Tx time:17:14:32.8879

2025-08-22T17:14:31.684Z,1755882871.684 [DAT](INFO): Ping request sent.
2025-08-22T17:14:31.684Z,1755882871.684 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:31.684Z,1755882871.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:31.685Z,1755882871.685 [DAT](INFO): direction in FSK: [0.979391,-0.137644,0.147809]
2025-08-22T17:14:31.685Z,1755882871.685 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:31.686Z,1755882871.686 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:31.689Z,1755882871.689 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:31.689Z,1755882871.689 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:31.876Z,1755882871.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.600006 m,
      deltaT: 3.785310 s,
      deltaX: -2.099991 m,
      approachRate: -0.554774 m/s,
      rangeRepo size: 4

2025-08-22T17:14:31.886Z,1755882871.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 242.070923 m,
      bearing: 328.580141 deg,
      lat: 36.779442 deg,
      lon: -121.859751 deg,
      deltaT: 3.785310 s,
      deltaX: -2.087112 m,
      approachRate: -0.551372 m/s,
      posRepo size: 4

2025-08-22T17:14:31.887Z,1755882871.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:31.889Z,1755882871.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 241.000336 m,
      bearing: 326.555494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000753 deg/s,
      cmd heading: 335.450971 deg,
      new cmd heading: 335.450219 deg.

2025-08-22T17:14:31.891Z,1755882871.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854711 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:32.199Z,1755882872.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:32.210Z,1755882872.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 240.835983 m,
      bearing: 326.555533 deg,
      approach rate: -0.506793 m/s,
      LOS rate: 0.000121 deg/s,
      cmd heading: 335.450206 deg,
      new cmd heading: 335.450285 deg.

2025-08-22T17:14:32.211Z,1755882872.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854712 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:32.640Z,1755882872.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:32.643Z,1755882872.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 240.595428 m,
      bearing: 326.557183 deg,
      approach rate: -0.545971 m/s,
      LOS rate: 0.003749 deg/s,
      cmd heading: 335.450288 deg,
      new cmd heading: 335.453592 deg.

2025-08-22T17:14:32.644Z,1755882872.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854770 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:32.977Z,1755882872.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:32.980Z,1755882872.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 240.420151 m,
      bearing: 326.558399 deg,
      approach rate: -0.520371 m/s,
      LOS rate: 0.003614 deg/s,
      cmd heading: 335.453594 deg,
      new cmd heading: 335.456029 deg.

2025-08-22T17:14:32.980Z,1755882872.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854812 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:33.394Z,1755882873.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:33.396Z,1755882873.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:33.399Z,1755882873.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 240.202332 m,
      bearing: 326.559900 deg,
      approach rate: -0.519295 m/s,
      LOS rate: 0.003580 deg/s,
      cmd heading: 335.456026 deg,
      new cmd heading: 335.459029 deg.

2025-08-22T17:14:33.400Z,1755882873.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854865 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:33.419Z,1755882873.419 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:33.419Z,1755882873.419 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:33.419Z,1755882873.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:33.671Z,1755882873.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986707
2025-08-22T17:14:33.802Z,1755882873.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:33.805Z,1755882873.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 239.991974 m,
      bearing: 326.561427 deg,
      approach rate: -0.517965 m/s,
      LOS rate: 0.003765 deg/s,
      cmd heading: 335.459031 deg,
      new cmd heading: 335.462089 deg.

2025-08-22T17:14:33.806Z,1755882873.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854918 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:33.923Z,1755882873.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238793
2025-08-22T17:14:34.176Z,1755882874.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491579
2025-08-22T17:14:34.201Z,1755882874.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:34.224Z,1755882874.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 239.785522 m,
      bearing: 326.562980 deg,
      approach rate: -0.517824 m/s,
      LOS rate: 0.003899 deg/s,
      cmd heading: 335.462091 deg,
      new cmd heading: 335.465200 deg.

2025-08-22T17:14:34.225Z,1755882874.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854972 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:34.427Z,1755882874.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742763
2025-08-22T17:14:34.666Z,1755882874.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:34.669Z,1755882874.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 239.538788 m,
      bearing: 326.566195 deg,
      approach rate: -0.530896 m/s,
      LOS rate: 0.006925 deg/s,
      cmd heading: 335.465206 deg,
      new cmd heading: 335.471642 deg.

2025-08-22T17:14:34.670Z,1755882874.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855085 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:34.679Z,1755882874.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994744
2025-08-22T17:14:34.932Z,1755882874.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248653
2025-08-22T17:14:35.064Z,1755882875.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:35.073Z,1755882875.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 239.337662 m,
      bearing: 326.568847 deg,
      approach rate: -0.505830 m/s,
      LOS rate: 0.006675 deg/s,
      cmd heading: 335.471653 deg,
      new cmd heading: 335.476961 deg.

2025-08-22T17:14:35.078Z,1755882875.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855177 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:35.183Z,1755882875.183 [DAT](INFO): DAT read: Rx Time:17:14:35.6145

2025-08-22T17:14:35.184Z,1755882875.184 [DAT](INFO): Rx dataTimestamp_ set to:1755882875.183380
2025-08-22T17:14:35.185Z,1755882875.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500726
2025-08-22T17:14:35.435Z,1755882875.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750744
2025-08-22T17:14:35.472Z,1755882875.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:35.495Z,1755882875.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.07 m.
2025-08-22T17:14:35.520Z,1755882875.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.070923 m,
      nav range: 239.116684 m,
      bearing: 326.571797 deg,
      approach rate: -0.529469 m/s,
      LOS rate: 0.007076 deg/s,
      cmd heading: 335.476953 deg,
      new cmd heading: 335.482859 deg.

2025-08-22T17:14:35.526Z,1755882875.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855280 target range: 242.070923 and range: 243.60 m.
2025-08-22T17:14:35.692Z,1755882875.692 [DAT](INFO): DAT read: 17:14:35.6145 LVL= 29712, 32753, 23522, 32755, AGC= 67, IDX= 418,-0.13, 2.618, 1.002, 3.064, 2.541, PHS= 0.179,-1.494, 0.478, RAW= 158.1,   9.1, CAL= 157.8,   9.7, ROT= 352.2,  -9.7

2025-08-22T17:14:35.693Z,1755882875.693 [DAT](INFO): got valid direction response:
 17:14:35.6145 LVL= 29712, 32753, 23522, 32755, AGC= 67, IDX= 418,-0.13, 2.618, 1.002, 3.064, 2.541, PHS= 0.179,-1.494, 0.478, RAW= 158.1,   9.1, CAL= 157.8,   9.7, ROT= 352.2,  -9.7

2025-08-22T17:14:35.694Z,1755882875.694 [DAT](INFO): DAT read: Bearing 151.8,  -8.9 (Local)

2025-08-22T17:14:35.695Z,1755882875.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8,  -8.9 (Local)

2025-08-22T17:14:35.696Z,1755882875.696 [DAT](INFO): DAT read: Range 11 to 50 : 241.8 m  (Round-trip  322.4 ms) speed  0.4 m/s

2025-08-22T17:14:35.697Z,1755882875.697 [DAT](INFO): DAT read: user:539>

2025-08-22T17:14:35.698Z,1755882875.698 [DAT](INFO): DAT read: Tx time:17:14:36.7379

2025-08-22T17:14:35.698Z,1755882875.698 [DAT](INFO): Ping request sent.
2025-08-22T17:14:35.698Z,1755882875.698 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:35.698Z,1755882875.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:35.699Z,1755882875.699 [DAT](INFO): direction in FSK: [0.976584,-0.133775,0.168489]
2025-08-22T17:14:35.700Z,1755882875.700 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:35.700Z,1755882875.700 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:35.712Z,1755882875.712 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:35.712Z,1755882875.712 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:35.956Z,1755882875.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.800003 m,
      deltaT: 4.030117 s,
      deltaX: -1.800003 m,
      approachRate: -0.446638 m/s,
      rangeRepo size: 4

2025-08-22T17:14:35.962Z,1755882875.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.281525 m,
      bearing: 328.506188 deg,
      lat: 36.779452 deg,
      lon: -121.859719 deg,
      deltaT: 4.030117 s,
      deltaX: -1.789398 m,
      approachRate: -0.444007 m/s,
      posRepo size: 4

2025-08-22T17:14:35.963Z,1755882875.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:35.965Z,1755882875.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 238.270187 m,
      bearing: 327.305335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007076 deg/s,
      cmd heading: 335.482855 deg,
      new cmd heading: 335.489567 deg.

2025-08-22T17:14:35.970Z,1755882875.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855398 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:36.378Z,1755882876.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:36.381Z,1755882876.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 238.034531 m,
      bearing: 327.309740 deg,
      approach rate: -0.557911 m/s,
      LOS rate: 0.010440 deg/s,
      cmd heading: 335.489576 deg,
      new cmd heading: 335.498395 deg.

2025-08-22T17:14:36.382Z,1755882876.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855552 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:36.785Z,1755882876.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:36.792Z,1755882876.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 237.818573 m,
      bearing: 327.313532 deg,
      approach rate: -0.529782 m/s,
      LOS rate: 0.009309 deg/s,
      cmd heading: 335.498400 deg,
      new cmd heading: 335.505989 deg.

2025-08-22T17:14:36.798Z,1755882876.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855684 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:37.343Z,1755882877.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:37.346Z,1755882877.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 237.502884 m,
      bearing: 327.319079 deg,
      approach rate: -0.565942 m/s,
      LOS rate: 0.009957 deg/s,
      cmd heading: 335.505995 deg,
      new cmd heading: 335.517104 deg.

2025-08-22T17:14:37.347Z,1755882877.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855878 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:37.816Z,1755882877.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:37.818Z,1755882877.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:37.821Z,1755882877.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 237.247955 m,
      bearing: 327.322710 deg,
      approach rate: -0.536113 m/s,
      LOS rate: 0.007646 deg/s,
      cmd heading: 335.517115 deg,
      new cmd heading: 335.524386 deg.

2025-08-22T17:14:37.822Z,1755882877.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856005 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:37.954Z,1755882877.954 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:37.954Z,1755882877.954 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:37.955Z,1755882877.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:38.207Z,1755882878.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508579
2025-08-22T17:14:38.232Z,1755882878.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:38.235Z,1755882878.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 237.035797 m,
      bearing: 327.325734 deg,
      approach rate: -0.512754 m/s,
      LOS rate: 0.007315 deg/s,
      cmd heading: 335.524382 deg,
      new cmd heading: 335.530436 deg.

2025-08-22T17:14:38.236Z,1755882878.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856111 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:38.459Z,1755882878.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760397
2025-08-22T17:14:38.654Z,1755882878.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:38.672Z,1755882878.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 236.816971 m,
      bearing: 327.328859 deg,
      approach rate: -0.525639 m/s,
      LOS rate: 0.007513 deg/s,
      cmd heading: 335.530448 deg,
      new cmd heading: 335.536703 deg.

2025-08-22T17:14:38.679Z,1755882878.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856220 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:38.713Z,1755882878.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014454
2025-08-22T17:14:38.963Z,1755882878.963 [DAT](INFO): DAT read: Rx Time:17:14:39.4615

2025-08-22T17:14:38.963Z,1755882878.963 [DAT](INFO): Rx dataTimestamp_ set to:1755882878.962722
2025-08-22T17:14:38.964Z,1755882878.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265458
2025-08-22T17:14:39.105Z,1755882879.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:39.108Z,1755882879.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 236.555771 m,
      bearing: 327.332104 deg,
      approach rate: -0.572280 m/s,
      LOS rate: 0.007117 deg/s,
      cmd heading: 335.536704 deg,
      new cmd heading: 335.543201 deg.

2025-08-22T17:14:39.109Z,1755882879.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856334 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:39.215Z,1755882879.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516941
2025-08-22T17:14:39.449Z,1755882879.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.28 m.
2025-08-22T17:14:39.452Z,1755882879.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.281525 m,
      nav range: 236.369827 m,
      bearing: 327.334426 deg,
      approach rate: -0.540290 m/s,
      LOS rate: 0.006753 deg/s,
      cmd heading: 335.543206 deg,
      new cmd heading: 335.547854 deg.

2025-08-22T17:14:39.453Z,1755882879.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856415 target range: 240.281525 and range: 241.80 m.
2025-08-22T17:14:39.472Z,1755882879.472 [DAT](INFO): DAT read: 17:14:39.4615 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.07, 1.558,-0.053, 1.956, 1.447, PHS= 0.213,-1.455, 0.465, RAW= 156.9,   8.6, CAL= 156.6,   9.1, ROT= 353.4,  -9.1

2025-08-22T17:14:39.473Z,1755882879.473 [DAT](INFO): got valid direction response:
 17:14:39.4615 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403,-0.07, 1.558,-0.053, 1.956, 1.447, PHS= 0.213,-1.455, 0.465, RAW= 156.9,   8.6, CAL= 156.6,   9.1, ROT= 353.4,  -9.1

2025-08-22T17:14:39.478Z,1755882879.478 [DAT](INFO): DAT read: Bearing 151.2,  -7.0 (Local)

2025-08-22T17:14:39.479Z,1755882879.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.2,  -7.0 (Local)

2025-08-22T17:14:39.480Z,1755882879.480 [DAT](INFO): DAT read: Range 11 to 50 : 239.5 m  (Round-trip  319.4 ms) speed  0.4 m/s

2025-08-22T17:14:39.481Z,1755882879.481 [DAT](INFO): DAT read: user:540>

2025-08-22T17:14:39.482Z,1755882879.482 [DAT](INFO): DAT read: Tx time:17:14:40.5879

2025-08-22T17:14:39.482Z,1755882879.482 [DAT](INFO): Ping request sent.
2025-08-22T17:14:39.482Z,1755882879.482 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:39.482Z,1755882879.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:39.483Z,1755882879.483 [DAT](INFO): direction in FSK: [0.980870,-0.113491,0.158158]
2025-08-22T17:14:39.483Z,1755882879.483 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:39.484Z,1755882879.484 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:39.507Z,1755882879.507 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:39.507Z,1755882879.507 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:39.911Z,1755882879.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.500000 m,
      deltaT: 3.779984 s,
      deltaX: -2.300003 m,
      approachRate: -0.608469 m/s,
      rangeRepo size: 4

2025-08-22T17:14:39.913Z,1755882879.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.997437 m,
      bearing: 329.662216 deg,
      lat: 36.779475 deg,
      lon: -121.859671 deg,
      deltaT: 3.779984 s,
      deltaX: -2.284088 m,
      approachRate: -0.604259 m/s,
      posRepo size: 4

2025-08-22T17:14:39.918Z,1755882879.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:39.921Z,1755882879.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 235.978836 m,
      bearing: 328.548737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006753 deg/s,
      cmd heading: 335.547851 deg,
      new cmd heading: 335.554084 deg.

2025-08-22T17:14:39.926Z,1755882879.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856524 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:40.281Z,1755882880.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:40.283Z,1755882880.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:40.286Z,1755882880.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 235.766586 m,
      bearing: 328.551598 deg,
      approach rate: -0.569731 m/s,
      LOS rate: 0.007687 deg/s,
      cmd heading: 335.554080 deg,
      new cmd heading: 335.559808 deg.

2025-08-22T17:14:40.287Z,1755882880.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856624 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:40.474Z,1755882880.474 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:40.474Z,1755882880.474 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:40.475Z,1755882880.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:40.718Z,1755882880.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:40.721Z,1755882880.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 235.562073 m,
      bearing: 328.554351 deg,
      approach rate: -0.475305 m/s,
      LOS rate: 0.006404 deg/s,
      cmd heading: 335.559817 deg,
      new cmd heading: 335.565328 deg.

2025-08-22T17:14:40.727Z,1755882880.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244645
2025-08-22T17:14:40.727Z,1755882880.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856720 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:40.979Z,1755882880.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497021
2025-08-22T17:14:41.099Z,1755882881.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:41.102Z,1755882881.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 235.339081 m,
      bearing: 328.557500 deg,
      approach rate: -0.578288 m/s,
      LOS rate: 0.008173 deg/s,
      cmd heading: 335.565336 deg,
      new cmd heading: 335.571639 deg.

2025-08-22T17:14:41.103Z,1755882881.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856830 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:41.231Z,1755882881.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749057
2025-08-22T17:14:41.478Z,1755882881.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:41.480Z,1755882881.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 235.141205 m,
      bearing: 328.560314 deg,
      approach rate: -0.522624 m/s,
      LOS rate: 0.007438 deg/s,
      cmd heading: 335.571647 deg,
      new cmd heading: 335.577280 deg.

2025-08-22T17:14:41.483Z,1755882881.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000683
2025-08-22T17:14:41.487Z,1755882881.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856928 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:41.735Z,1755882881.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252884
2025-08-22T17:14:41.903Z,1755882881.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:41.907Z,1755882881.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 234.918350 m,
      bearing: 328.564193 deg,
      approach rate: -0.523211 m/s,
      LOS rate: 0.009115 deg/s,
      cmd heading: 335.577275 deg,
      new cmd heading: 335.585040 deg.

2025-08-22T17:14:41.908Z,1755882881.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857064 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:41.987Z,1755882881.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504779
2025-08-22T17:14:42.238Z,1755882882.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756534
2025-08-22T17:14:42.300Z,1755882882.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:42.302Z,1755882882.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:42.304Z,1755882882.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 234.710052 m,
      bearing: 328.567855 deg,
      approach rate: -0.523080 m/s,
      LOS rate: 0.009205 deg/s,
      cmd heading: 335.585034 deg,
      new cmd heading: 335.592366 deg.

2025-08-22T17:14:42.306Z,1755882882.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857192 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:42.491Z,1755882882.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008609
2025-08-22T17:14:42.679Z,1755882882.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:42.686Z,1755882882.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 234.513168 m,
      bearing: 328.571341 deg,
      approach rate: -0.522159 m/s,
      LOS rate: 0.009254 deg/s,
      cmd heading: 335.592356 deg,
      new cmd heading: 335.599335 deg.

2025-08-22T17:14:42.690Z,1755882882.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857313 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:42.748Z,1755882882.748 [DAT](INFO): DAT read: Rx Time:17:14:43.3088

2025-08-22T17:14:42.749Z,1755882882.749 [DAT](INFO): Rx dataTimestamp_ set to:1755882882.748729
2025-08-22T17:14:42.750Z,1755882882.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267760
2025-08-22T17:14:42.995Z,1755882882.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512992
2025-08-22T17:14:43.108Z,1755882883.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.00 m.
2025-08-22T17:14:43.111Z,1755882883.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.997437 m,
      nav range: 234.293167 m,
      bearing: 328.575239 deg,
      approach rate: -0.512541 m/s,
      LOS rate: 0.009089 deg/s,
      cmd heading: 335.599323 deg,
      new cmd heading: 335.607126 deg.

2025-08-22T17:14:43.112Z,1755882883.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857450 target range: 237.997437 and range: 239.50 m.
2025-08-22T17:14:43.252Z,1755882883.252 [DAT](INFO): DAT read: 17:14:43.3088 LVL= 32752, 32753, 32034, 32755, AGC= 66, IDX= 408, 0.01, 1.222,-0.405, 1.577, 1.041, PHS= 0.284,-1.401, 0.492, RAW= 155.8,   7.0, CAL= 155.2,   7.2, ROT= 354.8,  -7.2

2025-08-22T17:14:43.253Z,1755882883.253 [DAT](INFO): got valid direction response:
 17:14:43.3088 LVL= 32752, 32753, 32034, 32755, AGC= 66, IDX= 408, 0.01, 1.222,-0.405, 1.577, 1.041, PHS= 0.284,-1.401, 0.492, RAW= 155.8,   7.0, CAL= 155.2,   7.2, ROT= 354.8,  -7.2

2025-08-22T17:14:43.254Z,1755882883.254 [DAT](INFO): DAT read: Bearing 149.3,  -4.4 (Local)

2025-08-22T17:14:43.255Z,1755882883.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3,  -4.4 (Local)

2025-08-22T17:14:43.256Z,1755882883.256 [DAT](INFO): DAT read: Range 11 to 50 : 237.5 m  (Round-trip  316.7 ms) speed  0.4 m/s

2025-08-22T17:14:43.257Z,1755882883.257 [DAT](INFO): DAT read: user:541>

2025-08-22T17:14:43.258Z,1755882883.258 [DAT](INFO): DAT read: Tx time:17:14:44.4379

2025-08-22T17:14:43.258Z,1755882883.258 [DAT](INFO): Ping request sent.
2025-08-22T17:14:43.258Z,1755882883.258 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:43.258Z,1755882883.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:43.259Z,1755882883.259 [DAT](INFO): direction in FSK: [0.988032,-0.089918,0.125333]
2025-08-22T17:14:43.260Z,1755882883.260 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:43.260Z,1755882883.260 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:43.264Z,1755882883.264 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:43.264Z,1755882883.264 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:43.497Z,1755882883.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.500000 m,
      deltaT: 3.780008 s,
      deltaX: -2.000000 m,
      approachRate: -0.529099 m/s,
      rangeRepo size: 4

2025-08-22T17:14:43.515Z,1755882883.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.007584 m,
      bearing: 331.006722 deg,
      lat: 36.779482 deg,
      lon: -121.859670 deg,
      deltaT: 3.780008 s,
      deltaX: -1.989853 m,
      approachRate: -0.526415 m/s,
      posRepo size: 4

2025-08-22T17:14:43.516Z,1755882883.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:43.518Z,1755882883.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 234.717957 m,
      bearing: 328.692753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009089 deg/s,
      cmd heading: 335.607137 deg,
      new cmd heading: 335.614188 deg.

2025-08-22T17:14:43.519Z,1755882883.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857573 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:43.912Z,1755882883.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:43.915Z,1755882883.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 234.495529 m,
      bearing: 328.696962 deg,
      approach rate: -0.534892 m/s,
      LOS rate: 0.010133 deg/s,
      cmd heading: 335.614186 deg,
      new cmd heading: 335.622613 deg.

2025-08-22T17:14:43.916Z,1755882883.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857719 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:44.293Z,1755882884.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:44.296Z,1755882884.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 234.295578 m,
      bearing: 328.700764 deg,
      approach rate: -0.524612 m/s,
      LOS rate: 0.009983 deg/s,
      cmd heading: 335.622600 deg,
      new cmd heading: 335.630211 deg.

2025-08-22T17:14:44.297Z,1755882884.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857852 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:44.708Z,1755882884.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:44.724Z,1755882884.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:44.743Z,1755882884.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 234.085037 m,
      bearing: 328.704801 deg,
      approach rate: -0.496899 m/s,
      LOS rate: 0.009535 deg/s,
      cmd heading: 335.630223 deg,
      new cmd heading: 335.638303 deg.

2025-08-22T17:14:44.751Z,1755882884.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857994 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:44.769Z,1755882884.769 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:44.769Z,1755882884.769 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:44.770Z,1755882884.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:45.019Z,1755882885.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761200
2025-08-22T17:14:45.171Z,1755882885.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:45.176Z,1755882885.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 233.836868 m,
      bearing: 328.710233 deg,
      approach rate: -0.546076 m/s,
      LOS rate: 0.011965 deg/s,
      cmd heading: 335.638310 deg,
      new cmd heading: 335.649185 deg.

2025-08-22T17:14:45.177Z,1755882885.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858183 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:45.275Z,1755882885.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016131
2025-08-22T17:14:45.524Z,1755882885.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265551
2025-08-22T17:14:45.565Z,1755882885.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:45.568Z,1755882885.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 233.626755 m,
      bearing: 328.714840 deg,
      approach rate: -0.533195 m/s,
      LOS rate: 0.011704 deg/s,
      cmd heading: 335.649184 deg,
      new cmd heading: 335.658408 deg.

2025-08-22T17:14:45.569Z,1755882885.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858345 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:45.778Z,1755882885.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518850
2025-08-22T17:14:45.966Z,1755882885.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:45.969Z,1755882885.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 233.416275 m,
      bearing: 328.718843 deg,
      approach rate: -0.524813 m/s,
      LOS rate: 0.009989 deg/s,
      cmd heading: 335.658418 deg,
      new cmd heading: 335.666430 deg.

2025-08-22T17:14:45.971Z,1755882885.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858484 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:46.029Z,1755882886.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770746
2025-08-22T17:14:46.279Z,1755882886.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020690
2025-08-22T17:14:46.337Z,1755882886.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:46.340Z,1755882886.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 233.221359 m,
      bearing: 328.722556 deg,
      approach rate: -0.525681 m/s,
      LOS rate: 0.010022 deg/s,
      cmd heading: 335.666423 deg,
      new cmd heading: 335.673855 deg.

2025-08-22T17:14:46.341Z,1755882886.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858614 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:46.532Z,1755882886.532 [DAT](INFO): DAT read: Rx Time:17:14:47.1560

2025-08-22T17:14:46.532Z,1755882886.532 [DAT](INFO): Rx dataTimestamp_ set to:1755882886.532019
2025-08-22T17:14:46.533Z,1755882886.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800
2025-08-22T17:14:46.767Z,1755882886.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:46.775Z,1755882886.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.01 m.
2025-08-22T17:14:46.789Z,1755882886.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530560
2025-08-22T17:14:46.809Z,1755882886.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.007584 m,
      nav range: 233.004715 m,
      bearing: 328.726693 deg,
      approach rate: -0.495374 m/s,
      LOS rate: 0.009470 deg/s,
      cmd heading: 335.673854 deg,
      new cmd heading: 335.682137 deg.

2025-08-22T17:14:46.814Z,1755882886.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858758 target range: 236.007584 and range: 237.50 m.
2025-08-22T17:14:47.067Z,1755882887.067 [DAT](INFO): DAT read: 17:14:47.1560 LVL= 29376, 32753, 22754, 32083, AGC= 67, IDX= 412,-0.08,-1.092,-2.813,-0.789,-1.240, PHS= 0.250,-1.528, 0.407, RAW= 154.2,   9.4, CAL= 153.9,  10.1, ROT= 356.1, -10.1

2025-08-22T17:14:47.068Z,1755882887.068 [DAT](INFO): got valid direction response:
 17:14:47.1560 LVL= 29376, 32753, 22754, 32083, AGC= 67, IDX= 412,-0.08,-1.092,-2.813,-0.789,-1.240, PHS= 0.250,-1.528, 0.407, RAW= 154.2,   9.4, CAL= 153.9,  10.1, ROT= 356.1, -10.1

2025-08-22T17:14:47.069Z,1755882887.069 [DAT](INFO): DAT read: Bearing 152.3,  -1.7 (Local)

2025-08-22T17:14:47.069Z,1755882887.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3,  -1.7 (Local)

2025-08-22T17:14:47.070Z,1755882887.070 [DAT](INFO): DAT read: Range 11 to 50 : 235.5 m  (Round-trip  314.0 ms) speed  0.4 m/s

2025-08-22T17:14:47.071Z,1755882887.071 [DAT](INFO): DAT read: user:542>

2025-08-22T17:14:47.072Z,1755882887.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:47.072Z,1755882887.072 [DAT](INFO): direction in FSK: [0.982223,-0.066961,0.175367]
2025-08-22T17:14:47.073Z,1755882887.073 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:47.076Z,1755882887.076 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:47.076Z,1755882887.076 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:47.076Z,1755882887.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:47.282Z,1755882887.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.500000 m,
      deltaT: 3.793590 s,
      deltaX: -2.000000 m,
      approachRate: -0.527205 m/s,
      rangeRepo size: 4

2025-08-22T17:14:47.284Z,1755882887.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.019409 m,
      bearing: 332.029430 deg,
      lat: 36.779494 deg,
      lon: -121.859625 deg,
      deltaT: 3.793590 s,
      deltaX: -1.988174 m,
      approachRate: -0.524088 m/s,
      posRepo size: 4

2025-08-22T17:14:47.285Z,1755882887.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:47.291Z,1755882887.291 [DAT](INFO): DAT read: Tx time:17:14:48.2878

2025-08-22T17:14:47.291Z,1755882887.291 [DAT](INFO): Ping request sent.
2025-08-22T17:14:47.291Z,1755882887.291 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:47.291Z,1755882887.291 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:47.292Z,1755882887.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-22T17:14:47.299Z,1755882887.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 231.875916 m,
      bearing: 329.749031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009470 deg/s,
      cmd heading: 335.682132 deg,
      new cmd heading: 335.691264 deg.

2025-08-22T17:14:47.300Z,1755882887.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858918 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:47.544Z,1755882887.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252690
2025-08-22T17:14:47.627Z,1755882887.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:47.630Z,1755882887.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 231.669449 m,
      bearing: 329.753711 deg,
      approach rate: -0.557259 m/s,
      LOS rate: 0.012645 deg/s,
      cmd heading: 335.691257 deg,
      new cmd heading: 335.700628 deg.

2025-08-22T17:14:47.631Z,1755882887.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859081 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:47.798Z,1755882887.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506218
2025-08-22T17:14:48.047Z,1755882888.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755814
2025-08-22T17:14:48.084Z,1755882888.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:48.087Z,1755882888.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 231.434586 m,
      bearing: 329.758952 deg,
      approach rate: -0.513872 m/s,
      LOS rate: 0.011479 deg/s,
      cmd heading: 335.700628 deg,
      new cmd heading: 335.711121 deg.

2025-08-22T17:14:48.088Z,1755882888.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859264 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:48.301Z,1755882888.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010126
2025-08-22T17:14:48.444Z,1755882888.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:48.447Z,1755882888.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 231.245377 m,
      bearing: 329.763213 deg,
      approach rate: -0.525988 m/s,
      LOS rate: 0.011854 deg/s,
      cmd heading: 335.711120 deg,
      new cmd heading: 335.719648 deg.

2025-08-22T17:14:48.448Z,1755882888.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859413 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:48.551Z,1755882888.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259611
2025-08-22T17:14:48.814Z,1755882888.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513429
2025-08-22T17:14:48.901Z,1755882888.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:48.907Z,1755882888.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:48.914Z,1755882888.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 231.003937 m,
      bearing: 329.769186 deg,
      approach rate: -0.521259 m/s,
      LOS rate: 0.012909 deg/s,
      cmd heading: 335.719644 deg,
      new cmd heading: 335.731602 deg.

2025-08-22T17:14:48.915Z,1755882888.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859622 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:49.055Z,1755882889.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763305
2025-08-22T17:14:49.244Z,1755882889.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:49.247Z,1755882889.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 230.820526 m,
      bearing: 329.773745 deg,
      approach rate: -0.543876 m/s,
      LOS rate: 0.013528 deg/s,
      cmd heading: 335.731610 deg,
      new cmd heading: 335.740734 deg.

2025-08-22T17:14:49.248Z,1755882889.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859781 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:49.307Z,1755882889.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016010
2025-08-22T17:14:49.559Z,1755882889.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267390
2025-08-22T17:14:49.653Z,1755882889.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:49.656Z,1755882889.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 230.603378 m,
      bearing: 329.779160 deg,
      approach rate: -0.530861 m/s,
      LOS rate: 0.013251 deg/s,
      cmd heading: 335.740735 deg,
      new cmd heading: 335.751576 deg.

2025-08-22T17:14:49.657Z,1755882889.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859971 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:49.814Z,1755882889.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521831
2025-08-22T17:14:50.063Z,1755882890.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771415
2025-08-22T17:14:50.100Z,1755882890.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:50.102Z,1755882890.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 230.369171 m,
      bearing: 329.784169 deg,
      approach rate: -0.524620 m/s,
      LOS rate: 0.011231 deg/s,
      cmd heading: 335.751582 deg,
      new cmd heading: 335.761609 deg.

2025-08-22T17:14:50.103Z,1755882890.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860146 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:50.315Z,1755882890.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023997
2025-08-22T17:14:50.471Z,1755882890.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.02 m.
2025-08-22T17:14:50.474Z,1755882890.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.019409 m,
      nav range: 230.182465 m,
      bearing: 329.788181 deg,
      approach rate: -0.502161 m/s,
      LOS rate: 0.010801 deg/s,
      cmd heading: 335.761608 deg,
      new cmd heading: 335.769641 deg.

2025-08-22T17:14:50.475Z,1755882890.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860286 target range: 234.019409 and range: 235.50 m.
2025-08-22T17:14:50.567Z,1755882890.567 [DAT](INFO): DAT read: Rx Time:17:14:51.0033

2025-08-22T17:14:50.567Z,1755882890.567 [DAT](INFO): Rx dataTimestamp_ set to:1755882890.566749
2025-08-22T17:14:50.568Z,1755882890.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276403
2025-08-22T17:14:50.822Z,1755882890.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530655
2025-08-22T17:14:50.942Z,1755882890.942 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:14:51.076Z,1755882891.076 [DAT](INFO): DAT read: 17:14:51.0033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.15, 0.723,-1.010, 1.009, 0.503, PHS= 0.322,-1.468, 0.462, RAW= 153.7,   7.4, CAL= 153.2,   7.7, ROT= 356.8,  -7.7

2025-08-22T17:14:51.077Z,1755882891.077 [DAT](INFO): got valid direction response:
 17:14:51.0033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.15, 0.723,-1.010, 1.009, 0.503, PHS= 0.322,-1.468, 0.462, RAW= 153.7,   7.4, CAL= 153.2,   7.7, ROT= 356.8,  -7.7

2025-08-22T17:14:51.078Z,1755882891.078 [DAT](INFO): DAT read: Bearing 149.7,   0.1 (Local)

2025-08-22T17:14:51.079Z,1755882891.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7,   0.1 (Local)

2025-08-22T17:14:51.080Z,1755882891.080 [DAT](INFO): DAT read: Range 11 to 50 : 233.4 m  (Round-trip  311.3 ms) speed  0.1 m/s

2025-08-22T17:14:51.081Z,1755882891.081 [DAT](INFO): DAT read: user:543>

2025-08-22T17:14:51.082Z,1755882891.082 [DAT](INFO): DAT read: Tx time:17:14:52.0878

2025-08-22T17:14:51.082Z,1755882891.082 [DAT](INFO): Ping request sent.
2025-08-22T17:14:51.082Z,1755882891.082 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:51.082Z,1755882891.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:51.083Z,1755882891.083 [DAT](INFO): direction in FSK: [0.989438,-0.055318,0.133986]
2025-08-22T17:14:51.084Z,1755882891.084 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:51.084Z,1755882891.084 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:51.091Z,1755882891.091 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:51.091Z,1755882891.091 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:51.109Z,1755882891.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.399994 m,
      deltaT: 4.030473 s,
      deltaX: -2.100006 m,
      approachRate: -0.521032 m/s,
      rangeRepo size: 4

2025-08-22T17:14:51.111Z,1755882891.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.932205 m,
      bearing: 332.750013 deg,
      lat: 36.779515 deg,
      lon: -121.859574 deg,
      deltaT: 4.030473 s,
      deltaX: -2.087204 m,
      approachRate: -0.517856 m/s,
      posRepo size: 4

2025-08-22T17:14:51.112Z,1755882891.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:51.123Z,1755882891.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 229.668594 m,
      bearing: 331.055766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010801 deg/s,
      cmd heading: 335.769641 deg,
      new cmd heading: 335.783396 deg.

2025-08-22T17:14:51.124Z,1755882891.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860526 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:51.499Z,1755882891.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:51.501Z,1755882891.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:51.520Z,1755882891.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 229.438721 m,
      bearing: 331.062011 deg,
      approach rate: -0.584764 m/s,
      LOS rate: 0.015903 deg/s,
      cmd heading: 335.783383 deg,
      new cmd heading: 335.795886 deg.

2025-08-22T17:14:51.521Z,1755882891.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860744 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:51.574Z,1755882891.574 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:51.575Z,1755882891.575 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:51.575Z,1755882891.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:51.845Z,1755882891.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762522
2025-08-22T17:14:51.946Z,1755882891.946 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:14:52.031Z,1755882892.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:52.035Z,1755882892.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 229.151321 m,
      bearing: 331.069038 deg,
      approach rate: -0.543903 m/s,
      LOS rate: 0.013316 deg/s,
      cmd heading: 335.795896 deg,
      new cmd heading: 335.809968 deg.

2025-08-22T17:14:52.037Z,1755882892.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860990 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:52.091Z,1755882892.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008517
2025-08-22T17:14:52.344Z,1755882892.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261361
2025-08-22T17:14:52.459Z,1755882892.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:52.466Z,1755882892.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 228.922668 m,
      bearing: 331.074692 deg,
      approach rate: -0.532697 m/s,
      LOS rate: 0.013184 deg/s,
      cmd heading: 335.809966 deg,
      new cmd heading: 335.821284 deg.

2025-08-22T17:14:52.467Z,1755882892.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861187 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:52.595Z,1755882892.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512532
2025-08-22T17:14:52.849Z,1755882892.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766863
2025-08-22T17:14:52.888Z,1755882892.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:52.903Z,1755882892.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 228.702393 m,
      bearing: 331.080169 deg,
      approach rate: -0.514905 m/s,
      LOS rate: 0.012816 deg/s,
      cmd heading: 335.821277 deg,
      new cmd heading: 335.832242 deg.

2025-08-22T17:14:52.904Z,1755882892.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861378 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:53.098Z,1755882893.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016429
2025-08-22T17:14:53.309Z,1755882893.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:53.311Z,1755882893.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 228.448639 m,
      bearing: 331.087099 deg,
      approach rate: -0.601517 m/s,
      LOS rate: 0.016446 deg/s,
      cmd heading: 335.832233 deg,
      new cmd heading: 335.846108 deg.

2025-08-22T17:14:53.312Z,1755882893.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861620 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:53.351Z,1755882893.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268698
2025-08-22T17:14:53.603Z,1755882893.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520520
2025-08-22T17:14:53.653Z,1755882893.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:53.655Z,1755882893.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:53.674Z,1755882893.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 228.260818 m,
      bearing: 331.092294 deg,
      approach rate: -0.541947 m/s,
      LOS rate: 0.015000 deg/s,
      cmd heading: 335.846112 deg,
      new cmd heading: 335.856509 deg.

2025-08-22T17:14:53.675Z,1755882893.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861802 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:53.857Z,1755882893.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774535
2025-08-22T17:14:54.101Z,1755882894.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:54.104Z,1755882894.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 228.022125 m,
      bearing: 331.099217 deg,
      approach rate: -0.535885 m/s,
      LOS rate: 0.015560 deg/s,
      cmd heading: 335.856521 deg,
      new cmd heading: 335.870382 deg.

2025-08-22T17:14:54.105Z,1755882894.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862044 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:54.107Z,1755882894.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024855
2025-08-22T17:14:54.359Z,1755882894.359 [DAT](INFO): DAT read: Rx Time:17:14:54.8005

2025-08-22T17:14:54.359Z,1755882894.359 [DAT](INFO): Rx dataTimestamp_ set to:1755882894.358840
2025-08-22T17:14:54.360Z,1755882894.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277640
2025-08-22T17:14:54.474Z,1755882894.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.93 m.
2025-08-22T17:14:54.477Z,1755882894.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.932205 m,
      nav range: 227.828384 m,
      bearing: 331.104854 deg,
      approach rate: -0.518398 m/s,
      LOS rate: 0.015096 deg/s,
      cmd heading: 335.870372 deg,
      new cmd heading: 335.881656 deg.

2025-08-22T17:14:54.484Z,1755882894.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862241 target range: 231.932205 and range: 233.40 m.
2025-08-22T17:14:54.615Z,1755882894.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533160
2025-08-22T17:14:54.887Z,1755882894.887 [DAT](INFO): DAT read: 17:14:54.8005 LVL= 32752, 32753, 29426, 32755, AGC= 65, IDX= 420, 0.40, 1.350,-0.354, 1.613, 1.127, PHS= 0.325,-1.436, 0.442, RAW= 153.2,   7.4, CAL= 152.6,   7.8, ROT= 357.4,  -7.8

2025-08-22T17:14:54.903Z,1755882894.903 [DAT](INFO): got valid direction response:
 17:14:54.8005 LVL= 32752, 32753, 29426, 32755, AGC= 65, IDX= 420, 0.40, 1.350,-0.354, 1.613, 1.127, PHS= 0.325,-1.436, 0.442, RAW= 153.2,   7.4, CAL= 152.6,   7.8, ROT= 357.4,  -7.8

2025-08-22T17:14:54.916Z,1755882894.916 [DAT](INFO): DAT read: Bearing 149.4,   1.6 (Local)

2025-08-22T17:14:54.917Z,1755882894.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4,   1.6 (Local)

2025-08-22T17:14:54.929Z,1755882894.929 [DAT](INFO): DAT read: Range 11 to 50 : 231.3 m  (Round-trip  308.5 ms) speed  0.4 m/s

2025-08-22T17:14:54.942Z,1755882894.942 [DAT](INFO): DAT read: user:544>

2025-08-22T17:14:54.943Z,1755882894.943 [DAT](INFO): DAT read: Tx time:17:14:55.8894

2025-08-22T17:14:54.943Z,1755882894.943 [DAT](INFO): Ping request sent.
2025-08-22T17:14:54.943Z,1755882894.943 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:54.943Z,1755882894.943 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:54.944Z,1755882894.944 [DAT](INFO): direction in FSK: [0.989728,-0.044943,0.135716]
2025-08-22T17:14:54.944Z,1755882894.944 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:54.945Z,1755882894.945 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:54.956Z,1755882894.956 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:54.956Z,1755882894.956 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:55.079Z,1755882895.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.300003 m,
      deltaT: 3.797134 s,
      deltaX: -2.099991 m,
      approachRate: -0.553046 m/s,
      rangeRepo size: 4

2025-08-22T17:14:55.086Z,1755882895.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.845322 m,
      bearing: 333.153863 deg,
      lat: 36.779520 deg,
      lon: -121.859521 deg,
      deltaT: 3.797134 s,
      deltaX: -2.086884 m,
      approachRate: -0.549594 m/s,
      posRepo size: 4

2025-08-22T17:14:55.086Z,1755882895.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:55.089Z,1755882895.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 225.762085 m,
      bearing: 332.231763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015096 deg/s,
      cmd heading: 335.881656 deg,
      new cmd heading: 335.899908 deg.

2025-08-22T17:14:55.093Z,1755882895.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862559 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:55.485Z,1755882895.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:55.491Z,1755882895.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 225.543961 m,
      bearing: 332.239664 deg,
      approach rate: -0.537591 m/s,
      LOS rate: 0.019492 deg/s,
      cmd heading: 335.899906 deg,
      new cmd heading: 335.915724 deg.

2025-08-22T17:14:55.492Z,1755882895.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862835 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:55.827Z,1755882895.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:55.830Z,1755882895.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:55.832Z,1755882895.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 225.350067 m,
      bearing: 332.246702 deg,
      approach rate: -0.562131 m/s,
      LOS rate: 0.020423 deg/s,
      cmd heading: 335.915725 deg,
      new cmd heading: 335.929814 deg.

2025-08-22T17:14:55.833Z,1755882895.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863081 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:55.877Z,1755882895.877 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:14:55.878Z,1755882895.878 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:14:55.878Z,1755882895.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:14:56.127Z,1755882896.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.183949
2025-08-22T17:14:56.265Z,1755882896.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:56.268Z,1755882896.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 225.123581 m,
      bearing: 332.255548 deg,
      approach rate: -0.519750 m/s,
      LOS rate: 0.020319 deg/s,
      cmd heading: 335.929822 deg,
      new cmd heading: 335.947531 deg.

2025-08-22T17:14:56.269Z,1755882896.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863390 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:56.379Z,1755882896.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.436477
2025-08-22T17:14:56.631Z,1755882896.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687569
2025-08-22T17:14:56.679Z,1755882896.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:56.682Z,1755882896.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 224.908768 m,
      bearing: 332.263955 deg,
      approach rate: -0.519505 m/s,
      LOS rate: 0.020351 deg/s,
      cmd heading: 335.947526 deg,
      new cmd heading: 335.964356 deg.

2025-08-22T17:14:56.683Z,1755882896.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863684 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:56.886Z,1755882896.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941706
2025-08-22T17:14:57.122Z,1755882897.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:57.125Z,1755882897.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 224.677231 m,
      bearing: 332.272940 deg,
      approach rate: -0.522125 m/s,
      LOS rate: 0.020284 deg/s,
      cmd heading: 335.964356 deg,
      new cmd heading: 335.982346 deg.

2025-08-22T17:14:57.134Z,1755882897.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191425
2025-08-22T17:14:57.142Z,1755882897.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863998 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:57.388Z,1755882897.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.444405
2025-08-22T17:14:57.507Z,1755882897.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:57.528Z,1755882897.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 224.478882 m,
      bearing: 332.280654 deg,
      approach rate: -0.517099 m/s,
      LOS rate: 0.020127 deg/s,
      cmd heading: 335.982333 deg,
      new cmd heading: 335.997773 deg.

2025-08-22T17:14:57.534Z,1755882897.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864267 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:57.643Z,1755882897.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700351
2025-08-22T17:14:57.889Z,1755882897.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:57.898Z,1755882897.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953956
2025-08-22T17:14:57.902Z,1755882897.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:57.940Z,1755882897.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 224.275345 m,
      bearing: 332.288583 deg,
      approach rate: -0.515252 m/s,
      LOS rate: 0.020091 deg/s,
      cmd heading: 335.997769 deg,
      new cmd heading: 336.013642 deg.

2025-08-22T17:14:57.947Z,1755882897.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864544 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:58.147Z,1755882898.147 [DAT](INFO): DAT read: Rx Time:17:14:58.5994

2025-08-22T17:14:58.147Z,1755882898.147 [DAT](INFO): Rx dataTimestamp_ set to:1755882898.146721
2025-08-22T17:14:58.148Z,1755882898.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204597
2025-08-22T17:14:58.322Z,1755882898.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.85 m.
2025-08-22T17:14:58.325Z,1755882898.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.845322 m,
      nav range: 224.056168 m,
      bearing: 332.296979 deg,
      approach rate: -0.541196 m/s,
      LOS rate: 0.020751 deg/s,
      cmd heading: 336.013642 deg,
      new cmd heading: 336.030450 deg.

2025-08-22T17:14:58.330Z,1755882898.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864838 target range: 229.845322 and range: 231.30 m.
2025-08-22T17:14:58.399Z,1755882898.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456090
2025-08-22T17:14:58.656Z,1755882898.656 [DAT](INFO): DAT read: 17:14:58.5994 LVL= 31600, 32753, 27634, 32755, AGC= 71, IDX= 408,-0.03, 1.202,-0.520, 1.454, 0.974, PHS= 0.330,-1.449, 0.435, RAW= 152.9,   7.5, CAL= 152.3,   7.9, ROT= 357.7,  -7.9

2025-08-22T17:14:58.657Z,1755882898.657 [DAT](INFO): got valid direction response:
 17:14:58.5994 LVL= 31600, 32753, 27634, 32755, AGC= 71, IDX= 408,-0.03, 1.202,-0.520, 1.454, 0.974, PHS= 0.330,-1.449, 0.435, RAW= 152.9,   7.5, CAL= 152.3,   7.9, ROT= 357.7,  -7.9

2025-08-22T17:14:58.662Z,1755882898.662 [DAT](INFO): DAT read: Bearing 149.3,   2.7 (Local)

2025-08-22T17:14:58.663Z,1755882898.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3,   2.7 (Local)

2025-08-22T17:14:58.664Z,1755882898.664 [DAT](INFO): DAT read: Range 11 to 50 : 229.3 m  (Round-trip  305.8 ms) speed  0.6 m/s

2025-08-22T17:14:58.665Z,1755882898.665 [DAT](INFO): DAT read: user:545>

2025-08-22T17:14:58.670Z,1755882898.670 [DAT](INFO): DAT read: Tx time:17:14:59.6878

2025-08-22T17:14:58.670Z,1755882898.670 [DAT](INFO): Ping request sent.
2025-08-22T17:14:58.671Z,1755882898.671 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:14:58.671Z,1755882898.671 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:14:58.672Z,1755882898.672 [DAT](INFO): direction in FSK: [0.989712,-0.039751,0.137445]
2025-08-22T17:14:58.672Z,1755882898.672 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:58.672Z,1755882898.672 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:58.676Z,1755882898.676 [DAT](INFO): publishing transmit ping time
2025-08-22T17:14:58.676Z,1755882898.676 [DAT](INFO): publishing direction and range info
2025-08-22T17:14:58.764Z,1755882898.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.300003 m,
      deltaT: 3.782759 s,
      deltaX: -2.000000 m,
      approachRate: -0.528715 m/s,
      rangeRepo size: 4

2025-08-22T17:14:58.771Z,1755882898.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.850418 m,
      bearing: 333.399249 deg,
      lat: 36.779529 deg,
      lon: -121.859500 deg,
      deltaT: 3.782759 s,
      deltaX: -1.994904 m,
      approachRate: -0.527367 m/s,
      posRepo size: 4

2025-08-22T17:14:58.772Z,1755882898.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:14:58.779Z,1755882898.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 223.864197 m,
      bearing: 332.857388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020751 deg/s,
      cmd heading: 336.030445 deg,
      new cmd heading: 336.049453 deg.

2025-08-22T17:14:58.780Z,1755882898.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865170 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:14:59.126Z,1755882899.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:14:59.129Z,1755882899.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 223.672867 m,
      bearing: 332.866224 deg,
      approach rate: -0.528229 m/s,
      LOS rate: 0.024417 deg/s,
      cmd heading: 336.049460 deg,
      new cmd heading: 336.067148 deg.

2025-08-22T17:14:59.130Z,1755882899.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865478 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:14:59.532Z,1755882899.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:14:59.539Z,1755882899.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 223.475494 m,
      bearing: 332.875357 deg,
      approach rate: -0.486638 m/s,
      LOS rate: 0.022539 deg/s,
      cmd heading: 336.067136 deg,
      new cmd heading: 336.085419 deg.

2025-08-22T17:14:59.539Z,1755882899.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865797 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:14:59.951Z,1755882899.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:14:59.959Z,1755882899.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:14:59.989Z,1755882899.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 223.264618 m,
      bearing: 332.885134 deg,
      approach rate: -0.494814 m/s,
      LOS rate: 0.022962 deg/s,
      cmd heading: 336.085414 deg,
      new cmd heading: 336.104986 deg.

2025-08-22T17:14:59.995Z,1755882899.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866138 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:00.163Z,1755882900.163 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:00.163Z,1755882900.163 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:00.163Z,1755882900.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:00.384Z,1755882900.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:00.387Z,1755882900.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 223.031601 m,
      bearing: 332.895823 deg,
      approach rate: -0.546891 m/s,
      LOS rate: 0.025114 deg/s,
      cmd heading: 336.104976 deg,
      new cmd heading: 336.126377 deg.

2025-08-22T17:15:00.388Z,1755882900.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866512 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:00.415Z,1755882900.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744052
2025-08-22T17:15:00.666Z,1755882900.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995801
2025-08-22T17:15:00.753Z,1755882900.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:00.756Z,1755882900.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 222.840469 m,
      bearing: 332.904572 deg,
      approach rate: -0.517851 m/s,
      LOS rate: 0.023725 deg/s,
      cmd heading: 336.126368 deg,
      new cmd heading: 336.143881 deg.

2025-08-22T17:15:00.757Z,1755882900.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866817 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:00.920Z,1755882900.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248964
2025-08-22T17:15:01.171Z,1755882901.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500527
2025-08-22T17:15:01.262Z,1755882901.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:01.265Z,1755882901.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 222.573318 m,
      bearing: 332.917289 deg,
      approach rate: -0.524593 m/s,
      LOS rate: 0.025001 deg/s,
      cmd heading: 336.143880 deg,
      new cmd heading: 336.169344 deg.

2025-08-22T17:15:01.267Z,1755882901.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867262 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:01.423Z,1755882901.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751895
2025-08-22T17:15:01.675Z,1755882901.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004505
2025-08-22T17:15:01.741Z,1755882901.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:01.744Z,1755882901.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 222.322510 m,
      bearing: 332.929262 deg,
      approach rate: -0.524228 m/s,
      LOS rate: 0.025053 deg/s,
      cmd heading: 336.169343 deg,
      new cmd heading: 336.193316 deg.

2025-08-22T17:15:01.745Z,1755882901.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867680 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:01.927Z,1755882901.927 [DAT](INFO): DAT read: Rx Time:17:15:02.3951

2025-08-22T17:15:01.927Z,1755882901.927 [DAT](INFO): Rx dataTimestamp_ set to:1755882901.926823
2025-08-22T17:15:01.928Z,1755882901.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257022
2025-08-22T17:15:02.179Z,1755882902.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508559
2025-08-22T17:15:02.216Z,1755882902.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:02.218Z,1755882902.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:02.221Z,1755882902.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 222.068893 m,
      bearing: 332.941409 deg,
      approach rate: -0.531470 m/s,
      LOS rate: 0.025484 deg/s,
      cmd heading: 336.193304 deg,
      new cmd heading: 336.217625 deg.

2025-08-22T17:15:02.222Z,1755882902.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868104 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:02.439Z,1755882902.439 [DAT](INFO): DAT read: 17:15:02.3951 LVL= 32752, 32753, 28722, 32755, AGC= 70, IDX= 414,-0.30, 0.185,-1.511, 0.419,-0.049, PHS= 0.337,-1.417, 0.425, RAW= 152.4,   7.3, CAL= 151.9,   7.7, ROT= 358.1,  -7.7

2025-08-22T17:15:02.440Z,1755882902.440 [DAT](INFO): got valid direction response:
 17:15:02.3951 LVL= 32752, 32753, 28722, 32755, AGC= 70, IDX= 414,-0.30, 0.185,-1.511, 0.419,-0.049, PHS= 0.337,-1.417, 0.425, RAW= 152.4,   7.3, CAL= 151.9,   7.7, ROT= 358.1,  -7.7

2025-08-22T17:15:02.443Z,1755882902.443 [DAT](INFO): DAT read: Bearing 149.1,   3.6 (Locae 11 to 50 : 227.4 m  (Round-trip  303.2 ms) speed  0.6 m/s

2025-08-22T17:15:02.444Z,1755882902.444 [DAT](INFO): unknown deviceResponse_: Bearing 149.1,   3.6 (Locae 11 to 50 : 227.4 m  (Round-trip  303.2 ms) speed  0.6 m/s

2025-08-22T17:15:02.445Z,1755882902.445 [DAT](INFO): DAT read: user:546>

2025-08-22T17:15:02.446Z,1755882902.446 [DAT](INFO): DAT read: Tx time:17:15:03.4877

2025-08-22T17:15:02.446Z,1755882902.446 [DAT](INFO): Ping request sent.
2025-08-22T17:15:02.446Z,1755882902.446 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:02.447Z,1755882902.447 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:15:02.448Z,1755882902.448 [DAT](INFO): direction in FSK: [0.990438,-0.032856,0.133986]
2025-08-22T17:15:02.448Z,1755882902.448 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:02.451Z,1755882902.451 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:02.620Z,1755882902.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:02.627Z,1755882902.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 221.856918 m,
      bearing: 332.951569 deg,
      approach rate: -0.526791 m/s,
      LOS rate: 0.025274 deg/s,
      cmd heading: 336.217619 deg,
      new cmd heading: 336.237959 deg.

2025-08-22T17:15:02.628Z,1755882902.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868459 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:02.989Z,1755882902.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:03.028Z,1755882903.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 221.661758 m,
      bearing: 332.960945 deg,
      approach rate: -0.531914 m/s,
      LOS rate: 0.025578 deg/s,
      cmd heading: 336.237946 deg,
      new cmd heading: 336.256715 deg.

2025-08-22T17:15:03.042Z,1755882903.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868787 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:03.409Z,1755882903.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:03.412Z,1755882903.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 221.436340 m,
      bearing: 332.971920 deg,
      approach rate: -0.534632 m/s,
      LOS rate: 0.026055 deg/s,
      cmd heading: 336.256715 deg,
      new cmd heading: 336.278686 deg.

2025-08-22T17:15:03.413Z,1755882903.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869170 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:03.789Z,1755882903.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:03.792Z,1755882903.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 221.235367 m,
      bearing: 332.981699 deg,
      approach rate: -0.529085 m/s,
      LOS rate: 0.025768 deg/s,
      cmd heading: 336.278681 deg,
      new cmd heading: 336.298257 deg.

2025-08-22T17:15:03.793Z,1755882903.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869512 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:04.223Z,1755882904.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:04.226Z,1755882904.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:04.229Z,1755882904.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 221.002930 m,
      bearing: 332.992911 deg,
      approach rate: -0.532011 m/s,
      LOS rate: 0.025690 deg/s,
      cmd heading: 336.298270 deg,
      new cmd heading: 336.320718 deg.

2025-08-22T17:15:04.230Z,1755882904.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869904 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:04.450Z,1755882904.450 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:04.450Z,1755882904.450 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:04.450Z,1755882904.450 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:04.615Z,1755882904.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:04.618Z,1755882904.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 220.797241 m,
      bearing: 333.002843 deg,
      approach rate: -0.527856 m/s,
      LOS rate: 0.025512 deg/s,
      cmd heading: 336.320728 deg,
      new cmd heading: 336.340610 deg.

2025-08-22T17:15:04.619Z,1755882904.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870251 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:04.707Z,1755882904.707 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:04.707Z,1755882904.707 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:04.707Z,1755882904.707 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:04.958Z,1755882904.958 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:04.958Z,1755882904.958 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:04.959Z,1755882904.959 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:05.170Z,1755882905.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:05.194Z,1755882905.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 220.503601 m,
      bearing: 333.016282 deg,
      approach rate: -0.529875 m/s,
      LOS rate: 0.024282 deg/s,
      cmd heading: 336.340617 deg,
      new cmd heading: 336.367530 deg.

2025-08-22T17:15:05.195Z,1755882905.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870721 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:05.210Z,1755882905.210 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:05.211Z,1755882905.211 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:05.211Z,1755882905.211 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:05.462Z,1755882905.462 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:05.462Z,1755882905.462 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:05.462Z,1755882905.462 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:05.684Z,1755882905.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:05.687Z,1755882905.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 220.236679 m,
      bearing: 333.028495 deg,
      approach rate: -0.518320 m/s,
      LOS rate: 0.023746 deg/s,
      cmd heading: 336.367528 deg,
      new cmd heading: 336.391985 deg.

2025-08-22T17:15:05.688Z,1755882905.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871148 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:05.724Z,1755882905.724 [DAT](INFO): DAT read: Rx Time:17:15:06.1922

2025-08-22T17:15:05.724Z,1755882905.724 [DAT](INFO): Rx dataTimestamp_ set to:1755882905.723820
2025-08-22T17:15:05.725Z,1755882905.725 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:05.725Z,1755882905.725 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:05.725Z,1755882905.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:05.974Z,1755882905.974 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:05.974Z,1755882905.974 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:05.975Z,1755882905.975 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:15:06.172Z,1755882906.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.85 m.
2025-08-22T17:15:06.177Z,1755882906.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.850418 m,
      nav range: 219.975876 m,
      bearing: 333.039725 deg,
      approach rate: -0.534557 m/s,
      LOS rate: 0.023043 deg/s,
      cmd heading: 336.391980 deg,
      new cmd heading: 336.414465 deg.

2025-08-22T17:15:06.178Z,1755882906.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871540 target range: 227.850418 and range: 229.30 m.
2025-08-22T17:15:06.233Z,1755882906.233 [DAT](INFO): DAT read: 17:15:06.1922 LVL= 32752, 32753, 24754, 32755, AGC= 70, IDX= 416, 0.31, 1.838, 0.204, 2.066, 1.593, PHS= 0.347,-1.344, 0.429, RAW= 152.3,   6.6, CAL= 151.7,   6.9, ROT= 358.3,  -6.9

2025-08-22T17:15:06.234Z,1755882906.234 [DAT](INFO): got valid direction response:
 17:15:06.1922 LVL= 32752, 32753, 24754, 32755, AGC= 70, IDX= 416, 0.31, 1.838, 0.204, 2.066, 1.593, PHS= 0.347,-1.344, 0.429, RAW= 152.3,   6.6, CAL= 151.7,   6.9, ROT= 358.3,  -6.9

2025-08-22T17:15:06.235Z,1755882906.235 [DAT](INFO): DAT read: Bearing 148.6,   3.8 (Local)

2025-08-22T17:15:06.235Z,1755882906.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.6,   3.8 (Local)

2025-08-22T17:15:06.237Z,1755882906.237 [DAT](INFO): DAT read: Range 11 to 50 : 225.2 m  (Round-trip  300.3 ms) speed  0.4 m/s

2025-08-22T17:15:06.239Z,1755882906.239 [DAT](INFO): DAT read: user:547>

2025-08-22T17:15:06.240Z,1755882906.240 [DAT](INFO): DAT read: Tx time:17:15:07.2877

2025-08-22T17:15:06.240Z,1755882906.240 [DAT](INFO): Ping request sent.
2025-08-22T17:15:06.240Z,1755882906.240 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:06.241Z,1755882906.241 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:15:06.242Z,1755882906.242 [DAT](INFO): direction in FSK: [0.992320,-0.029452,0.120137]
2025-08-22T17:15:06.243Z,1755882906.243 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:06.243Z,1755882906.243 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:06.249Z,1755882906.249 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:06.249Z,1755882906.249 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:06.591Z,1755882906.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.199997 m,
      deltaT: 7.576357 s,
      deltaX: -4.100006 m,
      approachRate: -0.541158 m/s,
      rangeRepo size: 4

2025-08-22T17:15:06.593Z,1755882906.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.766998 m,
      bearing: 334.159661 deg,
      lat: 36.779533 deg,
      lon: -121.859484 deg,
      deltaT: 7.576357 s,
      deltaX: -4.083420 m,
      approachRate: -0.538969 m/s,
      posRepo size: 4

2025-08-22T17:15:06.594Z,1755882906.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:06.596Z,1755882906.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 219.487061 m,
      bearing: 333.430359 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023043 deg/s,
      cmd heading: 336.414465 deg,
      new cmd heading: 336.433735 deg.

2025-08-22T17:15:06.598Z,1755882906.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871876 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:06.936Z,1755882906.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:06.938Z,1755882906.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:06.941Z,1755882906.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 219.292068 m,
      bearing: 333.439133 deg,
      approach rate: -0.560251 m/s,
      LOS rate: 0.025233 deg/s,
      cmd heading: 336.433726 deg,
      new cmd heading: 336.451291 deg.

2025-08-22T17:15:06.942Z,1755882906.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872183 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:06.984Z,1755882906.984 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:06.984Z,1755882906.984 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:06.985Z,1755882906.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:07.235Z,1755882907.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994276
2025-08-22T17:15:07.347Z,1755882907.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:07.350Z,1755882907.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 219.075958 m,
      bearing: 333.447503 deg,
      approach rate: -0.529477 m/s,
      LOS rate: 0.020525 deg/s,
      cmd heading: 336.451294 deg,
      new cmd heading: 336.468049 deg.

2025-08-22T17:15:07.351Z,1755882907.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872475 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:07.488Z,1755882907.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247676
2025-08-22T17:15:07.730Z,1755882907.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:07.733Z,1755882907.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 218.873535 m,
      bearing: 333.455308 deg,
      approach rate: -0.528212 m/s,
      LOS rate: 0.020386 deg/s,
      cmd heading: 336.468041 deg,
      new cmd heading: 336.483666 deg.

2025-08-22T17:15:07.734Z,1755882907.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872748 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:07.739Z,1755882907.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498369
2025-08-22T17:15:07.992Z,1755882907.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751362
2025-08-22T17:15:08.167Z,1755882908.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:08.187Z,1755882908.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 218.642822 m,
      bearing: 333.465091 deg,
      approach rate: -0.528420 m/s,
      LOS rate: 0.022431 deg/s,
      cmd heading: 336.483669 deg,
      new cmd heading: 336.503256 deg.

2025-08-22T17:15:08.189Z,1755882908.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873090 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:08.244Z,1755882908.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003309
2025-08-22T17:15:08.499Z,1755882908.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258063
2025-08-22T17:15:08.558Z,1755882908.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:08.561Z,1755882908.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 218.439240 m,
      bearing: 333.473674 deg,
      approach rate: -0.519264 m/s,
      LOS rate: 0.021912 deg/s,
      cmd heading: 336.503258 deg,
      new cmd heading: 336.520439 deg.

2025-08-22T17:15:08.563Z,1755882908.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873390 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:08.747Z,1755882908.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506334
2025-08-22T17:15:08.932Z,1755882908.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:08.935Z,1755882908.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 218.231445 m,
      bearing: 333.482417 deg,
      approach rate: -0.555516 m/s,
      LOS rate: 0.023396 deg/s,
      cmd heading: 336.520442 deg,
      new cmd heading: 336.537945 deg.

2025-08-22T17:15:08.936Z,1755882908.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873695 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:09.000Z,1755882909.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760047
2025-08-22T17:15:09.250Z,1755882909.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010178
2025-08-22T17:15:09.354Z,1755882909.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:09.356Z,1755882909.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:09.375Z,1755882909.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 218.008713 m,
      bearing: 333.491743 deg,
      approach rate: -0.526002 m/s,
      LOS rate: 0.022048 deg/s,
      cmd heading: 336.537955 deg,
      new cmd heading: 336.556627 deg.

2025-08-22T17:15:09.376Z,1755882909.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874021 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:09.504Z,1755882909.504 [DAT](INFO): DAT read: Rx Time:17:15:09.9896

2025-08-22T17:15:09.505Z,1755882909.505 [DAT](INFO): Rx dataTimestamp_ set to:1755882909.504040
2025-08-22T17:15:09.506Z,1755882909.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265414
2025-08-22T17:15:09.755Z,1755882909.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514351
2025-08-22T17:15:09.755Z,1755882909.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.77 m.
2025-08-22T17:15:09.758Z,1755882909.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.766998 m,
      nav range: 217.799179 m,
      bearing: 333.500534 deg,
      approach rate: -0.527317 m/s,
      LOS rate: 0.022145 deg/s,
      cmd heading: 336.556615 deg,
      new cmd heading: 336.574214 deg.

2025-08-22T17:15:09.759Z,1755882909.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874328 target range: 223.766998 and range: 225.20 m.
2025-08-22T17:15:10.014Z,1755882910.014 [DAT](INFO): DAT read: 17:15:09.9896 LVL= 32752, 32753, 30402, 32755, AGC= 67, IDX= 421, 0.05, 2.231, 0.573, 2.510, 2.020, PHS= 0.313,-1.402, 0.447, RAW= 153.7,   7.2, CAL= 153.1,   7.6, ROT= 356.9,  -7.6

2025-08-22T17:15:10.015Z,1755882910.015 [DAT](INFO): got valid direction response:
 17:15:09.9896 LVL= 32752, 32753, 30402, 32755, AGC= 67, IDX= 421, 0.05, 2.231, 0.573, 2.510, 2.020, PHS= 0.313,-1.402, 0.447, RAW= 153.7,   7.2, CAL= 153.1,   7.6, ROT= 356.9,  -7.6

2025-08-22T17:15:10.016Z,1755882910.016 [DAT](INFO): DAT read: Bearing 149.6,   2.4 (Local)

2025-08-22T17:15:10.016Z,1755882910.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6,   2.4 (Local)

2025-08-22T17:15:10.019Z,1755882910.019 [DAT](INFO): DAT read: Range 11 to 50 : 223.2 m  (Round-trip  297.7 ms) speed -0.2 m/s

2025-08-22T17:15:10.020Z,1755882910.020 [DAT](INFO): DAT read: user:548>

2025-08-22T17:15:10.021Z,1755882910.021 [DAT](INFO): DAT read: Tx time:17:15:11.0877

2025-08-22T17:15:10.021Z,1755882910.021 [DAT](INFO): Ping request sent.
2025-08-22T17:15:10.021Z,1755882910.021 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:10.021Z,1755882910.021 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:15:10.022Z,1755882910.022 [DAT](INFO): direction in FSK: [0.989765,-0.053604,0.132256]
2025-08-22T17:15:10.023Z,1755882910.023 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:10.023Z,1755882910.023 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:10.026Z,1755882910.026 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:10.026Z,1755882910.026 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:10.288Z,1755882910.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.199997 m,
      deltaT: 3.780514 s,
      deltaX: -2.000000 m,
      approachRate: -0.529029 m/s,
      rangeRepo size: 4

2025-08-22T17:15:10.294Z,1755882910.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.775620 m,
      bearing: 333.011703 deg,
      lat: 36.779533 deg,
      lon: -121.859484 deg,
      deltaT: 3.780514 s,
      deltaX: -1.991379 m,
      approachRate: -0.526748 m/s,
      posRepo size: 4

2025-08-22T17:15:10.295Z,1755882910.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:10.302Z,1755882910.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 217.532715 m,
      bearing: 333.511969 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022145 deg/s,
      cmd heading: 336.574210 deg,
      new cmd heading: 336.597870 deg.

2025-08-22T17:15:10.303Z,1755882910.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874741 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:10.546Z,1755882910.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:10.549Z,1755882910.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 217.391739 m,
      bearing: 333.518040 deg,
      approach rate: -0.544252 m/s,
      LOS rate: 0.023454 deg/s,
      cmd heading: 336.597869 deg,
      new cmd heading: 336.610020 deg.

2025-08-22T17:15:10.550Z,1755882910.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874953 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:10.950Z,1755882910.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:10.953Z,1755882910.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 217.183716 m,
      bearing: 333.526982 deg,
      approach rate: -0.515256 m/s,
      LOS rate: 0.022169 deg/s,
      cmd heading: 336.610027 deg,
      new cmd heading: 336.627928 deg.

2025-08-22T17:15:10.955Z,1755882910.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875266 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:11.380Z,1755882911.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:11.383Z,1755882911.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:11.385Z,1755882911.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 216.951492 m,
      bearing: 333.536884 deg,
      approach rate: -0.537039 m/s,
      LOS rate: 0.022925 deg/s,
      cmd heading: 336.627922 deg,
      new cmd heading: 336.647749 deg.

2025-08-22T17:15:11.386Z,1755882911.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875612 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:11.521Z,1755882911.521 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:11.521Z,1755882911.521 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:11.522Z,1755882911.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:11.771Z,1755882911.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749415
2025-08-22T17:15:11.851Z,1755882911.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:11.854Z,1755882911.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 216.706345 m,
      bearing: 333.547317 deg,
      approach rate: -0.523040 m/s,
      LOS rate: 0.022283 deg/s,
      cmd heading: 336.647757 deg,
      new cmd heading: 336.668645 deg.

2025-08-22T17:15:11.855Z,1755882911.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875977 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:12.023Z,1755882912.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001374
2025-08-22T17:15:12.277Z,1755882912.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255579
2025-08-22T17:15:12.304Z,1755882912.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:12.307Z,1755882912.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 216.463516 m,
      bearing: 333.559587 deg,
      approach rate: -0.536523 m/s,
      LOS rate: 0.027142 deg/s,
      cmd heading: 336.668658 deg,
      new cmd heading: 336.693227 deg.

2025-08-22T17:15:12.308Z,1755882912.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876405 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:12.528Z,1755882912.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506608
2025-08-22T17:15:12.735Z,1755882912.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:12.739Z,1755882912.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 216.244339 m,
      bearing: 333.570625 deg,
      approach rate: -0.507911 m/s,
      LOS rate: 0.025604 deg/s,
      cmd heading: 336.693219 deg,
      new cmd heading: 336.715316 deg.

2025-08-22T17:15:12.740Z,1755882912.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876791 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:12.779Z,1755882912.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757980
2025-08-22T17:15:13.030Z,1755882913.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009312
2025-08-22T17:15:13.115Z,1755882913.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:13.153Z,1755882913.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 216.043533 m,
      bearing: 333.580763 deg,
      approach rate: -0.530278 m/s,
      LOS rate: 0.026796 deg/s,
      cmd heading: 336.715321 deg,
      new cmd heading: 336.735616 deg.

2025-08-22T17:15:13.166Z,1755882913.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877145 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:13.283Z,1755882913.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262195
2025-08-22T17:15:13.535Z,1755882913.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513416
2025-08-22T17:15:13.586Z,1755882913.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:13.588Z,1755882913.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:13.595Z,1755882913.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 215.794830 m,
      bearing: 333.590692 deg,
      approach rate: -0.524625 m/s,
      LOS rate: 0.020970 deg/s,
      cmd heading: 336.735621 deg,
      new cmd heading: 336.755503 deg.

2025-08-22T17:15:13.596Z,1755882913.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877492 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:13.787Z,1755882913.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765629
2025-08-22T17:15:13.945Z,1755882913.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:13.948Z,1755882913.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 215.595932 m,
      bearing: 333.598622 deg,
      approach rate: -0.557196 m/s,
      LOS rate: 0.022236 deg/s,
      cmd heading: 336.755510 deg,
      new cmd heading: 336.771385 deg.

2025-08-22T17:15:13.949Z,1755882913.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877769 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:14.039Z,1755882914.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017608
2025-08-22T17:15:14.291Z,1755882914.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270015
2025-08-22T17:15:14.439Z,1755882914.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:14.442Z,1755882914.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 215.339493 m,
      bearing: 333.610244 deg,
      approach rate: -0.519547 m/s,
      LOS rate: 0.023573 deg/s,
      cmd heading: 336.771384 deg,
      new cmd heading: 336.794654 deg.

2025-08-22T17:15:14.443Z,1755882914.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878176 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:14.543Z,1755882914.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521462
2025-08-22T17:15:14.795Z,1755882914.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.773597
2025-08-22T17:15:14.921Z,1755882914.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:14.924Z,1755882914.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 215.088913 m,
      bearing: 333.621631 deg,
      approach rate: -0.520027 m/s,
      LOS rate: 0.023659 deg/s,
      cmd heading: 336.794661 deg,
      new cmd heading: 336.817462 deg.

2025-08-22T17:15:14.925Z,1755882914.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878574 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:15.047Z,1755882915.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025355
2025-08-22T17:15:15.299Z,1755882915.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277379
2025-08-22T17:15:15.404Z,1755882915.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:15.407Z,1755882915.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 214.835281 m,
      bearing: 333.633021 deg,
      approach rate: -0.524937 m/s,
      LOS rate: 0.023602 deg/s,
      cmd heading: 336.817474 deg,
      new cmd heading: 336.840281 deg.

2025-08-22T17:15:15.408Z,1755882915.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878972 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:15.551Z,1755882915.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.529632
2025-08-22T17:15:15.784Z,1755882915.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:15.786Z,1755882915.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:15.789Z,1755882915.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 214.634659 m,
      bearing: 333.641999 deg,
      approach rate: -0.524590 m/s,
      LOS rate: 0.023497 deg/s,
      cmd heading: 336.840287 deg,
      new cmd heading: 336.858259 deg.

2025-08-22T17:15:15.790Z,1755882915.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879286 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:15.803Z,1755882915.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781443
2025-08-22T17:15:16.055Z,1755882916.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033443
2025-08-22T17:15:16.249Z,1755882916.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:16.252Z,1755882916.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 214.391434 m,
      bearing: 333.652858 deg,
      approach rate: -0.525971 m/s,
      LOS rate: 0.023510 deg/s,
      cmd heading: 336.858264 deg,
      new cmd heading: 336.880007 deg.

2025-08-22T17:15:16.253Z,1755882916.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879665 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:16.308Z,1755882916.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286399
2025-08-22T17:15:16.559Z,1755882916.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.537460
2025-08-22T17:15:16.619Z,1755882916.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:16.626Z,1755882916.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 214.198883 m,
      bearing: 333.660784 deg,
      approach rate: -0.519695 m/s,
      LOS rate: 0.021410 deg/s,
      cmd heading: 336.880011 deg,
      new cmd heading: 336.895876 deg.

2025-08-22T17:15:16.627Z,1755882916.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879942 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:16.810Z,1755882916.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789320
2025-08-22T17:15:17.005Z,1755882917.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:17.008Z,1755882917.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 213.985153 m,
      bearing: 333.669582 deg,
      approach rate: -0.553874 m/s,
      LOS rate: 0.022822 deg/s,
      cmd heading: 336.895884 deg,
      new cmd heading: 336.913498 deg.

2025-08-22T17:15:17.009Z,1755882917.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880250 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:17.064Z,1755882917.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042426
2025-08-22T17:15:17.315Z,1755882917.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.293405
2025-08-22T17:15:17.423Z,1755882917.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:17.426Z,1755882917.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 213.761856 m,
      bearing: 333.678412 deg,
      approach rate: -0.534115 m/s,
      LOS rate: 0.021144 deg/s,
      cmd heading: 336.913506 deg,
      new cmd heading: 336.931186 deg.

2025-08-22T17:15:17.427Z,1755882917.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880558 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:17.566Z,1755882917.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545313
2025-08-22T17:15:17.800Z,1755882917.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:17.802Z,1755882917.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:17.805Z,1755882917.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 213.560028 m,
      bearing: 333.686393 deg,
      approach rate: -0.533026 m/s,
      LOS rate: 0.021097 deg/s,
      cmd heading: 336.931183 deg,
      new cmd heading: 336.947159 deg.

2025-08-22T17:15:17.806Z,1755882917.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880837 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:17.819Z,1755882917.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.797487
2025-08-22T17:15:18.071Z,1755882918.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.049870
2025-08-22T17:15:18.278Z,1755882918.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:18.281Z,1755882918.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 213.312851 m,
      bearing: 333.696124 deg,
      approach rate: -0.518623 m/s,
      LOS rate: 0.020441 deg/s,
      cmd heading: 336.947165 deg,
      new cmd heading: 336.966650 deg.

2025-08-22T17:15:18.286Z,1755882918.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881177 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:18.323Z,1755882918.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301617
2025-08-22T17:15:18.575Z,1755882918.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.553564
2025-08-22T17:15:18.721Z,1755882918.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:18.728Z,1755882918.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 213.072571 m,
      bearing: 333.704373 deg,
      approach rate: -0.542655 m/s,
      LOS rate: 0.018650 deg/s,
      cmd heading: 336.966645 deg,
      new cmd heading: 336.983161 deg.

2025-08-22T17:15:18.729Z,1755882918.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881466 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:18.827Z,1755882918.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.805935
2025-08-22T17:15:19.083Z,1755882919.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061544
2025-08-22T17:15:19.122Z,1755882919.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:19.125Z,1755882919.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 212.847672 m,
      bearing: 333.712090 deg,
      approach rate: -0.560515 m/s,
      LOS rate: 0.019255 deg/s,
      cmd heading: 336.983174 deg,
      new cmd heading: 336.998626 deg.

2025-08-22T17:15:19.130Z,1755882919.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881736 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:19.336Z,1755882919.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314216
2025-08-22T17:15:19.553Z,1755882919.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:19.556Z,1755882919.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 212.612946 m,
      bearing: 333.721057 deg,
      approach rate: -0.545237 m/s,
      LOS rate: 0.020851 deg/s,
      cmd heading: 336.998638 deg,
      new cmd heading: 337.016590 deg.

2025-08-22T17:15:19.557Z,1755882919.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882049 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:19.587Z,1755882919.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565511
2025-08-22T17:15:19.839Z,1755882919.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817754
2025-08-22T17:15:19.992Z,1755882919.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:19.995Z,1755882919.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:19.998Z,1755882919.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 212.376236 m,
      bearing: 333.730122 deg,
      approach rate: -0.535456 m/s,
      LOS rate: 0.020530 deg/s,
      cmd heading: 337.016587 deg,
      new cmd heading: 337.034739 deg.

2025-08-22T17:15:19.999Z,1755882919.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882366 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:20.091Z,1755882920.091 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:20.091Z,1755882920.091 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:20.091Z,1755882920.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:20.342Z,1755882920.342 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:20.342Z,1755882920.342 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:20.342Z,1755882920.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:20.396Z,1755882920.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:20.403Z,1755882920.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 212.164185 m,
      bearing: 333.738378 deg,
      approach rate: -0.528638 m/s,
      LOS rate: 0.020602 deg/s,
      cmd heading: 337.034728 deg,
      new cmd heading: 337.051256 deg.

2025-08-22T17:15:20.404Z,1755882920.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882654 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:20.594Z,1755882920.594 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:20.594Z,1755882920.594 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:20.595Z,1755882920.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:20.780Z,1755882920.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:20.783Z,1755882920.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 211.950317 m,
      bearing: 333.746711 deg,
      approach rate: -0.556856 m/s,
      LOS rate: 0.021718 deg/s,
      cmd heading: 337.051257 deg,
      new cmd heading: 337.067940 deg.

2025-08-22T17:15:20.784Z,1755882920.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882946 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:20.849Z,1755882920.849 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:20.849Z,1755882920.849 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:20.849Z,1755882920.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:21.102Z,1755882921.102 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:21.102Z,1755882921.102 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:21.103Z,1755882921.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:21.203Z,1755882921.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:21.206Z,1755882921.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 211.733902 m,
      bearing: 333.755147 deg,
      approach rate: -0.512051 m/s,
      LOS rate: 0.019981 deg/s,
      cmd heading: 337.067950 deg,
      new cmd heading: 337.084840 deg.

2025-08-22T17:15:21.207Z,1755882921.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883240 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:21.360Z,1755882921.360 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:21.360Z,1755882921.360 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:21.360Z,1755882921.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:21.567Z,1755882921.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:21.570Z,1755882921.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 211.525635 m,
      bearing: 333.763260 deg,
      approach rate: -0.571256 m/s,
      LOS rate: 0.022276 deg/s,
      cmd heading: 337.084835 deg,
      new cmd heading: 337.101077 deg.

2025-08-22T17:15:21.571Z,1755882921.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883524 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:21.610Z,1755882921.610 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:21.611Z,1755882921.611 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:21.611Z,1755882921.611 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:21.862Z,1755882921.862 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:21.862Z,1755882921.862 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:21.863Z,1755882921.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:21.988Z,1755882921.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:21.995Z,1755882921.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 211.310837 m,
      bearing: 333.771644 deg,
      approach rate: -0.510657 m/s,
      LOS rate: 0.019952 deg/s,
      cmd heading: 337.101090 deg,
      new cmd heading: 337.117875 deg.

2025-08-22T17:15:21.996Z,1755882921.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883817 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:22.066Z,1755882922.066 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:15:22.114Z,1755882922.114 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:22.114Z,1755882922.114 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:22.115Z,1755882922.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:22.367Z,1755882922.367 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:15:22.367Z,1755882922.367 [DAT](INFO): response not received
2025-08-22T17:15:22.367Z,1755882922.367 [DAT](INFO): DAT read: user:549>

2025-08-22T17:15:22.368Z,1755882922.368 [DAT](INFO): DAT read: Tx time:17:15:23.5376

2025-08-22T17:15:22.368Z,1755882922.368 [DAT](INFO): Ping request sent.
2025-08-22T17:15:22.368Z,1755882922.368 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:22.369Z,1755882922.369 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:22.369Z,1755882922.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-22T17:15:22.385Z,1755882922.385 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00 +0.00,        57.06
2025-08-22T17:15:22.427Z,1755882922.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:22.429Z,1755882922.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:22.436Z,1755882922.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 211.069763 m,
      bearing: 333.781054 deg,
      approach rate: -0.546992 m/s,
      LOS rate: 0.021377 deg/s,
      cmd heading: 337.117865 deg,
      new cmd heading: 337.136708 deg.

2025-08-22T17:15:22.437Z,1755882922.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884146 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:22.619Z,1755882922.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250017
2025-08-22T17:15:22.786Z,1755882922.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:22.793Z,1755882922.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 210.880539 m,
      bearing: 333.788451 deg,
      approach rate: -0.528901 m/s,
      LOS rate: 0.020694 deg/s,
      cmd heading: 337.136717 deg,
      new cmd heading: 337.151524 deg.

2025-08-22T17:15:22.795Z,1755882922.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884404 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:22.871Z,1755882922.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502742
2025-08-22T17:15:23.070Z,1755882923.070 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:15:23.123Z,1755882923.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754083
2025-08-22T17:15:23.194Z,1755882923.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:23.196Z,1755882923.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 210.648926 m,
      bearing: 333.797511 deg,
      approach rate: -0.568786 m/s,
      LOS rate: 0.022273 deg/s,
      cmd heading: 337.151525 deg,
      new cmd heading: 337.169664 deg.

2025-08-22T17:15:23.198Z,1755882923.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884721 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:23.375Z,1755882923.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006093
2025-08-22T17:15:23.605Z,1755882923.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:23.608Z,1755882923.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 210.425934 m,
      bearing: 333.806711 deg,
      approach rate: -0.542784 m/s,
      LOS rate: 0.022417 deg/s,
      cmd heading: 337.169666 deg,
      new cmd heading: 337.188084 deg.

2025-08-22T17:15:23.609Z,1755882923.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885042 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:23.628Z,1755882923.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259014
2025-08-22T17:15:23.879Z,1755882923.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510111
2025-08-22T17:15:23.995Z,1755882923.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:23.998Z,1755882923.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 210.214828 m,
      bearing: 333.815398 deg,
      approach rate: -0.540813 m/s,
      LOS rate: 0.022278 deg/s,
      cmd heading: 337.188080 deg,
      new cmd heading: 337.205472 deg.

2025-08-22T17:15:23.999Z,1755882923.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885346 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:24.130Z,1755882924.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761981
2025-08-22T17:15:24.383Z,1755882924.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014202
2025-08-22T17:15:24.423Z,1755882924.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:24.426Z,1755882924.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 209.983582 m,
      bearing: 333.825269 deg,
      approach rate: -0.539749 m/s,
      LOS rate: 0.023063 deg/s,
      cmd heading: 337.205483 deg,
      new cmd heading: 337.225245 deg.

2025-08-22T17:15:24.427Z,1755882924.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885691 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:24.636Z,1755882924.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267726
2025-08-22T17:15:24.800Z,1755882924.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:24.802Z,1755882924.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:24.805Z,1755882924.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 209.789047 m,
      bearing: 333.833587 deg,
      approach rate: -0.513280 m/s,
      LOS rate: 0.021968 deg/s,
      cmd heading: 337.225236 deg,
      new cmd heading: 337.241888 deg.

2025-08-22T17:15:24.810Z,1755882924.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885981 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:24.887Z,1755882924.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518075
2025-08-22T17:15:25.138Z,1755882925.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770013
2025-08-22T17:15:25.292Z,1755882925.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:25.298Z,1755882925.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 209.515030 m,
      bearing: 333.845303 deg,
      approach rate: -0.559545 m/s,
      LOS rate: 0.023957 deg/s,
      cmd heading: 337.241874 deg,
      new cmd heading: 337.265338 deg.

2025-08-22T17:15:25.300Z,1755882925.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886391 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:25.391Z,1755882925.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022178
2025-08-22T17:15:25.643Z,1755882925.643 [DAT](INFO): DAT read: Rx Time:17:15:26.2279

2025-08-22T17:15:25.643Z,1755882925.643 [DAT](INFO): Rx dataTimestamp_ set to:1755882925.642693
2025-08-22T17:15:25.643Z,1755882925.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275049
2025-08-22T17:15:25.761Z,1755882925.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.78 m.
2025-08-22T17:15:25.764Z,1755882925.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.775620 m,
      nav range: 209.262848 m,
      bearing: 333.854999 deg,
      approach rate: -0.538028 m/s,
      LOS rate: 0.020710 deg/s,
      cmd heading: 337.265343 deg,
      new cmd heading: 337.284757 deg.

2025-08-22T17:15:25.765Z,1755882925.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886730 target range: 221.775620 and range: 223.20 m.
2025-08-22T17:15:25.895Z,1755882925.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526038
2025-08-22T17:15:26.153Z,1755882926.153 [DAT](INFO): DAT read: 17:15:26.2279 LVL= 32752, 32753, 28626, 32755, AGC= 67, IDX= 270,-0.29,-0.609,-2.231,-0.300,-0.759, PHS= 0.252,-1.428, 0.415, RAW= 154.6,   8.7, CAL= 154.2,   9.2, ROT= 355.8,  -9.2

2025-08-22T17:15:26.158Z,1755882926.158 [DAT](INFO): got valid direction response:
 17:15:26.2279 LVL= 32752, 32753, 28626, 32755, AGC= 67, IDX= 270,-0.29,-0.609,-2.231,-0.300,-0.759, PHS= 0.252,-1.428, 0.415, RAW= 154.6,   8.7, CAL= 154.2,   9.2, ROT= 355.8,  -9.2

2025-08-22T17:15:26.160Z,1755882926.160 [DAT](INFO): DAT read: Bearing 152.0,   0.4 (Local)

2025-08-22T17:15:26.160Z,1755882926.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0,   0.4 (Local)

2025-08-22T17:15:26.167Z,1755882926.167 [DAT](INFO): DAT read: Range 11 to 50 : 214.5 m  (Round-trip  286.1 ms) speed  0.4 m/s

2025-08-22T17:15:26.168Z,1755882926.168 [DAT](INFO): DAT read: user:550>

2025-08-22T17:15:26.173Z,1755882926.173 [DAT](INFO): DAT read: Tx time:17:15:27.3376

2025-08-22T17:15:26.174Z,1755882926.174 [DAT](INFO): Ping request sent.
2025-08-22T17:15:26.174Z,1755882926.174 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:26.175Z,1755882926.175 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:15:26.176Z,1755882926.176 [DAT](INFO): direction in FSK: [0.984485,-0.072296,0.159881]
2025-08-22T17:15:26.177Z,1755882926.177 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:26.177Z,1755882926.177 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:26.182Z,1755882926.182 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:26.183Z,1755882926.183 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:26.392Z,1755882926.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.500000 m,
      deltaT: 16.139208 s,
      deltaX: -8.699997 m,
      approachRate: -0.539060 m/s,
      rangeRepo size: 4

2025-08-22T17:15:26.399Z,1755882926.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.127594 m,
      bearing: 332.480316 deg,
      lat: 36.779529 deg,
      lon: -121.859484 deg,
      deltaT: 16.139208 s,
      deltaX: -8.648026 m,
      approachRate: -0.535839 m/s,
      posRepo size: 4

2025-08-22T17:15:26.400Z,1755882926.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:26.407Z,1755882926.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 208.588745 m,
      bearing: 333.817255 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020710 deg/s,
      cmd heading: 337.284768 deg,
      new cmd heading: 337.310876 deg.

2025-08-22T17:15:26.408Z,1755882926.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887186 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:26.760Z,1755882926.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:26.763Z,1755882926.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 208.364105 m,
      bearing: 333.825680 deg,
      approach rate: -0.608759 m/s,
      LOS rate: 0.022857 deg/s,
      cmd heading: 337.310887 deg,
      new cmd heading: 337.327755 deg.

2025-08-22T17:15:26.764Z,1755882926.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887480 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:27.130Z,1755882927.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:27.132Z,1755882927.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:27.135Z,1755882927.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 208.168747 m,
      bearing: 333.832987 deg,
      approach rate: -0.525790 m/s,
      LOS rate: 0.019683 deg/s,
      cmd heading: 337.327743 deg,
      new cmd heading: 337.342370 deg.

2025-08-22T17:15:27.136Z,1755882927.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887735 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:27.155Z,1755882927.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:27.155Z,1755882927.155 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:27.155Z,1755882927.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:27.408Z,1755882927.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234991
2025-08-22T17:15:27.545Z,1755882927.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:27.568Z,1755882927.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 207.951248 m,
      bearing: 333.841121 deg,
      approach rate: -0.526383 m/s,
      LOS rate: 0.019707 deg/s,
      cmd heading: 337.342360 deg,
      new cmd heading: 337.358646 deg.

2025-08-22T17:15:27.569Z,1755882927.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888019 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:27.659Z,1755882927.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486016
2025-08-22T17:15:27.911Z,1755882927.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737252
2025-08-22T17:15:27.956Z,1755882927.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:27.961Z,1755882927.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 207.738876 m,
      bearing: 333.849033 deg,
      approach rate: -0.516817 m/s,
      LOS rate: 0.019272 deg/s,
      cmd heading: 337.358643 deg,
      new cmd heading: 337.374482 deg.

2025-08-22T17:15:27.964Z,1755882927.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888296 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:28.163Z,1755882928.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989489
2025-08-22T17:15:28.399Z,1755882928.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:28.415Z,1755882928.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241360
2025-08-22T17:15:28.415Z,1755882928.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 207.529526 m,
      bearing: 333.856826 deg,
      approach rate: -0.478340 m/s,
      LOS rate: 0.017824 deg/s,
      cmd heading: 337.374489 deg,
      new cmd heading: 337.390091 deg.

2025-08-22T17:15:28.416Z,1755882928.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888568 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:28.666Z,1755882928.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493140
2025-08-22T17:15:28.777Z,1755882928.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:28.780Z,1755882928.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 207.294205 m,
      bearing: 333.865812 deg,
      approach rate: -0.613267 m/s,
      LOS rate: 0.023447 deg/s,
      cmd heading: 337.390089 deg,
      new cmd heading: 337.408083 deg.

2025-08-22T17:15:28.781Z,1755882928.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888882 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:28.920Z,1755882928.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746225
2025-08-22T17:15:29.172Z,1755882929.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997845
2025-08-22T17:15:29.176Z,1755882929.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:29.180Z,1755882929.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:29.184Z,1755882929.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 207.078690 m,
      bearing: 333.874060 deg,
      approach rate: -0.535698 m/s,
      LOS rate: 0.020523 deg/s,
      cmd heading: 337.408094 deg,
      new cmd heading: 337.424607 deg.

2025-08-22T17:15:29.186Z,1755882929.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889170 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:29.426Z,1755882929.426 [DAT](INFO): DAT read: Rx Time:17:15:30.0250

2025-08-22T17:15:29.427Z,1755882929.427 [DAT](INFO): Rx dataTimestamp_ set to:1755882929.426433
2025-08-22T17:15:29.431Z,1755882929.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255372
2025-08-22T17:15:29.601Z,1755882929.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.13 m.
2025-08-22T17:15:29.608Z,1755882929.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.127594 m,
      nav range: 206.865677 m,
      bearing: 333.881973 deg,
      approach rate: -0.505582 m/s,
      LOS rate: 0.018800 deg/s,
      cmd heading: 337.424596 deg,
      new cmd heading: 337.440437 deg.

2025-08-22T17:15:29.609Z,1755882929.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889447 target range: 213.127594 and range: 214.50 m.
2025-08-22T17:15:29.675Z,1755882929.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501960
2025-08-22T17:15:29.938Z,1755882929.938 [DAT](INFO): DAT read: 17:15:30.0250 LVL= 26256, 29873, 21186, 30627, AGC= 68, IDX= 417,-0.08, 0.101,-1.712, 0.386,-0.110, PHS= 0.313,-1.557, 0.452, RAW= 153.6,   8.2, CAL= 153.1,   8.7, ROT= 356.9,  -8.7

2025-08-22T17:15:29.940Z,1755882929.940 [DAT](INFO): got valid direction response:
 17:15:30.0250 LVL= 26256, 29873, 21186, 30627, AGC= 68, IDX= 417,-0.08, 0.101,-1.712, 0.386,-0.110, PHS= 0.313,-1.557, 0.452, RAW= 153.6,   8.2, CAL= 153.1,   8.7, ROT= 356.9,  -8.7

2025-08-22T17:15:29.942Z,1755882929.942 [DAT](INFO): DAT read: Bearing 151.8,   0.6 (Local)

2025-08-22T17:15:29.943Z,1755882929.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8,   0.6 (Local)

2025-08-22T17:15:29.946Z,1755882929.946 [DAT](INFO): DAT read: Range 11 to 50 : 212.4 m  (Round-trip  283.3 ms) speed  0.4 m/s

2025-08-22T17:15:29.947Z,1755882929.947 [DAT](INFO): DAT read: user:551>

2025-08-22T17:15:29.948Z,1755882929.948 [DAT](INFO): DAT read: Tx time:17:15:31.1376

2025-08-22T17:15:29.949Z,1755882929.949 [DAT](INFO): Ping request sent.
2025-08-22T17:15:29.949Z,1755882929.949 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:29.951Z,1755882929.951 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:15:29.952Z,1755882929.952 [DAT](INFO): direction in FSK: [0.987047,-0.053456,0.151261]
2025-08-22T17:15:29.953Z,1755882929.953 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:29.954Z,1755882929.954 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:29.960Z,1755882929.960 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:29.961Z,1755882929.961 [DAT](INFO): publishing direction and range info
2025-08-22T17:15:30.080Z,1755882930.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 212.399994 m,
      deltaT: 3.780051 s,
      deltaX: -2.100006 m,
      approachRate: -0.555550 m/s,
      rangeRepo size: 4

2025-08-22T17:15:30.090Z,1755882930.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 211.040451 m,
      bearing: 333.923325 deg,
      lat: 36.779529 deg,
      lon: -121.859484 deg,
      deltaT: 3.780051 s,
      deltaX: -2.087143 m,
      approachRate: -0.552147 m/s,
      posRepo size: 4

2025-08-22T17:15:30.091Z,1755882930.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:30.098Z,1755882930.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 206.620438 m,
      bearing: 333.891111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018800 deg/s,
      cmd heading: 337.440442 deg,
      new cmd heading: 337.458427 deg.

2025-08-22T17:15:30.099Z,1755882930.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889760 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:30.506Z,1755882930.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:30.508Z,1755882930.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 206.375641 m,
      bearing: 333.899913 deg,
      approach rate: -0.574295 m/s,
      LOS rate: 0.020674 deg/s,
      cmd heading: 337.458419 deg,
      new cmd heading: 337.476044 deg.

2025-08-22T17:15:30.509Z,1755882930.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890068 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:30.872Z,1755882930.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:30.879Z,1755882930.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 206.186798 m,
      bearing: 333.906685 deg,
      approach rate: -0.515434 m/s,
      LOS rate: 0.018500 deg/s,
      cmd heading: 337.476041 deg,
      new cmd heading: 337.489596 deg.

2025-08-22T17:15:30.880Z,1755882930.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890305 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:31.255Z,1755882931.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:31.257Z,1755882931.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:31.260Z,1755882931.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 205.970520 m,
      bearing: 333.914438 deg,
      approach rate: -0.561075 m/s,
      LOS rate: 0.020135 deg/s,
      cmd heading: 337.489592 deg,
      new cmd heading: 337.505115 deg.

2025-08-22T17:15:31.261Z,1755882931.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890575 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:31.445Z,1755882931.445 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:15:31.446Z,1755882931.446 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:15:31.447Z,1755882931.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:31.695Z,1755882931.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745779
2025-08-22T17:15:31.757Z,1755882931.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:31.760Z,1755882931.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 205.697479 m,
      bearing: 333.924637 deg,
      approach rate: -0.546161 m/s,
      LOS rate: 0.020427 deg/s,
      cmd heading: 337.505110 deg,
      new cmd heading: 337.525534 deg.

2025-08-22T17:15:31.761Z,1755882931.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890932 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:31.948Z,1755882931.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998637
2025-08-22T17:15:32.131Z,1755882932.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:32.138Z,1755882932.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 205.504547 m,
      bearing: 333.931842 deg,
      approach rate: -0.516452 m/s,
      LOS rate: 0.019304 deg/s,
      cmd heading: 337.525546 deg,
      new cmd heading: 337.539969 deg.

2025-08-22T17:15:32.139Z,1755882932.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891184 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:32.200Z,1755882932.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251187
2025-08-22T17:15:32.454Z,1755882932.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504933
2025-08-22T17:15:32.562Z,1755882932.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:32.564Z,1755882932.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 205.259918 m,
      bearing: 333.941656 deg,
      approach rate: -0.567923 m/s,
      LOS rate: 0.022813 deg/s,
      cmd heading: 337.539971 deg,
      new cmd heading: 337.559624 deg.

2025-08-22T17:15:32.566Z,1755882932.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891527 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:32.702Z,1755882932.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753684
2025-08-22T17:15:32.947Z,1755882932.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:32.952Z,1755882932.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 205.055298 m,
      bearing: 333.949884 deg,
      approach rate: -0.532483 m/s,
      LOS rate: 0.021432 deg/s,
      cmd heading: 337.559615 deg,
      new cmd heading: 337.576087 deg.

2025-08-22T17:15:32.955Z,1755882932.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006627
2025-08-22T17:15:32.956Z,1755882932.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891814 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:33.207Z,1755882933.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257807
2025-08-22T17:15:33.313Z,1755882933.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:33.316Z,1755882933.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:33.323Z,1755882933.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 204.850998 m,
      bearing: 333.958113 deg,
      approach rate: -0.552350 m/s,
      LOS rate: 0.022271 deg/s,
      cmd heading: 337.576089 deg,
      new cmd heading: 337.592564 deg.

2025-08-22T17:15:33.324Z,1755882933.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892102 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:33.462Z,1755882933.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512354
2025-08-22T17:15:33.711Z,1755882933.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761838
2025-08-22T17:15:33.787Z,1755882933.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:33.795Z,1755882933.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 204.603622 m,
      bearing: 333.968449 deg,
      approach rate: -0.525053 m/s,
      LOS rate: 0.021965 deg/s,
      cmd heading: 337.592564 deg,
      new cmd heading: 337.613261 deg.

2025-08-22T17:15:33.796Z,1755882933.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892463 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:33.963Z,1755882933.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014720
2025-08-22T17:15:34.131Z,1755882934.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:34.134Z,1755882934.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 204.410965 m,
      bearing: 333.976482 deg,
      approach rate: -0.559867 m/s,
      LOS rate: 0.023365 deg/s,
      cmd heading: 337.613273 deg,
      new cmd heading: 337.629353 deg.

2025-08-22T17:15:34.135Z,1755882934.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892744 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:34.215Z,1755882934.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.265906
2025-08-22T17:15:34.470Z,1755882934.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521080
2025-08-22T17:15:34.624Z,1755882934.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:34.627Z,1755882934.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 204.136154 m,
      bearing: 333.989860 deg,
      approach rate: -0.557676 m/s,
      LOS rate: 0.027184 deg/s,
      cmd heading: 337.629365 deg,
      new cmd heading: 337.656156 deg.

2025-08-22T17:15:34.628Z,1755882934.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893212 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:34.720Z,1755882934.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771137
2025-08-22T17:15:34.971Z,1755882934.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.022122
2025-08-22T17:15:35.021Z,1755882935.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:35.028Z,1755882935.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 203.921631 m,
      bearing: 334.000285 deg,
      approach rate: -0.539770 m/s,
      LOS rate: 0.026261 deg/s,
      cmd heading: 337.656166 deg,
      new cmd heading: 337.677040 deg.

2025-08-22T17:15:35.029Z,1755882935.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893576 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:35.223Z,1755882935.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274287
2025-08-22T17:15:35.392Z,1755882935.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:35.395Z,1755882935.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:35.398Z,1755882935.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 203.711655 m,
      bearing: 334.010508 deg,
      approach rate: -0.561952 m/s,
      LOS rate: 0.027385 deg/s,
      cmd heading: 337.677039 deg,
      new cmd heading: 337.697505 deg.

2025-08-22T17:15:35.399Z,1755882935.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893933 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:35.478Z,1755882935.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528193
2025-08-22T17:15:35.727Z,1755882935.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.777823
2025-08-22T17:15:35.894Z,1755882935.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:35.897Z,1755882935.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 203.447983 m,
      bearing: 334.022494 deg,
      approach rate: -0.527905 m/s,
      LOS rate: 0.024031 deg/s,
      cmd heading: 337.697503 deg,
      new cmd heading: 337.721508 deg.

2025-08-22T17:15:35.898Z,1755882935.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894352 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:35.979Z,1755882935.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.029975
2025-08-22T17:15:36.218Z,1755882936.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:36.221Z,1755882936.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 203.276840 m,
      bearing: 334.030292 deg,
      approach rate: -0.528366 m/s,
      LOS rate: 0.024092 deg/s,
      cmd heading: 337.721518 deg,
      new cmd heading: 337.737125 deg.

2025-08-22T17:15:36.230Z,1755882936.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.281623
2025-08-22T17:15:36.250Z,1755882936.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894625 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:36.485Z,1755882936.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536128
2025-08-22T17:15:36.668Z,1755882936.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:36.671Z,1755882936.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 203.037018 m,
      bearing: 334.040553 deg,
      approach rate: -0.533408 m/s,
      LOS rate: 0.022849 deg/s,
      cmd heading: 337.737118 deg,
      new cmd heading: 337.757664 deg.

2025-08-22T17:15:36.672Z,1755882936.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894983 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:36.736Z,1755882936.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787430
2025-08-22T17:15:36.986Z,1755882936.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.037749
2025-08-22T17:15:37.052Z,1755882937.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:37.059Z,1755882937.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 202.842987 m,
      bearing: 334.048844 deg,
      approach rate: -0.505004 m/s,
      LOS rate: 0.021600 deg/s,
      cmd heading: 337.757663 deg,
      new cmd heading: 337.774261 deg.

2025-08-22T17:15:37.060Z,1755882937.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895273 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:37.239Z,1755882937.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.289763
2025-08-22T17:15:37.460Z,1755882937.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:37.484Z,1755882937.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:37.487Z,1755882937.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 202.615814 m,
      bearing: 334.058597 deg,
      approach rate: -0.525479 m/s,
      LOS rate: 0.022586 deg/s,
      cmd heading: 337.774274 deg,
      new cmd heading: 337.793802 deg.

2025-08-22T17:15:37.488Z,1755882937.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895614 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:37.494Z,1755882937.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.544293
2025-08-22T17:15:37.742Z,1755882937.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.793670
2025-08-22T17:15:37.929Z,1755882937.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:37.942Z,1755882937.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 202.374176 m,
      bearing: 334.069265 deg,
      approach rate: -0.544339 m/s,
      LOS rate: 0.024061 deg/s,
      cmd heading: 337.793808 deg,
      new cmd heading: 337.815170 deg.

2025-08-22T17:15:37.944Z,1755882937.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895987 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:37.995Z,1755882937.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.046041
2025-08-22T17:15:38.247Z,1755882938.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.297861
2025-08-22T17:15:38.295Z,1755882938.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:38.298Z,1755882938.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 202.177185 m,
      bearing: 334.077939 deg,
      approach rate: -0.536792 m/s,
      LOS rate: 0.023658 deg/s,
      cmd heading: 337.815173 deg,
      new cmd heading: 337.832537 deg.

2025-08-22T17:15:38.299Z,1755882938.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896290 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:38.502Z,1755882938.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552402
2025-08-22T17:15:38.716Z,1755882938.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:38.719Z,1755882938.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 201.952652 m,
      bearing: 334.086832 deg,
      approach rate: -0.533319 m/s,
      LOS rate: 0.021147 deg/s,
      cmd heading: 337.832549 deg,
      new cmd heading: 337.850355 deg.

2025-08-22T17:15:38.720Z,1755882938.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896601 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:38.751Z,1755882938.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802407
2025-08-22T17:15:39.003Z,1755882939.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.053812
2025-08-22T17:15:39.095Z,1755882939.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:39.098Z,1755882939.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 201.746735 m,
      bearing: 334.094997 deg,
      approach rate: -0.543711 m/s,
      LOS rate: 0.021581 deg/s,
      cmd heading: 337.850362 deg,
      new cmd heading: 337.866709 deg.

2025-08-22T17:15:39.099Z,1755882939.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896886 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:39.255Z,1755882939.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.305748
2025-08-22T17:15:39.510Z,1755882939.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560498
2025-08-22T17:15:39.598Z,1755882939.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:39.600Z,1755882939.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:39.611Z,1755882939.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 201.500488 m,
      bearing: 334.104769 deg,
      approach rate: -0.487758 m/s,
      LOS rate: 0.019380 deg/s,
      cmd heading: 337.866700 deg,
      new cmd heading: 337.886268 deg.

2025-08-22T17:15:39.612Z,1755882939.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897228 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:39.759Z,1755882939.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.809807
2025-08-22T17:15:39.968Z,1755882939.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:39.975Z,1755882939.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 201.283539 m,
      bearing: 334.112805 deg,
      approach rate: -0.589242 m/s,
      LOS rate: 0.021848 deg/s,
      cmd heading: 337.886262 deg,
      new cmd heading: 337.902350 deg.

2025-08-22T17:15:39.976Z,1755882939.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897509 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:40.010Z,1755882940.010 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:40.011Z,1755882940.011 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:40.011Z,1755882940.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:40.262Z,1755882940.262 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:40.262Z,1755882940.262 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:40.263Z,1755882940.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:40.326Z,1755882940.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:40.333Z,1755882940.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 201.074951 m,
      bearing: 334.120515 deg,
      approach rate: -0.581688 m/s,
      LOS rate: 0.021523 deg/s,
      cmd heading: 337.902354 deg,
      new cmd heading: 337.917790 deg.

2025-08-22T17:15:40.334Z,1755882940.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897778 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:40.514Z,1755882940.514 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:40.514Z,1755882940.514 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:40.515Z,1755882940.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:40.742Z,1755882940.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:40.745Z,1755882940.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 200.847061 m,
      bearing: 334.129608 deg,
      approach rate: -0.548089 m/s,
      LOS rate: 0.021894 deg/s,
      cmd heading: 337.917790 deg,
      new cmd heading: 337.935996 deg.

2025-08-22T17:15:40.746Z,1755882940.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898096 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:40.766Z,1755882940.766 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:40.766Z,1755882940.766 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:40.767Z,1755882940.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:41.020Z,1755882941.020 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:41.020Z,1755882941.020 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:41.021Z,1755882941.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:41.163Z,1755882941.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:41.167Z,1755882941.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 200.639557 m,
      bearing: 334.137888 deg,
      approach rate: -0.493423 m/s,
      LOS rate: 0.019711 deg/s,
      cmd heading: 337.935985 deg,
      new cmd heading: 337.952564 deg.

2025-08-22T17:15:41.169Z,1755882941.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898385 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:41.271Z,1755882941.271 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:41.272Z,1755882941.272 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:41.272Z,1755882941.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:41.522Z,1755882941.522 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:41.522Z,1755882941.522 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:41.523Z,1755882941.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:41.545Z,1755882941.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:41.548Z,1755882941.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 200.425293 m,
      bearing: 334.146422 deg,
      approach rate: -0.561078 m/s,
      LOS rate: 0.022370 deg/s,
      cmd heading: 337.952569 deg,
      new cmd heading: 337.969655 deg.

2025-08-22T17:15:41.548Z,1755882941.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898683 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:41.774Z,1755882941.774 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:41.775Z,1755882941.775 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:41.775Z,1755882941.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:41.988Z,1755882941.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:41.990Z,1755882941.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:41.993Z,1755882941.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 200.189713 m,
      bearing: 334.156620 deg,
      approach rate: -0.528697 m/s,
      LOS rate: 0.022915 deg/s,
      cmd heading: 337.969645 deg,
      new cmd heading: 337.990066 deg.

2025-08-22T17:15:41.994Z,1755882941.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899039 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:42.026Z,1755882942.026 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:42.027Z,1755882942.027 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:42.027Z,1755882942.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:42.278Z,1755882942.278 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:42.278Z,1755882942.278 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:42.279Z,1755882942.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:42.394Z,1755882942.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:42.397Z,1755882942.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 199.977615 m,
      bearing: 334.165824 deg,
      approach rate: -0.525597 m/s,
      LOS rate: 0.022831 deg/s,
      cmd heading: 337.990053 deg,
      new cmd heading: 338.008479 deg.

2025-08-22T17:15:42.423Z,1755882942.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899361 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:42.533Z,1755882942.533 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:15:42.534Z,1755882942.534 [DAT](INFO): response not received
2025-08-22T17:15:42.535Z,1755882942.535 [DAT](INFO): DAT read: user:552>

2025-08-22T17:15:42.537Z,1755882942.537 [DAT](INFO): DAT read: Tx time:17:15:43.5875

2025-08-22T17:15:42.539Z,1755882942.539 [DAT](INFO): Ping request sent.
2025-08-22T17:15:42.539Z,1755882942.539 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:42.539Z,1755882942.539 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:42.540Z,1755882942.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001618
2025-08-22T17:15:42.783Z,1755882942.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244234
2025-08-22T17:15:42.784Z,1755882942.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:42.802Z,1755882942.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 199.771332 m,
      bearing: 334.173487 deg,
      approach rate: -0.531713 m/s,
      LOS rate: 0.019774 deg/s,
      cmd heading: 338.008467 deg,
      new cmd heading: 338.023810 deg.

2025-08-22T17:15:42.803Z,1755882942.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899629 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:43.035Z,1755882943.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496046
2025-08-22T17:15:43.152Z,1755882943.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:43.156Z,1755882943.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 199.574707 m,
      bearing: 334.180813 deg,
      approach rate: -0.531533 m/s,
      LOS rate: 0.019822 deg/s,
      cmd heading: 338.023822 deg,
      new cmd heading: 338.038487 deg.

2025-08-22T17:15:43.159Z,1755882943.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899885 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:43.287Z,1755882943.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748162
2025-08-22T17:15:43.539Z,1755882943.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000154
2025-08-22T17:15:43.575Z,1755882943.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:43.583Z,1755882943.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 199.359543 m,
      bearing: 334.188827 deg,
      approach rate: -0.508345 m/s,
      LOS rate: 0.018954 deg/s,
      cmd heading: 338.038493 deg,
      new cmd heading: 338.054538 deg.

2025-08-22T17:15:43.592Z,1755882943.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900165 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:43.790Z,1755882943.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251979
2025-08-22T17:15:44.023Z,1755882944.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:44.025Z,1755882944.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:44.032Z,1755882944.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 199.114609 m,
      bearing: 334.198814 deg,
      approach rate: -0.544303 m/s,
      LOS rate: 0.022222 deg/s,
      cmd heading: 338.054530 deg,
      new cmd heading: 338.074530 deg.

2025-08-22T17:15:44.033Z,1755882944.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900514 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:44.043Z,1755882944.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504157
2025-08-22T17:15:44.295Z,1755882944.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756949
2025-08-22T17:15:44.388Z,1755882944.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:44.392Z,1755882944.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 198.914627 m,
      bearing: 334.206958 deg,
      approach rate: -0.550065 m/s,
      LOS rate: 0.022424 deg/s,
      cmd heading: 338.074529 deg,
      new cmd heading: 338.090834 deg.

2025-08-22T17:15:44.392Z,1755882944.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900798 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:44.547Z,1755882944.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008022
2025-08-22T17:15:44.799Z,1755882944.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260047
2025-08-22T17:15:44.864Z,1755882944.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:44.867Z,1755882944.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 198.645905 m,
      bearing: 334.216941 deg,
      approach rate: -0.565389 m/s,
      LOS rate: 0.021032 deg/s,
      cmd heading: 338.090840 deg,
      new cmd heading: 338.110832 deg.

2025-08-22T17:15:44.868Z,1755882944.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901147 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:45.052Z,1755882945.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513297
2025-08-22T17:15:45.211Z,1755882945.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:45.214Z,1755882945.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 198.456924 m,
      bearing: 334.223954 deg,
      approach rate: -0.544348 m/s,
      LOS rate: 0.020219 deg/s,
      cmd heading: 338.110838 deg,
      new cmd heading: 338.124877 deg.

2025-08-22T17:15:45.215Z,1755882945.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901392 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:45.303Z,1755882945.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764247
2025-08-22T17:15:45.554Z,1755882945.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016016
2025-08-22T17:15:45.677Z,1755882945.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:45.680Z,1755882945.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 198.235794 m,
      bearing: 334.232104 deg,
      approach rate: -0.475977 m/s,
      LOS rate: 0.017563 deg/s,
      cmd heading: 338.124881 deg,
      new cmd heading: 338.141200 deg.

2025-08-22T17:15:45.681Z,1755882945.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901677 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:45.807Z,1755882945.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268097
2025-08-22T17:15:46.059Z,1755882946.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520121
2025-08-22T17:15:46.059Z,1755882946.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:46.078Z,1755882946.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:46.080Z,1755882946.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 198.003494 m,
      bearing: 334.240954 deg,
      approach rate: -0.601769 m/s,
      LOS rate: 0.022951 deg/s,
      cmd heading: 338.141192 deg,
      new cmd heading: 338.158911 deg.

2025-08-22T17:15:46.086Z,1755882946.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901987 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:46.311Z,1755882946.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772411
2025-08-22T17:15:46.428Z,1755882946.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:46.448Z,1755882946.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 197.813995 m,
      bearing: 334.248169 deg,
      approach rate: -0.517972 m/s,
      LOS rate: 0.019742 deg/s,
      cmd heading: 338.158923 deg,
      new cmd heading: 338.173368 deg.

2025-08-22T17:15:46.449Z,1755882946.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902239 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:46.563Z,1755882946.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024096
2025-08-22T17:15:46.814Z,1755882946.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275977
2025-08-22T17:15:46.866Z,1755882946.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:46.869Z,1755882946.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 197.578598 m,
      bearing: 334.257367 deg,
      approach rate: -0.537070 m/s,
      LOS rate: 0.021010 deg/s,
      cmd heading: 338.173376 deg,
      new cmd heading: 338.191793 deg.

2025-08-22T17:15:46.874Z,1755882946.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902560 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:47.069Z,1755882947.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530933
2025-08-22T17:15:47.230Z,1755882947.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:47.233Z,1755882947.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 197.370117 m,
      bearing: 334.265492 deg,
      approach rate: -0.572740 m/s,
      LOS rate: 0.022345 deg/s,
      cmd heading: 338.191790 deg,
      new cmd heading: 338.208057 deg.

2025-08-22T17:15:47.234Z,1755882947.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902844 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:47.319Z,1755882947.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780745
2025-08-22T17:15:47.570Z,1755882947.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032005
2025-08-22T17:15:47.636Z,1755882947.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:47.640Z,1755882947.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 197.149506 m,
      bearing: 334.274082 deg,
      approach rate: -0.542866 m/s,
      LOS rate: 0.021160 deg/s,
      cmd heading: 338.208046 deg,
      new cmd heading: 338.225244 deg.

2025-08-22T17:15:47.643Z,1755882947.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903144 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:47.823Z,1755882947.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284140
2025-08-22T17:15:48.054Z,1755882948.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:48.057Z,1755882948.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 196.919785 m,
      bearing: 334.283629 deg,
      approach rate: -0.550143 m/s,
      LOS rate: 0.022891 deg/s,
      cmd heading: 338.225230 deg,
      new cmd heading: 338.244347 deg.

2025-08-22T17:15:48.058Z,1755882948.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903478 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:48.087Z,1755882948.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548227
2025-08-22T17:15:48.338Z,1755882948.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800014
2025-08-22T17:15:48.464Z,1755882948.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:48.469Z,1755882948.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:48.476Z,1755882948.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 196.703659 m,
      bearing: 334.292597 deg,
      approach rate: -0.520738 m/s,
      LOS rate: 0.021631 deg/s,
      cmd heading: 338.244355 deg,
      new cmd heading: 338.262310 deg.

2025-08-22T17:15:48.477Z,1755882948.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903791 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:48.591Z,1755882948.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052041
2025-08-22T17:15:48.843Z,1755882948.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304138
2025-08-22T17:15:48.882Z,1755882948.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:48.884Z,1755882948.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 196.485550 m,
      bearing: 334.301585 deg,
      approach rate: -0.549825 m/s,
      LOS rate: 0.022683 deg/s,
      cmd heading: 338.262305 deg,
      new cmd heading: 338.280301 deg.

2025-08-22T17:15:48.885Z,1755882948.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904105 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:49.095Z,1755882949.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556485
2025-08-22T17:15:49.306Z,1755882949.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:49.309Z,1755882949.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 196.253632 m,
      bearing: 334.311147 deg,
      approach rate: -0.526035 m/s,
      LOS rate: 0.021715 deg/s,
      cmd heading: 338.280309 deg,
      new cmd heading: 338.299456 deg.

2025-08-22T17:15:49.311Z,1755882949.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904439 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:49.347Z,1755882949.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808495
2025-08-22T17:15:49.599Z,1755882949.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060108
2025-08-22T17:15:49.667Z,1755882949.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:49.687Z,1755882949.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 196.066574 m,
      bearing: 334.318893 deg,
      approach rate: -0.518990 m/s,
      LOS rate: 0.021510 deg/s,
      cmd heading: 338.299461 deg,
      new cmd heading: 338.314966 deg.

2025-08-22T17:15:49.694Z,1755882949.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904710 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:49.851Z,1755882949.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312152
2025-08-22T17:15:50.103Z,1755882950.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564133
2025-08-22T17:15:50.114Z,1755882950.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:50.117Z,1755882950.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 195.832001 m,
      bearing: 334.329580 deg,
      approach rate: -0.524179 m/s,
      LOS rate: 0.023912 deg/s,
      cmd heading: 338.314979 deg,
      new cmd heading: 338.336380 deg.

2025-08-22T17:15:50.118Z,1755882950.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905084 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:50.356Z,1755882950.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817292
2025-08-22T17:15:50.503Z,1755882950.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:50.505Z,1755882950.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:50.508Z,1755882950.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 195.629456 m,
      bearing: 334.338777 deg,
      approach rate: -0.518624 m/s,
      LOS rate: 0.023573 deg/s,
      cmd heading: 338.336371 deg,
      new cmd heading: 338.354784 deg.

2025-08-22T17:15:50.509Z,1755882950.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905405 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:50.607Z,1755882950.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068554
2025-08-22T17:15:50.859Z,1755882950.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320042
2025-08-22T17:15:50.942Z,1755882950.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:50.944Z,1755882950.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 195.413651 m,
      bearing: 334.348563 deg,
      approach rate: -0.500545 m/s,
      LOS rate: 0.022723 deg/s,
      cmd heading: 338.354785 deg,
      new cmd heading: 338.374379 deg.

2025-08-22T17:15:50.950Z,1755882950.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905747 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:51.111Z,1755882951.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572060
2025-08-22T17:15:51.276Z,1755882951.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:51.299Z,1755882951.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 195.218796 m,
      bearing: 334.357399 deg,
      approach rate: -0.572903 m/s,
      LOS rate: 0.026006 deg/s,
      cmd heading: 338.374374 deg,
      new cmd heading: 338.392064 deg.

2025-08-22T17:15:51.300Z,1755882951.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906055 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:51.363Z,1755882951.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824118
2025-08-22T17:15:51.615Z,1755882951.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076103
2025-08-22T17:15:51.691Z,1755882951.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:51.694Z,1755882951.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 195.000214 m,
      bearing: 334.367308 deg,
      approach rate: -0.526230 m/s,
      LOS rate: 0.023881 deg/s,
      cmd heading: 338.392051 deg,
      new cmd heading: 338.411890 deg.

2025-08-22T17:15:51.695Z,1755882951.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906402 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:51.867Z,1755882951.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328165
2025-08-22T17:15:52.119Z,1755882952.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580124
2025-08-22T17:15:52.120Z,1755882952.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:52.123Z,1755882952.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 194.768829 m,
      bearing: 334.378134 deg,
      approach rate: -0.539352 m/s,
      LOS rate: 0.025266 deg/s,
      cmd heading: 338.411886 deg,
      new cmd heading: 338.433564 deg.

2025-08-22T17:15:52.124Z,1755882952.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906780 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:52.371Z,1755882952.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832091
2025-08-22T17:15:52.486Z,1755882952.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:52.489Z,1755882952.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 194.572296 m,
      bearing: 334.387280 deg,
      approach rate: -0.537858 m/s,
      LOS rate: 0.025055 deg/s,
      cmd heading: 338.433551 deg,
      new cmd heading: 338.451862 deg.

2025-08-22T17:15:52.491Z,1755882952.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907099 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:52.622Z,1755882952.622 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:52.623Z,1755882952.623 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:52.623Z,1755882952.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:52.874Z,1755882952.874 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:52.874Z,1755882952.874 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:52.875Z,1755882952.875 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:52.960Z,1755882952.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:52.963Z,1755882952.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:52.966Z,1755882952.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 194.318253 m,
      bearing: 334.398755 deg,
      approach rate: -0.533733 m/s,
      LOS rate: 0.024139 deg/s,
      cmd heading: 338.451856 deg,
      new cmd heading: 338.474835 deg.

2025-08-22T17:15:52.967Z,1755882952.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907500 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:53.126Z,1755882953.126 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:53.126Z,1755882953.126 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:53.127Z,1755882953.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:53.198Z,1755882953.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:15:53.295Z,1755882953.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:53.298Z,1755882953.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 194.140060 m,
      bearing: 334.406834 deg,
      approach rate: -0.534723 m/s,
      LOS rate: 0.024265 deg/s,
      cmd heading: 338.474833 deg,
      new cmd heading: 338.491005 deg.

2025-08-22T17:15:53.299Z,1755882953.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907783 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:53.379Z,1755882953.379 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:53.379Z,1755882953.379 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:53.379Z,1755882953.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:53.630Z,1755882953.630 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:53.630Z,1755882953.630 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:53.631Z,1755882953.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:53.699Z,1755882953.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:53.702Z,1755882953.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 193.924072 m,
      bearing: 334.416638 deg,
      approach rate: -0.534200 m/s,
      LOS rate: 0.024276 deg/s,
      cmd heading: 338.491007 deg,
      new cmd heading: 338.510637 deg.

2025-08-22T17:15:53.703Z,1755882953.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908125 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:53.882Z,1755882953.882 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:53.882Z,1755882953.882 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:53.883Z,1755882953.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:54.134Z,1755882954.134 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:54.135Z,1755882954.135 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:54.135Z,1755882954.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:54.145Z,1755882954.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:54.153Z,1755882954.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 193.688599 m,
      bearing: 334.425342 deg,
      approach rate: -0.528507 m/s,
      LOS rate: 0.019560 deg/s,
      cmd heading: 338.510650 deg,
      new cmd heading: 338.528080 deg.

2025-08-22T17:15:54.158Z,1755882954.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908430 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:54.202Z,1755882954.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:15:54.386Z,1755882954.386 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:54.386Z,1755882954.386 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:54.387Z,1755882954.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:54.528Z,1755882954.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:54.551Z,1755882954.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 193.471069 m,
      bearing: 334.433357 deg,
      approach rate: -0.568327 m/s,
      LOS rate: 0.020962 deg/s,
      cmd heading: 338.528081 deg,
      new cmd heading: 338.544128 deg.

2025-08-22T17:15:54.552Z,1755882954.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908710 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:54.639Z,1755882954.639 [DAT](INFO): Reached modem response timeout
2025-08-22T17:15:54.640Z,1755882954.640 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:15:54.640Z,1755882954.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:15:54.891Z,1755882954.891 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:15:54.892Z,1755882954.892 [DAT](INFO): response not received
2025-08-22T17:15:54.893Z,1755882954.893 [DAT](INFO): DAT read: user:553>

2025-08-22T17:15:54.899Z,1755882954.899 [DAT](INFO): DAT read: Tx time:17:15:56.0375

2025-08-22T17:15:54.899Z,1755882954.899 [DAT](INFO): Ping request sent.
2025-08-22T17:15:54.900Z,1755882954.900 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:15:54.900Z,1755882954.900 [DAT](INFO): publishing transmit ping time
2025-08-22T17:15:54.901Z,1755882954.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001089
2025-08-22T17:15:55.015Z,1755882955.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:55.022Z,1755882955.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:55.025Z,1755882955.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 193.217422 m,
      bearing: 334.444070 deg,
      approach rate: -0.517780 m/s,
      LOS rate: 0.021899 deg/s,
      cmd heading: 338.544118 deg,
      new cmd heading: 338.565574 deg.

2025-08-22T17:15:55.030Z,1755882955.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909084 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:55.143Z,1755882955.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243320
2025-08-22T17:15:55.374Z,1755882955.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:55.377Z,1755882955.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 193.026581 m,
      bearing: 334.452086 deg,
      approach rate: -0.535609 m/s,
      LOS rate: 0.022518 deg/s,
      cmd heading: 338.565565 deg,
      new cmd heading: 338.581611 deg.

2025-08-22T17:15:55.378Z,1755882955.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909364 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:55.396Z,1755882955.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496375
2025-08-22T17:15:55.646Z,1755882955.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746903
2025-08-22T17:15:55.838Z,1755882955.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:55.840Z,1755882955.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 192.814560 m,
      bearing: 334.460944 deg,
      approach rate: -0.459675 m/s,
      LOS rate: 0.019226 deg/s,
      cmd heading: 338.581602 deg,
      new cmd heading: 338.599338 deg.

2025-08-22T17:15:55.846Z,1755882955.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909673 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:55.899Z,1755882955.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999504
2025-08-22T17:15:56.151Z,1755882956.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251094
2025-08-22T17:15:56.234Z,1755882956.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:56.237Z,1755882956.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 192.585205 m,
      bearing: 334.469920 deg,
      approach rate: -0.581520 m/s,
      LOS rate: 0.022787 deg/s,
      cmd heading: 338.599333 deg,
      new cmd heading: 338.617308 deg.

2025-08-22T17:15:56.238Z,1755882956.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909987 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:56.404Z,1755882956.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504707
2025-08-22T17:15:56.594Z,1755882956.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:56.596Z,1755882956.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 192.392593 m,
      bearing: 334.477463 deg,
      approach rate: -0.534969 m/s,
      LOS rate: 0.020969 deg/s,
      cmd heading: 338.617311 deg,
      new cmd heading: 338.632410 deg.

2025-08-22T17:15:56.601Z,1755882956.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910251 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:56.655Z,1755882956.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755154
2025-08-22T17:15:56.907Z,1755882956.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007515
2025-08-22T17:15:57.008Z,1755882957.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:57.011Z,1755882957.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 192.165253 m,
      bearing: 334.485605 deg,
      approach rate: -0.542963 m/s,
      LOS rate: 0.019470 deg/s,
      cmd heading: 338.632419 deg,
      new cmd heading: 338.648724 deg.

2025-08-22T17:15:57.012Z,1755882957.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910535 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:57.159Z,1755882957.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259621
2025-08-22T17:15:57.380Z,1755882957.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:57.398Z,1755882957.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:57.407Z,1755882957.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 191.968414 m,
      bearing: 334.492651 deg,
      approach rate: -0.527159 m/s,
      LOS rate: 0.018888 deg/s,
      cmd heading: 338.648729 deg,
      new cmd heading: 338.662835 deg.

2025-08-22T17:15:57.412Z,1755882957.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512012
2025-08-22T17:15:57.409Z,1755882957.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910781 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:57.662Z,1755882957.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762874
2025-08-22T17:15:57.915Z,1755882957.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015712
2025-08-22T17:15:57.947Z,1755882957.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:57.950Z,1755882957.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 191.666565 m,
      bearing: 334.503803 deg,
      approach rate: -0.534172 m/s,
      LOS rate: 0.019766 deg/s,
      cmd heading: 338.662827 deg,
      new cmd heading: 338.685165 deg.

2025-08-22T17:15:57.951Z,1755882957.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911171 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:58.167Z,1755882958.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267294
2025-08-22T17:15:58.283Z,1755882958.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:58.287Z,1755882958.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 191.487167 m,
      bearing: 334.510416 deg,
      approach rate: -0.533475 m/s,
      LOS rate: 0.019686 deg/s,
      cmd heading: 338.685175 deg,
      new cmd heading: 338.698415 deg.

2025-08-22T17:15:58.288Z,1755882958.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911403 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:58.419Z,1755882958.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519269
2025-08-22T17:15:58.671Z,1755882958.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771703
2025-08-22T17:15:58.715Z,1755882958.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:58.723Z,1755882958.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 191.267487 m,
      bearing: 334.518470 deg,
      approach rate: -0.508679 m/s,
      LOS rate: 0.018670 deg/s,
      cmd heading: 338.698426 deg,
      new cmd heading: 338.714552 deg.

2025-08-22T17:15:58.723Z,1755882958.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911684 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:58.923Z,1755882958.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023043
2025-08-22T17:15:59.120Z,1755882959.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:59.143Z,1755882959.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 191.039154 m,
      bearing: 334.527255 deg,
      approach rate: -0.563162 m/s,
      LOS rate: 0.021692 deg/s,
      cmd heading: 338.714545 deg,
      new cmd heading: 338.732135 deg.

2025-08-22T17:15:59.144Z,1755882959.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911991 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:59.175Z,1755882959.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275635
2025-08-22T17:15:59.427Z,1755882959.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526928
2025-08-22T17:15:59.491Z,1755882959.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:15:59.493Z,1755882959.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:59.496Z,1755882959.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 190.838547 m,
      bearing: 334.534976 deg,
      approach rate: -0.538351 m/s,
      LOS rate: 0.020743 deg/s,
      cmd heading: 338.732140 deg,
      new cmd heading: 338.747599 deg.

2025-08-22T17:15:59.497Z,1755882959.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912261 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:15:59.679Z,1755882959.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778973
2025-08-22T17:15:59.931Z,1755882959.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031024
2025-08-22T17:15:59.963Z,1755882959.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:15:59.970Z,1755882959.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 190.596100 m,
      bearing: 334.546083 deg,
      approach rate: -0.515855 m/s,
      LOS rate: 0.023663 deg/s,
      cmd heading: 338.747603 deg,
      new cmd heading: 338.769846 deg.

2025-08-22T17:15:59.971Z,1755882959.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912649 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:00.183Z,1755882960.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283628
2025-08-22T17:16:00.304Z,1755882960.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:00.307Z,1755882960.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 190.405136 m,
      bearing: 334.554837 deg,
      approach rate: -0.559049 m/s,
      LOS rate: 0.025652 deg/s,
      cmd heading: 338.769842 deg,
      new cmd heading: 338.787367 deg.

2025-08-22T17:16:00.308Z,1755882960.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912955 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:00.435Z,1755882960.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534900
2025-08-22T17:16:00.687Z,1755882960.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787002
2025-08-22T17:16:00.734Z,1755882960.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:00.736Z,1755882960.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 190.186829 m,
      bearing: 334.564829 deg,
      approach rate: -0.513657 m/s,
      LOS rate: 0.023537 deg/s,
      cmd heading: 338.787355 deg,
      new cmd heading: 338.807362 deg.

2025-08-22T17:16:00.746Z,1755882960.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913304 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:00.939Z,1755882960.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038961
2025-08-22T17:16:01.159Z,1755882961.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:01.168Z,1755882961.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 189.952591 m,
      bearing: 334.573565 deg,
      approach rate: -0.545433 m/s,
      LOS rate: 0.020367 deg/s,
      cmd heading: 338.807354 deg,
      new cmd heading: 338.824847 deg.

2025-08-22T17:16:01.169Z,1755882961.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913609 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:01.191Z,1755882961.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291078
2025-08-22T17:16:01.443Z,1755882961.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543086
2025-08-22T17:16:01.524Z,1755882961.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:01.526Z,1755882961.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:01.529Z,1755882961.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 189.742218 m,
      bearing: 334.581422 deg,
      approach rate: -0.573505 m/s,
      LOS rate: 0.021442 deg/s,
      cmd heading: 338.824839 deg,
      new cmd heading: 338.840570 deg.

2025-08-22T17:16:01.530Z,1755882961.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913884 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:01.695Z,1755882961.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794900
2025-08-22T17:16:01.946Z,1755882961.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046870
2025-08-22T17:16:01.999Z,1755882961.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:02.002Z,1755882962.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 189.489670 m,
      bearing: 334.590437 deg,
      approach rate: -0.533289 m/s,
      LOS rate: 0.019063 deg/s,
      cmd heading: 338.840576 deg,
      new cmd heading: 338.858631 deg.

2025-08-22T17:16:02.003Z,1755882962.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914199 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:02.199Z,1755882962.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299522
2025-08-22T17:16:02.364Z,1755882962.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:02.367Z,1755882962.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 189.277786 m,
      bearing: 334.598009 deg,
      approach rate: -0.580722 m/s,
      LOS rate: 0.020775 deg/s,
      cmd heading: 338.858635 deg,
      new cmd heading: 338.873795 deg.

2025-08-22T17:16:02.368Z,1755882962.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914464 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:02.451Z,1755882962.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551850
2025-08-22T17:16:02.702Z,1755882962.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802849
2025-08-22T17:16:02.744Z,1755882962.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:02.747Z,1755882962.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 189.067429 m,
      bearing: 334.605513 deg,
      approach rate: -0.553525 m/s,
      LOS rate: 0.019768 deg/s,
      cmd heading: 338.873798 deg,
      new cmd heading: 338.888823 deg.

2025-08-22T17:16:02.748Z,1755882962.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914726 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:02.955Z,1755882962.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055221
2025-08-22T17:16:03.207Z,1755882963.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307013
2025-08-22T17:16:03.220Z,1755882963.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:03.230Z,1755882963.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 188.832245 m,
      bearing: 334.614556 deg,
      approach rate: -0.494324 m/s,
      LOS rate: 0.019031 deg/s,
      cmd heading: 338.888824 deg,
      new cmd heading: 338.906933 deg.

2025-08-22T17:16:03.231Z,1755882963.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915042 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:03.463Z,1755882963.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562935
2025-08-22T17:16:03.631Z,1755882963.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:03.633Z,1755882963.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:03.636Z,1755882963.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 188.613541 m,
      bearing: 334.622920 deg,
      approach rate: -0.529881 m/s,
      LOS rate: 0.020288 deg/s,
      cmd heading: 338.906938 deg,
      new cmd heading: 338.923685 deg.

2025-08-22T17:16:03.636Z,1755882963.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915334 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:03.711Z,1755882963.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810959
2025-08-22T17:16:03.963Z,1755882963.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063061
2025-08-22T17:16:04.041Z,1755882964.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:04.044Z,1755882964.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 188.393356 m,
      bearing: 334.630216 deg,
      approach rate: -0.539534 m/s,
      LOS rate: 0.017897 deg/s,
      cmd heading: 338.923685 deg,
      new cmd heading: 338.938293 deg.

2025-08-22T17:16:04.045Z,1755882964.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915589 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:04.215Z,1755882964.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314961
2025-08-22T17:16:04.424Z,1755882964.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:04.428Z,1755882964.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 188.195450 m,
      bearing: 334.636786 deg,
      approach rate: -0.516831 m/s,
      LOS rate: 0.017177 deg/s,
      cmd heading: 338.938302 deg,
      new cmd heading: 338.951457 deg.

2025-08-22T17:16:04.429Z,1755882964.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915819 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:04.467Z,1755882964.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567384
2025-08-22T17:16:04.719Z,1755882964.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818988
2025-08-22T17:16:04.800Z,1755882964.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:04.803Z,1755882964.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 187.983856 m,
      bearing: 334.643815 deg,
      approach rate: -0.562712 m/s,
      LOS rate: 0.018713 deg/s,
      cmd heading: 338.951471 deg,
      new cmd heading: 338.965543 deg.

2025-08-22T17:16:04.804Z,1755882964.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916065 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:04.970Z,1755882964.970 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:04.970Z,1755882964.970 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:04.971Z,1755882964.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:05.222Z,1755882965.222 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:05.222Z,1755882965.222 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:05.223Z,1755882965.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:05.246Z,1755882965.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:05.249Z,1755882965.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 187.756424 m,
      bearing: 334.650700 deg,
      approach rate: -0.514917 m/s,
      LOS rate: 0.015608 deg/s,
      cmd heading: 338.965541 deg,
      new cmd heading: 338.979329 deg.

2025-08-22T17:16:05.254Z,1755882965.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916306 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:05.475Z,1755882965.474 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:05.475Z,1755882965.475 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:05.475Z,1755882965.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:05.583Z,1755882965.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:05.594Z,1755882965.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 187.561569 m,
      bearing: 334.656579 deg,
      approach rate: -0.569772 m/s,
      LOS rate: 0.017206 deg/s,
      cmd heading: 338.979338 deg,
      new cmd heading: 338.991106 deg.

2025-08-22T17:16:05.595Z,1755882965.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916511 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:05.726Z,1755882965.726 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:05.726Z,1755882965.726 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:05.727Z,1755882965.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:05.978Z,1755882965.978 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:05.979Z,1755882965.979 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:05.979Z,1755882965.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:06.051Z,1755882966.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:06.058Z,1755882966.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:06.061Z,1755882966.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 187.323044 m,
      bearing: 334.664348 deg,
      approach rate: -0.507428 m/s,
      LOS rate: 0.016549 deg/s,
      cmd heading: 338.991113 deg,
      new cmd heading: 339.006671 deg.

2025-08-22T17:16:06.070Z,1755882966.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916782 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:06.230Z,1755882966.230 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:06.230Z,1755882966.230 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:06.231Z,1755882966.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:06.437Z,1755882966.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:06.444Z,1755882966.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 187.121307 m,
      bearing: 334.670936 deg,
      approach rate: -0.526561 m/s,
      LOS rate: 0.017215 deg/s,
      cmd heading: 339.006659 deg,
      new cmd heading: 339.019849 deg.

2025-08-22T17:16:06.445Z,1755882966.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917013 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:06.482Z,1755882966.482 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:06.482Z,1755882966.482 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:06.483Z,1755882966.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:06.734Z,1755882966.734 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:06.734Z,1755882966.734 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:06.735Z,1755882966.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:06.820Z,1755882966.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:06.827Z,1755882966.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 186.911774 m,
      bearing: 334.677780 deg,
      approach rate: -0.547092 m/s,
      LOS rate: 0.017890 deg/s,
      cmd heading: 339.019855 deg,
      new cmd heading: 339.033558 deg.

2025-08-22T17:16:06.828Z,1755882966.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917252 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:06.986Z,1755882966.986 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:06.987Z,1755882966.987 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:06.987Z,1755882966.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:07.239Z,1755882967.239 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:16:07.239Z,1755882967.239 [DAT](INFO): response not received
2025-08-22T17:16:07.240Z,1755882967.240 [DAT](INFO): DAT read: user:554>

2025-08-22T17:16:07.240Z,1755882967.240 [DAT](ERROR): No response from remote modem.
2025-08-22T17:16:07.240Z,1755882967.240 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:07.240Z,1755882967.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:07.266Z,1755882967.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:07.268Z,1755882967.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 186.686462 m,
      bearing: 334.686161 deg,
      approach rate: -0.510108 m/s,
      LOS rate: 0.018998 deg/s,
      cmd heading: 339.033570 deg,
      new cmd heading: 339.050352 deg.

2025-08-22T17:16:07.274Z,1755882967.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917545 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:07.491Z,1755882967.491 [DAT](INFO): DAT read: Tx time:17:16:08.4874

2025-08-22T17:16:07.491Z,1755882967.491 [DAT](INFO): Ping request sent.
2025-08-22T17:16:07.491Z,1755882967.491 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:07.491Z,1755882967.491 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:07.492Z,1755882967.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T17:16:07.639Z,1755882967.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:07.646Z,1755882967.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 186.477432 m,
      bearing: 334.693933 deg,
      approach rate: -0.553934 m/s,
      LOS rate: 0.020619 deg/s,
      cmd heading: 339.050345 deg,
      new cmd heading: 339.065906 deg.

2025-08-22T17:16:07.647Z,1755882967.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917817 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:07.743Z,1755882967.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252146
2025-08-22T17:16:07.998Z,1755882967.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505939
2025-08-22T17:16:08.077Z,1755882968.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:08.083Z,1755882968.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:08.090Z,1755882968.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 186.237137 m,
      bearing: 334.702066 deg,
      approach rate: -0.540705 m/s,
      LOS rate: 0.018323 deg/s,
      cmd heading: 339.065917 deg,
      new cmd heading: 339.082203 deg.

2025-08-22T17:16:08.091Z,1755882968.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918101 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:08.247Z,1755882968.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755838
2025-08-22T17:16:08.451Z,1755882968.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:08.454Z,1755882968.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 186.024933 m,
      bearing: 334.709295 deg,
      approach rate: -0.576555 m/s,
      LOS rate: 0.019665 deg/s,
      cmd heading: 339.082201 deg,
      new cmd heading: 339.096676 deg.

2025-08-22T17:16:08.455Z,1755882968.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918354 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:08.499Z,1755882968.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008096
2025-08-22T17:16:08.751Z,1755882968.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259530
2025-08-22T17:16:08.876Z,1755882968.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:08.884Z,1755882968.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 185.802200 m,
      bearing: 334.716885 deg,
      approach rate: -0.525213 m/s,
      LOS rate: 0.017917 deg/s,
      cmd heading: 339.096681 deg,
      new cmd heading: 339.111877 deg.

2025-08-22T17:16:08.890Z,1755882968.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918619 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:09.006Z,1755882969.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513945
2025-08-22T17:16:09.255Z,1755882969.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763666
2025-08-22T17:16:09.283Z,1755882969.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:09.286Z,1755882969.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 185.568558 m,
      bearing: 334.726593 deg,
      approach rate: -0.573203 m/s,
      LOS rate: 0.023847 deg/s,
      cmd heading: 339.111871 deg,
      new cmd heading: 339.131311 deg.

2025-08-22T17:16:09.287Z,1755882969.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918958 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:09.506Z,1755882969.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015483
2025-08-22T17:16:09.666Z,1755882969.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:09.668Z,1755882969.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 185.357712 m,
      bearing: 334.735405 deg,
      approach rate: -0.551223 m/s,
      LOS rate: 0.023065 deg/s,
      cmd heading: 339.131323 deg,
      new cmd heading: 339.148968 deg.

2025-08-22T17:16:09.686Z,1755882969.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919266 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:09.760Z,1755882969.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268312
2025-08-22T17:16:10.013Z,1755882970.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521728
2025-08-22T17:16:10.102Z,1755882970.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:10.104Z,1755882970.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:10.123Z,1755882970.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 185.115723 m,
      bearing: 334.745125 deg,
      approach rate: -0.551533 m/s,
      LOS rate: 0.022181 deg/s,
      cmd heading: 339.148972 deg,
      new cmd heading: 339.168437 deg.

2025-08-22T17:16:10.124Z,1755882970.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919606 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:10.263Z,1755882970.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771559
2025-08-22T17:16:10.515Z,1755882970.515 [DAT](INFO): DAT read: Rx Time:17:16:11.1729

2025-08-22T17:16:10.515Z,1755882970.515 [DAT](INFO): Rx dataTimestamp_ set to:1755882970.514812
2025-08-22T17:16:10.516Z,1755882970.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024678
2025-08-22T17:16:10.520Z,1755882970.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:10.523Z,1755882970.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 184.887421 m,
      bearing: 334.754295 deg,
      approach rate: -0.548898 m/s,
      LOS rate: 0.022076 deg/s,
      cmd heading: 339.168425 deg,
      new cmd heading: 339.186789 deg.

2025-08-22T17:16:10.524Z,1755882970.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919926 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:10.767Z,1755882970.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275620
2025-08-22T17:16:11.024Z,1755882971.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531999
2025-08-22T17:16:11.124Z,1755882971.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:11.128Z,1755882971.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 184.566696 m,
      bearing: 334.767597 deg,
      approach rate: -0.530595 m/s,
      LOS rate: 0.022045 deg/s,
      cmd heading: 339.186784 deg,
      new cmd heading: 339.213435 deg.

2025-08-22T17:16:11.129Z,1755882971.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920391 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:11.276Z,1755882971.276 [DAT](INFO): DAT read: 17:16:11.1729 LVL= 29936, 32753, 24338, 32755, AGC= 68, IDX=  49,-0.39,-0.029,-1.609, 0.404,-0.132, PHS= 0.205,-1.432, 0.492, RAW= 157.9,   8.2, CAL= 157.6,   8.6, ROT= 352.4,  -8.6

2025-08-22T17:16:11.278Z,1755882971.278 [DAT](INFO): got valid direction response:
 17:16:11.1729 LVL= 29936, 32753, 24338, 32755, AGC= 68, IDX=  49,-0.39,-0.029,-1.609, 0.404,-0.132, PHS= 0.205,-1.432, 0.492, RAW= 157.9,   8.2, CAL= 157.6,   8.6, ROT= 352.4,  -8.6

2025-08-22T17:16:11.278Z,1755882971.278 [DAT](INFO): DAT read: $Error in header

2025-08-22T17:16:11.278Z,1755882971.278 [DAT](INFO): Received a bad header
2025-08-22T17:16:11.290Z,1755882971.290 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T17:16:11.291Z,1755882971.291 [DAT](INFO): direction in FSK: [0.980071,-0.130769,0.149535]
2025-08-22T17:16:11.294Z,1755882971.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:11.294Z,1755882971.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:11.294Z,1755882971.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:11.489Z,1755882971.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:11.492Z,1755882971.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 184.360031 m,
      bearing: 334.776226 deg,
      approach rate: -0.567317 m/s,
      LOS rate: 0.023714 deg/s,
      cmd heading: 339.213422 deg,
      new cmd heading: 339.230699 deg.

2025-08-22T17:16:11.493Z,1755882971.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920692 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:11.522Z,1755882971.522 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:11.523Z,1755882971.523 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:11.523Z,1755882971.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:11.775Z,1755882971.775 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:11.775Z,1755882971.775 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:11.775Z,1755882971.775 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:11.927Z,1755882971.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:11.930Z,1755882971.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 184.121872 m,
      bearing: 334.786133 deg,
      approach rate: -0.543657 m/s,
      LOS rate: 0.022645 deg/s,
      cmd heading: 339.230689 deg,
      new cmd heading: 339.250529 deg.

2025-08-22T17:16:11.931Z,1755882971.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921039 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:12.028Z,1755882972.028 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:12.029Z,1755882972.029 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:12.029Z,1755882972.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:12.278Z,1755882972.278 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:12.278Z,1755882972.278 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:12.278Z,1755882972.278 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:12.376Z,1755882972.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:12.380Z,1755882972.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:12.400Z,1755882972.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 183.887985 m,
      bearing: 334.795126 deg,
      approach rate: -0.515702 m/s,
      LOS rate: 0.019852 deg/s,
      cmd heading: 339.250524 deg,
      new cmd heading: 339.268531 deg.

2025-08-22T17:16:12.401Z,1755882972.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921353 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:12.530Z,1755882972.530 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:12.530Z,1755882972.530 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:12.530Z,1755882972.530 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:12.744Z,1755882972.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:12.751Z,1755882972.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 183.700012 m,
      bearing: 334.802364 deg,
      approach rate: -0.516661 m/s,
      LOS rate: 0.019917 deg/s,
      cmd heading: 339.268528 deg,
      new cmd heading: 339.283021 deg.

2025-08-22T17:16:12.752Z,1755882972.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921606 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:12.782Z,1755882972.782 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:12.783Z,1755882972.783 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:12.783Z,1755882972.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:13.037Z,1755882973.037 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:13.037Z,1755882973.037 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:13.038Z,1755882973.038 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:13.153Z,1755882973.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:13.157Z,1755882973.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 183.471344 m,
      bearing: 334.809575 deg,
      approach rate: -0.559918 m/s,
      LOS rate: 0.017678 deg/s,
      cmd heading: 339.283008 deg,
      new cmd heading: 339.297447 deg.

2025-08-22T17:16:13.159Z,1755882973.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921858 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:13.287Z,1755882973.287 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:13.287Z,1755882973.287 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:13.287Z,1755882973.287 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:13.538Z,1755882973.538 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:13.538Z,1755882973.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:13.538Z,1755882973.538 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:13.563Z,1755882973.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:13.569Z,1755882973.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 183.265350 m,
      bearing: 334.816050 deg,
      approach rate: -0.502326 m/s,
      LOS rate: 0.015808 deg/s,
      cmd heading: 339.297461 deg,
      new cmd heading: 339.310425 deg.

2025-08-22T17:16:13.570Z,1755882973.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922084 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:13.791Z,1755882973.791 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:13.791Z,1755882973.791 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:13.791Z,1755882973.791 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:13.940Z,1755882973.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:13.943Z,1755882973.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 183.046463 m,
      bearing: 334.822946 deg,
      approach rate: -0.580518 m/s,
      LOS rate: 0.018310 deg/s,
      cmd heading: 339.310438 deg,
      new cmd heading: 339.324246 deg.

2025-08-22T17:16:13.944Z,1755882973.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922325 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:14.044Z,1755882974.044 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:14.044Z,1755882974.044 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:14.045Z,1755882974.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:14.294Z,1755882974.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:14.294Z,1755882974.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:14.294Z,1755882974.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:14.404Z,1755882974.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:14.406Z,1755882974.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:14.409Z,1755882974.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 182.797104 m,
      bearing: 334.831057 deg,
      approach rate: -0.534381 m/s,
      LOS rate: 0.017405 deg/s,
      cmd heading: 339.324235 deg,
      new cmd heading: 339.340479 deg.

2025-08-22T17:16:14.410Z,1755882974.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922609 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:14.546Z,1755882974.546 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:14.546Z,1755882974.546 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:14.546Z,1755882974.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:14.749Z,1755882974.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:14.752Z,1755882974.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 182.613998 m,
      bearing: 334.836997 deg,
      approach rate: -0.534783 m/s,
      LOS rate: 0.017368 deg/s,
      cmd heading: 339.340491 deg,
      new cmd heading: 339.352384 deg.

2025-08-22T17:16:14.753Z,1755882974.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922816 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:14.798Z,1755882974.798 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:14.799Z,1755882974.799 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:14.799Z,1755882974.799 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:15.053Z,1755882975.053 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:15.053Z,1755882975.053 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:15.053Z,1755882975.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:15.266Z,1755882975.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:15.269Z,1755882975.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 182.342545 m,
      bearing: 334.846261 deg,
      approach rate: -0.529424 m/s,
      LOS rate: 0.018094 deg/s,
      cmd heading: 339.352375 deg,
      new cmd heading: 339.370930 deg.

2025-08-22T17:16:15.274Z,1755882975.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923140 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:15.303Z,1755882975.303 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:15.303Z,1755882975.303 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:15.303Z,1755882975.303 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:15.554Z,1755882975.554 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:15.554Z,1755882975.554 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:15.554Z,1755882975.554 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:15.738Z,1755882975.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:15.741Z,1755882975.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 182.073364 m,
      bearing: 334.855474 deg,
      approach rate: -0.564471 m/s,
      LOS rate: 0.019349 deg/s,
      cmd heading: 339.370926 deg,
      new cmd heading: 339.389380 deg.

2025-08-22T17:16:15.742Z,1755882975.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923462 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:15.807Z,1755882975.807 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:15.807Z,1755882975.807 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:15.807Z,1755882975.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:16.059Z,1755882976.059 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:16.059Z,1755882976.059 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:16.060Z,1755882976.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:16.217Z,1755882976.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:16.220Z,1755882976.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 181.808212 m,
      bearing: 334.864770 deg,
      approach rate: -0.554042 m/s,
      LOS rate: 0.019452 deg/s,
      cmd heading: 339.389368 deg,
      new cmd heading: 339.407986 deg.

2025-08-22T17:16:16.221Z,1755882976.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923787 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:16.311Z,1755882976.311 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:16.311Z,1755882976.311 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:16.311Z,1755882976.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:16.564Z,1755882976.564 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:16.564Z,1755882976.564 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:16.564Z,1755882976.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:16.597Z,1755882976.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:16.599Z,1755882976.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:16.602Z,1755882976.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 181.596664 m,
      bearing: 334.872192 deg,
      approach rate: -0.553615 m/s,
      LOS rate: 0.019446 deg/s,
      cmd heading: 339.407973 deg,
      new cmd heading: 339.422835 deg.

2025-08-22T17:16:16.603Z,1755882976.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924046 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:16.815Z,1755882976.815 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:16.815Z,1755882976.815 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:16.815Z,1755882976.815 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:16.980Z,1755882976.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:16.983Z,1755882976.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 181.385330 m,
      bearing: 334.879628 deg,
      approach rate: -0.554513 m/s,
      LOS rate: 0.019533 deg/s,
      cmd heading: 339.422836 deg,
      new cmd heading: 339.437725 deg.

2025-08-22T17:16:16.984Z,1755882976.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924306 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:17.069Z,1755882977.069 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:17.070Z,1755882977.070 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:17.070Z,1755882977.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:17.318Z,1755882977.318 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:17.318Z,1755882977.318 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:17.318Z,1755882977.318 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T17:16:17.496Z,1755882977.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:17.499Z,1755882977.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 181.107361 m,
      bearing: 334.889720 deg,
      approach rate: -0.538398 m/s,
      LOS rate: 0.019577 deg/s,
      cmd heading: 339.437726 deg,
      new cmd heading: 339.457941 deg.

2025-08-22T17:16:17.500Z,1755882977.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924659 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:17.571Z,1755882977.571 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:17.571Z,1755882977.571 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:17.572Z,1755882977.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:17.822Z,1755882977.822 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:17.822Z,1755882977.822 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:17.823Z,1755882977.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:17.880Z,1755882977.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:17.887Z,1755882977.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 180.917892 m,
      bearing: 334.896585 deg,
      approach rate: -0.494292 m/s,
      LOS rate: 0.017927 deg/s,
      cmd heading: 339.457943 deg,
      new cmd heading: 339.471686 deg.

2025-08-22T17:16:17.888Z,1755882977.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924899 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:18.076Z,1755882978.076 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:18.077Z,1755882978.077 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:18.078Z,1755882978.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:18.274Z,1755882978.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:18.277Z,1755882978.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 180.687149 m,
      bearing: 334.905028 deg,
      approach rate: -0.584664 m/s,
      LOS rate: 0.021420 deg/s,
      cmd heading: 339.471685 deg,
      new cmd heading: 339.488593 deg.

2025-08-22T17:16:18.278Z,1755882978.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925194 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:18.327Z,1755882978.327 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:18.327Z,1755882978.327 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:18.328Z,1755882978.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:18.578Z,1755882978.578 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:18.578Z,1755882978.578 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:18.579Z,1755882978.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:18.661Z,1755882978.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:18.663Z,1755882978.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:18.666Z,1755882978.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 180.477142 m,
      bearing: 334.912669 deg,
      approach rate: -0.540195 m/s,
      LOS rate: 0.019679 deg/s,
      cmd heading: 339.488597 deg,
      new cmd heading: 339.503897 deg.

2025-08-22T17:16:18.667Z,1755882978.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925461 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:18.830Z,1755882978.830 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:18.830Z,1755882978.830 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:18.831Z,1755882978.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:19.040Z,1755882979.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:19.043Z,1755882979.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 180.271210 m,
      bearing: 334.920128 deg,
      approach rate: -0.545891 m/s,
      LOS rate: 0.019796 deg/s,
      cmd heading: 339.503896 deg,
      new cmd heading: 339.518832 deg.

2025-08-22T17:16:19.044Z,1755882979.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925722 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:19.083Z,1755882979.083 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:19.083Z,1755882979.083 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:19.083Z,1755882979.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:19.334Z,1755882979.334 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:19.334Z,1755882979.334 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:19.335Z,1755882979.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:19.516Z,1755882979.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:19.523Z,1755882979.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 180.029617 m,
      bearing: 334.929071 deg,
      approach rate: -0.507481 m/s,
      LOS rate: 0.018811 deg/s,
      cmd heading: 339.518841 deg,
      new cmd heading: 339.536751 deg.

2025-08-22T17:16:19.524Z,1755882979.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926034 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:19.587Z,1755882979.587 [DAT](INFO): Reached modem response timeout
2025-08-22T17:16:19.587Z,1755882979.587 [DAT](DEBUG): Acoustic response timeout
2025-08-22T17:16:19.587Z,1755882979.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:19.839Z,1755882979.839 [DAT](INFO): DAT read: Response Not Received

2025-08-22T17:16:19.839Z,1755882979.839 [DAT](INFO): response not received
2025-08-22T17:16:19.839Z,1755882979.839 [DAT](INFO): DAT read: user:556>

2025-08-22T17:16:19.840Z,1755882979.840 [DAT](INFO): DAT read: Tx time:17:16:20.9374

2025-08-22T17:16:19.840Z,1755882979.840 [DAT](INFO): Ping request sent.
2025-08-22T17:16:19.840Z,1755882979.840 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:19.841Z,1755882979.841 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:19.841Z,1755882979.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T17:16:19.862Z,1755882979.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:19.927Z,1755882979.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 179.841080 m,
      bearing: 334.936021 deg,
      approach rate: -0.546625 m/s,
      LOS rate: 0.020169 deg/s,
      cmd heading: 339.536763 deg,
      new cmd heading: 339.550677 deg.

2025-08-22T17:16:19.928Z,1755882979.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926277 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:20.090Z,1755882980.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249985
2025-08-22T17:16:20.285Z,1755882980.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:20.288Z,1755882980.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 179.610794 m,
      bearing: 334.944122 deg,
      approach rate: -0.543643 m/s,
      LOS rate: 0.019149 deg/s,
      cmd heading: 339.550670 deg,
      new cmd heading: 339.566892 deg.

2025-08-22T17:16:20.290Z,1755882980.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926560 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:20.344Z,1755882980.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503697
2025-08-22T17:16:20.595Z,1755882980.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754134
2025-08-22T17:16:20.687Z,1755882980.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:20.693Z,1755882980.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:20.703Z,1755882980.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 179.411758 m,
      bearing: 334.951069 deg,
      approach rate: -0.492302 m/s,
      LOS rate: 0.017201 deg/s,
      cmd heading: 339.566898 deg,
      new cmd heading: 339.580807 deg.

2025-08-22T17:16:20.704Z,1755882980.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926803 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:20.848Z,1755882980.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007454
2025-08-22T17:16:21.055Z,1755882981.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:21.058Z,1755882981.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 179.201080 m,
      bearing: 334.958423 deg,
      approach rate: -0.575556 m/s,
      LOS rate: 0.020114 deg/s,
      cmd heading: 339.580804 deg,
      new cmd heading: 339.595530 deg.

2025-08-22T17:16:21.059Z,1755882981.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927060 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:21.099Z,1755882981.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258739
2025-08-22T17:16:21.351Z,1755882981.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510496
2025-08-22T17:16:21.492Z,1755882981.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:21.495Z,1755882981.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 178.975845 m,
      bearing: 334.966327 deg,
      approach rate: -0.516063 m/s,
      LOS rate: 0.018135 deg/s,
      cmd heading: 339.595530 deg,
      new cmd heading: 339.611360 deg.

2025-08-22T17:16:21.496Z,1755882981.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927336 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:21.603Z,1755882981.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762920
2025-08-22T17:16:21.856Z,1755882981.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015408
2025-08-22T17:16:21.903Z,1755882981.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:21.910Z,1755882981.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 178.771957 m,
      bearing: 334.973471 deg,
      approach rate: -0.495383 m/s,
      LOS rate: 0.017375 deg/s,
      cmd heading: 339.611349 deg,
      new cmd heading: 339.625651 deg.

2025-08-22T17:16:21.911Z,1755882981.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927586 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:22.109Z,1755882982.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268757
2025-08-22T17:16:22.360Z,1755882982.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519586
2025-08-22T17:16:22.382Z,1755882982.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:22.385Z,1755882982.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 178.549438 m,
      bearing: 334.981507 deg,
      approach rate: -0.467108 m/s,
      LOS rate: 0.016891 deg/s,
      cmd heading: 339.625665 deg,
      new cmd heading: 339.641758 deg.

2025-08-22T17:16:22.386Z,1755882982.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927867 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:22.611Z,1755882982.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770460
2025-08-22T17:16:22.743Z,1755882982.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:22.746Z,1755882982.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:22.748Z,1755882982.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 178.324799 m,
      bearing: 334.989621 deg,
      approach rate: -0.614489 m/s,
      LOS rate: 0.022223 deg/s,
      cmd heading: 339.641757 deg,
      new cmd heading: 339.658005 deg.

2025-08-22T17:16:22.749Z,1755882982.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928151 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:22.864Z,1755882982.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023141
2025-08-22T17:16:23.114Z,1755882983.114 [DAT](INFO): DAT read: Rx Time:17:16:23.5861

2025-08-22T17:16:23.115Z,1755882983.115 [DAT](INFO): Rx dataTimestamp_ set to:1755882983.114665
2025-08-22T17:16:23.115Z,1755882983.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275029
2025-08-22T17:16:23.245Z,1755882983.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.04 m.
2025-08-22T17:16:23.268Z,1755882983.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.040451 m,
      nav range: 178.073776 m,
      bearing: 334.998733 deg,
      approach rate: -0.502417 m/s,
      LOS rate: 0.018263 deg/s,
      cmd heading: 339.658013 deg,
      new cmd heading: 339.676262 deg.

2025-08-22T17:16:23.269Z,1755882983.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928469 target range: 211.040451 and range: 212.40 m.
2025-08-22T17:16:23.372Z,1755882983.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531262
2025-08-22T17:16:23.624Z,1755882983.624 [DAT](INFO): DAT read: 17:16:23.5861 LVL= 26848, 30369, 22706, 30755, AGC= 69, IDX=  69, 0.01, 0.191,-1.479, 0.682, 0.138, PHS= 0.155,-1.572, 0.499, RAW= 158.9,   9.6, CAL= 158.8,  10.3, ROT= 351.2, -10.3

2025-08-22T17:16:23.625Z,1755882983.625 [DAT](INFO): got valid direction response:
 17:16:23.5861 LVL= 26848, 30369, 22706, 30755, AGC= 69, IDX=  69, 0.01, 0.191,-1.479, 0.682, 0.138, PHS= 0.155,-1.572, 0.499, RAW= 158.9,   9.6, CAL= 158.8,  10.3, ROT= 351.2, -10.3

2025-08-22T17:16:23.626Z,1755882983.626 [DAT](INFO): DAT read: Bearing 154.1,  -9.1 (Local)

2025-08-22T17:16:23.626Z,1755882983.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.1,  -9.1 (Local)

2025-08-22T17:16:23.628Z,1755882983.628 [DAT](INFO): DAT read: Range 11 to 50 : 183.4 m  (Round-trip  244.6 ms) speed  0.4 m/s

2025-08-22T17:16:23.628Z,1755882983.628 [DAT](INFO): DAT read: user:557>

2025-08-22T17:16:23.629Z,1755882983.629 [DAT](INFO): DAT read: Tx time:17:16:24.6874

2025-08-22T17:16:23.630Z,1755882983.630 [DAT](INFO): Ping request sent.
2025-08-22T17:16:23.630Z,1755882983.630 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:23.630Z,1755882983.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:23.631Z,1755882983.631 [DAT](INFO): direction in FSK: [0.972303,-0.150520,0.178802]
2025-08-22T17:16:23.631Z,1755882983.631 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:23.632Z,1755882983.632 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:23.639Z,1755882983.639 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:23.639Z,1755882983.639 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:23.791Z,1755882983.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 183.399994 m,
      deltaT: 53.691750 s,
      deltaX: -29.000000 m,
      approachRate: -0.540120 m/s,
      rangeRepo size: 4

2025-08-22T17:16:23.793Z,1755882983.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 182.221298 m,
      bearing: 330.746134 deg,
      lat: 36.779517 deg,
      lon: -121.859498 deg,
      deltaT: 53.691750 s,
      deltaX: -28.819153 m,
      approachRate: -0.536752 m/s,
      posRepo size: 4

2025-08-22T17:16:23.798Z,1755882983.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:23.801Z,1755882983.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 177.056061 m,
      bearing: 334.463976 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018263 deg/s,
      cmd heading: 339.676263 deg,
      new cmd heading: 339.696184 deg.

2025-08-22T17:16:23.806Z,1755882983.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928817 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:24.347Z,1755882984.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:24.357Z,1755882984.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 176.758820 m,
      bearing: 334.476101 deg,
      approach rate: -0.534073 m/s,
      LOS rate: 0.021823 deg/s,
      cmd heading: 339.696180 deg,
      new cmd heading: 339.720471 deg.

2025-08-22T17:16:24.358Z,1755882984.358 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:16:24.363Z,1755882984.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929241 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:24.705Z,1755882984.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:24.708Z,1755882984.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 176.550278 m,
      bearing: 334.484671 deg,
      approach rate: -0.582109 m/s,
      LOS rate: 0.023949 deg/s,
      cmd heading: 339.720468 deg,
      new cmd heading: 339.737628 deg.

2025-08-22T17:16:24.709Z,1755882984.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929540 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:25.136Z,1755882985.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:25.144Z,1755882985.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:25.147Z,1755882985.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 176.334137 m,
      bearing: 334.493592 deg,
      approach rate: -0.492269 m/s,
      LOS rate: 0.020343 deg/s,
      cmd heading: 339.737625 deg,
      new cmd heading: 339.755489 deg.

2025-08-22T17:16:25.148Z,1755882985.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929852 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:25.362Z,1755882985.362 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:16:25.382Z,1755882985.382 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:25.382Z,1755882985.382 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:25.383Z,1755882985.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:25.576Z,1755882985.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:25.579Z,1755882985.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 176.084763 m,
      bearing: 334.504261 deg,
      approach rate: -0.577793 m/s,
      LOS rate: 0.024756 deg/s,
      cmd heading: 339.755493 deg,
      new cmd heading: 339.776862 deg.

2025-08-22T17:16:25.580Z,1755882985.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930225 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:25.635Z,1755882985.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005452
2025-08-22T17:16:25.887Z,1755882985.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256777
2025-08-22T17:16:25.953Z,1755882985.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:25.956Z,1755882985.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 175.894821 m,
      bearing: 334.512404 deg,
      approach rate: -0.503850 m/s,
      LOS rate: 0.021622 deg/s,
      cmd heading: 339.776858 deg,
      new cmd heading: 339.793160 deg.

2025-08-22T17:16:25.957Z,1755882985.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930510 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:26.138Z,1755882986.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508598
2025-08-22T17:16:26.386Z,1755882986.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:26.388Z,1755882986.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 175.643112 m,
      bearing: 334.521637 deg,
      approach rate: -0.581644 m/s,
      LOS rate: 0.021368 deg/s,
      cmd heading: 339.793169 deg,
      new cmd heading: 339.811663 deg.

2025-08-22T17:16:26.391Z,1755882986.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760826
2025-08-22T17:16:26.391Z,1755882986.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930832 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:26.643Z,1755882986.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013193
2025-08-22T17:16:26.752Z,1755882986.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:26.759Z,1755882986.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 175.449371 m,
      bearing: 334.528777 deg,
      approach rate: -0.529072 m/s,
      LOS rate: 0.019519 deg/s,
      cmd heading: 339.811665 deg,
      new cmd heading: 339.825960 deg.

2025-08-22T17:16:26.760Z,1755882986.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931082 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:26.894Z,1755882986.894 [DAT](INFO): DAT read: Rx Time:17:16:27.3333

2025-08-22T17:16:26.895Z,1755882986.895 [DAT](INFO): Rx dataTimestamp_ set to:1755882986.894659
2025-08-22T17:16:26.895Z,1755882986.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265679
2025-08-22T17:16:27.139Z,1755882987.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:27.141Z,1755882987.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.22 m.
2025-08-22T17:16:27.147Z,1755882987.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516821
2025-08-22T17:16:27.149Z,1755882987.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.221298 m,
      nav range: 175.224564 m,
      bearing: 334.537049 deg,
      approach rate: -0.578074 m/s,
      LOS rate: 0.021298 deg/s,
      cmd heading: 339.825953 deg,
      new cmd heading: 339.842519 deg.

2025-08-22T17:16:27.151Z,1755882987.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931371 target range: 182.221298 and range: 183.40 m.
2025-08-22T17:16:27.407Z,1755882987.407 [DAT](INFO): DAT read: 17:16:27.3333 LVL= 29840, 32753, 26466, 32755, AGC= 68, IDX= 410,-0.36, 2.661, 1.105, 3.129, 2.611, PHS= 0.152,-1.462, 0.473, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-08-22T17:16:27.409Z,1755882987.409 [DAT](INFO): got valid direction response:
 17:16:27.3333 LVL= 29840, 32753, 26466, 32755, AGC= 68, IDX= 410,-0.36, 2.661, 1.105, 3.129, 2.611, PHS= 0.152,-1.462, 0.473, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-08-22T17:16:27.410Z,1755882987.410 [DAT](INFO): DAT read: Bearing 153.7,  -8.9 (Local)

2025-08-22T17:16:27.410Z,1755882987.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7,  -8.9 (Local)

2025-08-22T17:16:27.412Z,1755882987.412 [DAT](INFO): DAT read: Range 11 to 50 : 181.4 m  (Round-trip  241.9 ms) speed  0.5 m/s

2025-08-22T17:16:27.426Z,1755882987.426 [DAT](INFO): DAT read: user:558>

2025-08-22T17:16:27.427Z,1755882987.427 [DAT](INFO): DAT read: Tx time:17:16:28.4373

2025-08-22T17:16:27.428Z,1755882987.428 [DAT](INFO): Ping request sent.
2025-08-22T17:16:27.428Z,1755882987.428 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:27.428Z,1755882987.428 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:27.438Z,1755882987.438 [DAT](INFO): direction in FSK: [0.973775,-0.149009,0.171929]
2025-08-22T17:16:27.438Z,1755882987.438 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:27.438Z,1755882987.438 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:27.446Z,1755882987.446 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:27.446Z,1755882987.446 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:27.631Z,1755882987.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.399994 m,
      deltaT: 3.782368 s,
      deltaX: -2.000000 m,
      approachRate: -0.528769 m/s,
      rangeRepo size: 4

2025-08-22T17:16:27.633Z,1755882987.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.239426 m,
      bearing: 330.898394 deg,
      lat: 36.779503 deg,
      lon: -121.859529 deg,
      deltaT: 3.782368 s,
      deltaX: -1.981873 m,
      approachRate: -0.523977 m/s,
      posRepo size: 4

2025-08-22T17:16:27.638Z,1755882987.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:27.640Z,1755882987.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 174.833939 m,
      bearing: 333.514747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021298 deg/s,
      cmd heading: 339.842510 deg,
      new cmd heading: 339.863364 deg.

2025-08-22T17:16:27.646Z,1755882987.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931735 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:27.988Z,1755882987.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:27.991Z,1755882987.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 174.627884 m,
      bearing: 333.519806 deg,
      approach rate: -0.576193 m/s,
      LOS rate: 0.014165 deg/s,
      cmd heading: 339.863356 deg,
      new cmd heading: 339.873487 deg.

2025-08-22T17:16:27.992Z,1755882987.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931911 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:28.414Z,1755882988.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:28.417Z,1755882988.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 174.397003 m,
      bearing: 333.524824 deg,
      approach rate: -0.542184 m/s,
      LOS rate: 0.011798 deg/s,
      cmd heading: 339.873492 deg,
      new cmd heading: 339.883540 deg.

2025-08-22T17:16:28.418Z,1755882988.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932087 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:28.780Z,1755882988.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:28.783Z,1755882988.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 174.197571 m,
      bearing: 333.529057 deg,
      approach rate: -0.544809 m/s,
      LOS rate: 0.011578 deg/s,
      cmd heading: 339.883546 deg,
      new cmd heading: 339.892022 deg.

2025-08-22T17:16:28.783Z,1755882988.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932235 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:29.193Z,1755882989.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:29.211Z,1755882989.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:29.218Z,1755882989.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 173.972733 m,
      bearing: 333.533765 deg,
      approach rate: -0.521155 m/s,
      LOS rate: 0.010927 deg/s,
      cmd heading: 339.892015 deg,
      new cmd heading: 339.901443 deg.

2025-08-22T17:16:29.219Z,1755882989.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932399 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:29.414Z,1755882989.414 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:29.414Z,1755882989.414 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:29.415Z,1755882989.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:29.659Z,1755882989.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:29.667Z,1755882989.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238999
2025-08-22T17:16:29.668Z,1755882989.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 173.733368 m,
      bearing: 333.536475 deg,
      approach rate: -0.533987 m/s,
      LOS rate: 0.006053 deg/s,
      cmd heading: 339.901441 deg,
      new cmd heading: 339.906867 deg.

2025-08-22T17:16:29.669Z,1755882989.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932494 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:29.919Z,1755882989.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491317
2025-08-22T17:16:30.026Z,1755882990.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:30.029Z,1755882990.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 173.529663 m,
      bearing: 333.538730 deg,
      approach rate: -0.555136 m/s,
      LOS rate: 0.006153 deg/s,
      cmd heading: 339.906878 deg,
      new cmd heading: 339.911393 deg.

2025-08-22T17:16:30.046Z,1755882990.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932573 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:30.171Z,1755882990.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743213
2025-08-22T17:16:30.423Z,1755882990.423 [DAT](INFO): DAT read: Rx Time:17:16:31.0806

2025-08-22T17:16:30.423Z,1755882990.423 [DAT](INFO): Rx dataTimestamp_ set to:1755882990.422869
2025-08-22T17:16:30.424Z,1755882990.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996045
2025-08-22T17:16:30.456Z,1755882990.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:30.459Z,1755882990.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 173.292145 m,
      bearing: 333.540927 deg,
      approach rate: -0.553199 m/s,
      LOS rate: 0.005125 deg/s,
      cmd heading: 339.911385 deg,
      new cmd heading: 339.915786 deg.

2025-08-22T17:16:30.460Z,1755882990.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932650 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:30.674Z,1755882990.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246783
2025-08-22T17:16:30.873Z,1755882990.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.24 m.
2025-08-22T17:16:30.880Z,1755882990.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.239426 m,
      nav range: 173.065750 m,
      bearing: 333.543030 deg,
      approach rate: -0.543021 m/s,
      LOS rate: 0.005050 deg/s,
      cmd heading: 339.915784 deg,
      new cmd heading: 339.919995 deg.

2025-08-22T17:16:30.880Z,1755882990.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932723 target range: 180.239426 and range: 181.40 m.
2025-08-22T17:16:30.930Z,1755882990.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501018
2025-08-22T17:16:31.189Z,1755882991.189 [DAT](INFO): DAT read: 17:16:31.0806 LVL= 27088, 32753, 22514, 32051, AGC= 66, IDX= 414,-0.21, 0.707,-0.907, 1.178, 0.640, PHS= 0.169,-1.502, 0.494, RAW= 158.7,   9.1, CAL= 158.5,   9.6, ROT= 351.5,  -9.6

2025-08-22T17:16:31.190Z,1755882991.190 [DAT](INFO): got valid direction response:
 17:16:31.0806 LVL= 27088, 32753, 22514, 32051, AGC= 66, IDX= 414,-0.21, 0.707,-0.907, 1.178, 0.640, PHS= 0.169,-1.502, 0.494, RAW= 158.7,   9.1, CAL= 158.5,   9.6, ROT= 351.5,  -9.6

2025-08-22T17:16:31.191Z,1755882991.191 [DAT](INFO): DAT read: Bearing 153.5,  -8.6 (Local)

2025-08-22T17:16:31.192Z,1755882991.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5,  -8.6 (Local)

2025-08-22T17:16:31.193Z,1755882991.193 [DAT](INFO): DAT read: Range 11 to 50 : 179.4 m  (Round-trip  239.2 ms) speed  0.6 m/s

2025-08-22T17:16:31.194Z,1755882991.194 [DAT](INFO): DAT read: user:559>

2025-08-22T17:16:31.195Z,1755882991.195 [DAT](INFO): DAT read: Tx time:17:16:32.1873

2025-08-22T17:16:31.195Z,1755882991.195 [DAT](INFO): Ping request sent.
2025-08-22T17:16:31.195Z,1755882991.195 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:31.196Z,1755882991.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:31.197Z,1755882991.197 [DAT](INFO): direction in FSK: [0.975166,-0.145739,0.166769]
2025-08-22T17:16:31.197Z,1755882991.197 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:31.197Z,1755882991.197 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:31.200Z,1755882991.200 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:31.201Z,1755882991.201 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:31.397Z,1755882991.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.399994 m,
      deltaT: 3.778067 s,
      deltaX: -2.000000 m,
      approachRate: -0.529371 m/s,
      rangeRepo size: 4

2025-08-22T17:16:31.408Z,1755882991.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.248215 m,
      bearing: 331.473304 deg,
      lat: 36.779503 deg,
      lon: -121.859610 deg,
      deltaT: 3.778067 s,
      deltaX: -1.991211 m,
      approachRate: -0.527045 m/s,
      posRepo size: 4

2025-08-22T17:16:31.409Z,1755882991.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:31.412Z,1755882991.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 176.155106 m,
      bearing: 331.427498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005050 deg/s,
      cmd heading: 339.919992 deg,
      new cmd heading: 339.925280 deg.

2025-08-22T17:16:31.412Z,1755882991.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932816 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:31.760Z,1755882991.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:31.762Z,1755882991.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:31.765Z,1755882991.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 175.940536 m,
      bearing: 331.428111 deg,
      approach rate: -0.586317 m/s,
      LOS rate: 0.001677 deg/s,
      cmd heading: 339.925292 deg,
      new cmd heading: 339.926519 deg.

2025-08-22T17:16:31.766Z,1755882991.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932837 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:31.934Z,1755882991.934 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:31.934Z,1755882991.934 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:31.935Z,1755882991.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:32.145Z,1755882992.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:32.148Z,1755882992.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 175.739227 m,
      bearing: 331.428668 deg,
      approach rate: -0.526194 m/s,
      LOS rate: 0.001456 deg/s,
      cmd heading: 339.926521 deg,
      new cmd heading: 339.927636 deg.

2025-08-22T17:16:32.149Z,1755882992.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932857 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:32.187Z,1755882992.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991488
2025-08-22T17:16:32.439Z,1755882992.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243693
2025-08-22T17:16:32.538Z,1755882992.538 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +00,1227.10
2025-08-22T17:16:32.585Z,1755882992.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:32.594Z,1755882992.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 175.524292 m,
      bearing: 331.429289 deg,
      approach rate: -0.488676 m/s,
      LOS rate: 0.001414 deg/s,
      cmd heading: 339.927641 deg,
      new cmd heading: 339.928885 deg.

2025-08-22T17:16:32.595Z,1755882992.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932878 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:32.691Z,1755882992.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495912
2025-08-22T17:16:32.944Z,1755882992.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748072
2025-08-22T17:16:32.957Z,1755882992.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:32.960Z,1755882992.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 175.311996 m,
      bearing: 331.429916 deg,
      approach rate: -0.570235 m/s,
      LOS rate: 0.001688 deg/s,
      cmd heading: 339.928898 deg,
      new cmd heading: 339.930155 deg.

2025-08-22T17:16:32.981Z,1755882992.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932900 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:33.194Z,1755882993.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998988
2025-08-22T17:16:33.447Z,1755882993.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251131
2025-08-22T17:16:33.480Z,1755882993.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:33.484Z,1755882993.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 175.031830 m,
      bearing: 331.434385 deg,
      approach rate: -0.535147 m/s,
      LOS rate: 0.008549 deg/s,
      cmd heading: 339.930155 deg,
      new cmd heading: 339.939106 deg.

2025-08-22T17:16:33.484Z,1755882993.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933057 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:33.698Z,1755882993.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503010
2025-08-22T17:16:33.871Z,1755882993.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:33.890Z,1755882993.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:33.892Z,1755882993.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 174.821533 m,
      bearing: 331.437793 deg,
      approach rate: -0.534940 m/s,
      LOS rate: 0.008681 deg/s,
      cmd heading: 339.939116 deg,
      new cmd heading: 339.945941 deg.

2025-08-22T17:16:33.897Z,1755882993.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933176 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:33.951Z,1755882993.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755204
2025-08-22T17:16:34.203Z,1755882994.203 [DAT](INFO): DAT read: Rx Time:17:16:34.8279

2025-08-22T17:16:34.203Z,1755882994.203 [DAT](INFO): Rx dataTimestamp_ set to:1755882994.202755
2025-08-22T17:16:34.204Z,1755882994.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008133
2025-08-22T17:16:34.265Z,1755882994.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:34.284Z,1755882994.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 174.611801 m,
      bearing: 331.441239 deg,
      approach rate: -0.535629 m/s,
      LOS rate: 0.008812 deg/s,
      cmd heading: 339.945946 deg,
      new cmd heading: 339.952847 deg.

2025-08-22T17:16:34.285Z,1755882994.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933297 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:34.454Z,1755882994.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258981
2025-08-22T17:16:34.710Z,1755882994.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514094
2025-08-22T17:16:34.755Z,1755882994.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.25 m.
2025-08-22T17:16:34.758Z,1755882994.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.248215 m,
      nav range: 174.354767 m,
      bearing: 331.448003 deg,
      approach rate: -0.524679 m/s,
      LOS rate: 0.013826 deg/s,
      cmd heading: 339.952858 deg,
      new cmd heading: 339.966405 deg.

2025-08-22T17:16:34.759Z,1755882994.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933533 target range: 178.248215 and range: 179.40 m.
2025-08-22T17:16:34.964Z,1755882994.964 [DAT](INFO): DAT read: 17:16:34.8279 LVL= 32752, 32753, 31570, 32755, AGC= 70, IDX= 418, 0.36, 1.868, 0.237, 2.347, 1.786, PHS= 0.184,-1.504, 0.518, RAW= 158.8,   8.6, CAL= 158.5,   9.0, ROT= 351.5,  -9.0

2025-08-22T17:16:34.965Z,1755882994.965 [DAT](INFO): got valid direction response:
 17:16:34.8279 LVL= 32752, 32753, 31570, 32755, AGC= 70, IDX= 418, 0.36, 1.868, 0.237, 2.347, 1.786, PHS= 0.184,-1.504, 0.518, RAW= 158.8,   8.6, CAL= 158.5,   9.0, ROT= 351.5,  -9.0

2025-08-22T17:16:34.966Z,1755882994.966 [DAT](INFO): DAT read: Bearing 152.7,  -8.7 (Local)

2025-08-22T17:16:34.966Z,1755882994.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7,  -8.7 (Local)

2025-08-22T17:16:34.968Z,1755882994.968 [DAT](INFO): DAT read: Range 11 to 50 : 177.3 m  (Round-trip  236.5 ms) speed  0.5 m/s

2025-08-22T17:16:34.968Z,1755882994.968 [DAT](INFO): DAT read: user:560>

2025-08-22T17:16:34.969Z,1755882994.969 [DAT](INFO): DAT read: Tx time:17:16:35.9373

2025-08-22T17:16:34.969Z,1755882994.969 [DAT](INFO): Ping request sent.
2025-08-22T17:16:34.970Z,1755882994.970 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:34.970Z,1755882994.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:34.971Z,1755882994.971 [DAT](INFO): direction in FSK: [0.976839,-0.145990,0.156434]
2025-08-22T17:16:34.971Z,1755882994.971 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:34.971Z,1755882994.971 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:34.975Z,1755882994.975 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:34.975Z,1755882994.975 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:35.115Z,1755882995.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.300003 m,
      deltaT: 3.779588 s,
      deltaX: -2.099991 m,
      approachRate: -0.555614 m/s,
      rangeRepo size: 4

2025-08-22T17:16:35.117Z,1755882995.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.162430 m,
      bearing: 331.400361 deg,
      lat: 36.779506 deg,
      lon: -121.859614 deg,
      deltaT: 3.779588 s,
      deltaX: -2.085785 m,
      approachRate: -0.551855 m/s,
      posRepo size: 4

2025-08-22T17:16:35.118Z,1755882995.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:35.121Z,1755882995.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 174.564301 m,
      bearing: 331.400858 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013826 deg/s,
      cmd heading: 339.966409 deg,
      new cmd heading: 339.976349 deg.

2025-08-22T17:16:35.130Z,1755882995.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933707 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:35.499Z,1755882995.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:35.518Z,1755882995.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 174.349686 m,
      bearing: 331.407520 deg,
      approach rate: -0.558038 m/s,
      LOS rate: 0.017344 deg/s,
      cmd heading: 339.976354 deg,
      new cmd heading: 339.989694 deg.

2025-08-22T17:16:35.519Z,1755882995.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933939 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:35.881Z,1755882995.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:35.883Z,1755882995.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:35.902Z,1755882995.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 174.146423 m,
      bearing: 331.413856 deg,
      approach rate: -0.529421 m/s,
      LOS rate: 0.016522 deg/s,
      cmd heading: 339.989687 deg,
      new cmd heading: 340.002374 deg.

2025-08-22T17:16:35.903Z,1755882995.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934161 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:35.967Z,1755882995.967 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:35.967Z,1755882995.967 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:35.967Z,1755882995.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:36.219Z,1755882996.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248886
2025-08-22T17:16:36.391Z,1755882996.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:36.425Z,1755882996.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 173.892014 m,
      bearing: 331.421845 deg,
      approach rate: -0.502256 m/s,
      LOS rate: 0.015796 deg/s,
      cmd heading: 340.002364 deg,
      new cmd heading: 340.018366 deg.

2025-08-22T17:16:36.431Z,1755882996.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934440 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:36.471Z,1755882996.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501089
2025-08-22T17:16:36.723Z,1755882996.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753212
2025-08-22T17:16:36.861Z,1755882996.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:36.869Z,1755882996.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 173.640900 m,
      bearing: 331.428866 deg,
      approach rate: -0.532357 m/s,
      LOS rate: 0.014906 deg/s,
      cmd heading: 340.018374 deg,
      new cmd heading: 340.032436 deg.

2025-08-22T17:16:36.874Z,1755882996.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934686 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:36.975Z,1755882996.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005641
2025-08-22T17:16:37.227Z,1755882997.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257051
2025-08-22T17:16:37.227Z,1755882997.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:37.230Z,1755882997.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 173.435806 m,
      bearing: 331.434618 deg,
      approach rate: -0.562768 m/s,
      LOS rate: 0.015800 deg/s,
      cmd heading: 340.032444 deg,
      new cmd heading: 340.043960 deg.

2025-08-22T17:16:37.231Z,1755882997.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934887 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:37.479Z,1755882997.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508904
2025-08-22T17:16:37.721Z,1755882997.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:37.724Z,1755882997.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 173.173935 m,
      bearing: 331.441968 deg,
      approach rate: -0.528647 m/s,
      LOS rate: 0.014860 deg/s,
      cmd heading: 340.043973 deg,
      new cmd heading: 340.058695 deg.

2025-08-22T17:16:37.725Z,1755882997.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935144 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:37.731Z,1755882997.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761002
2025-08-22T17:16:37.983Z,1755882997.983 [DAT](INFO): DAT read: Rx Time:17:16:38.5752

2025-08-22T17:16:37.983Z,1755882997.983 [DAT](INFO): Rx dataTimestamp_ set to:1755882997.982821
2025-08-22T17:16:37.984Z,1755882997.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014062
2025-08-22T17:16:38.089Z,1755882998.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:38.095Z,1755882998.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.16 m.
2025-08-22T17:16:38.103Z,1755882998.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.162430 m,
      nav range: 172.980469 m,
      bearing: 331.447448 deg,
      approach rate: -0.516709 m/s,
      LOS rate: 0.014652 deg/s,
      cmd heading: 340.058699 deg,
      new cmd heading: 340.069671 deg.

2025-08-22T17:16:38.103Z,1755882998.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935336 target range: 176.162430 and range: 177.30 m.
2025-08-22T17:16:38.234Z,1755882998.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264857
2025-08-22T17:16:38.493Z,1755882998.493 [DAT](INFO): DAT read: 17:16:38.5752 LVL= 25216, 32753, 21474, 32755, AGC= 64, IDX= 407, 0.06, 0.262,-1.281, 0.706, 0.155, PHS= 0.209,-1.391, 0.507, RAW= 158.4,   7.7, CAL= 157.9,   7.9, ROT= 352.1,  -7.9

2025-08-22T17:16:38.494Z,1755882998.494 [DAT](INFO): got valid direction response:
 17:16:38.5752 LVL= 25216, 32753, 21474, 32755, AGC= 64, IDX= 407, 0.06, 0.262,-1.281, 0.706, 0.155, PHS= 0.209,-1.391, 0.507, RAW= 158.4,   7.7, CAL= 157.9,   7.9, ROT= 352.1,  -7.9

2025-08-22T17:16:38.495Z,1755882998.495 [DAT](INFO): DAT read: Bearing 151.4,  -7.9 (Local)

2025-08-22T17:16:38.496Z,1755882998.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4,  -7.9 (Local)

2025-08-22T17:16:38.497Z,1755882998.497 [DAT](INFO): DAT read: Range 11 to 50 : 175.3 m  (Round-trip  233.8 ms) speed  0.4 m/s

2025-08-22T17:16:38.498Z,1755882998.498 [DAT](INFO): DAT read: user:561>

2025-08-22T17:16:38.499Z,1755882998.499 [DAT](INFO): DAT read: Tx time:17:16:39.6888

2025-08-22T17:16:38.499Z,1755882998.499 [DAT](INFO): Ping request sent.
2025-08-22T17:16:38.499Z,1755882998.499 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:38.499Z,1755882998.499 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:38.500Z,1755882998.500 [DAT](INFO): direction in FSK: [0.981109,-0.136140,0.137445]
2025-08-22T17:16:38.501Z,1755882998.501 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:38.501Z,1755882998.501 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:38.505Z,1755882998.505 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:38.505Z,1755882998.505 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:38.678Z,1755882998.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.300003 m,
      deltaT: 3.529026 s,
      deltaX: -2.000000 m,
      approachRate: -0.566729 m/s,
      rangeRepo size: 4

2025-08-22T17:16:38.681Z,1755882998.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.175537 m,
      bearing: 331.876447 deg,
      lat: 36.779506 deg,
      lon: -121.859614 deg,
      deltaT: 3.529026 s,
      deltaX: -1.986893 m,
      approachRate: -0.563014 m/s,
      posRepo size: 4

2025-08-22T17:16:38.685Z,1755882998.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:38.688Z,1755882998.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 172.687592 m,
      bearing: 331.453546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014652 deg/s,
      cmd heading: 340.069682 deg,
      new cmd heading: 340.086627 deg.

2025-08-22T17:16:38.689Z,1755882998.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935631 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:39.038Z,1755882999.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:39.040Z,1755882999.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 172.485382 m,
      bearing: 331.457800 deg,
      approach rate: -0.555818 m/s,
      LOS rate: 0.011707 deg/s,
      cmd heading: 340.086621 deg,
      new cmd heading: 340.095139 deg.

2025-08-22T17:16:39.041Z,1755882999.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935780 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:39.516Z,1755882999.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:39.524Z,1755882999.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 172.245422 m,
      bearing: 331.461294 deg,
      approach rate: -0.501188 m/s,
      LOS rate: 0.007307 deg/s,
      cmd heading: 340.095145 deg,
      new cmd heading: 340.102141 deg.

2025-08-22T17:16:39.525Z,1755882999.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935902 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:39.894Z,1755882999.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:39.897Z,1755882999.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 172.047928 m,
      bearing: 331.464207 deg,
      approach rate: -0.552775 m/s,
      LOS rate: 0.008164 deg/s,
      cmd heading: 340.102139 deg,
      new cmd heading: 340.107972 deg.

2025-08-22T17:16:39.902Z,1755882999.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936004 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:40.288Z,1755883000.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:40.291Z,1755883000.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:40.294Z,1755883000.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 171.837784 m,
      bearing: 331.467269 deg,
      approach rate: -0.503660 m/s,
      LOS rate: 0.007348 deg/s,
      cmd heading: 340.107986 deg,
      new cmd heading: 340.114117 deg.

2025-08-22T17:16:40.295Z,1755883000.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936111 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:40.510Z,1755883000.510 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:40.511Z,1755883000.511 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:40.511Z,1755883000.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:40.697Z,1755883000.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:40.717Z,1755883000.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 171.613693 m,
      bearing: 331.469391 deg,
      approach rate: -0.551556 m/s,
      LOS rate: 0.005229 deg/s,
      cmd heading: 340.114105 deg,
      new cmd heading: 340.118354 deg.

2025-08-22T17:16:40.722Z,1755883000.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936185 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:40.765Z,1755883000.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266196
2025-08-22T17:16:41.019Z,1755883001.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519485
2025-08-22T17:16:41.082Z,1755883001.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:41.101Z,1755883001.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 171.408813 m,
      bearing: 331.471301 deg,
      approach rate: -0.531491 m/s,
      LOS rate: 0.004961 deg/s,
      cmd heading: 340.118368 deg,
      new cmd heading: 340.122192 deg.

2025-08-22T17:16:41.102Z,1755883001.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936252 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:41.270Z,1755883001.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771327
2025-08-22T17:16:41.523Z,1755883001.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023468
2025-08-22T17:16:41.542Z,1755883001.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:41.545Z,1755883001.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 171.159241 m,
      bearing: 331.471635 deg,
      approach rate: -0.542985 m/s,
      LOS rate: 0.000728 deg/s,
      cmd heading: 340.122192 deg,
      new cmd heading: 340.122861 deg.

2025-08-22T17:16:41.547Z,1755883001.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936264 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:41.776Z,1755883001.776 [DAT](INFO): DAT read: Rx Time:17:16:42.3241

2025-08-22T17:16:41.777Z,1755883001.777 [DAT](INFO): Rx dataTimestamp_ set to:1755883001.776365
2025-08-22T17:16:41.778Z,1755883001.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278546
2025-08-22T17:16:41.914Z,1755883001.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.18 m.
2025-08-22T17:16:41.916Z,1755883001.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.175537 m,
      nav range: 170.969543 m,
      bearing: 331.471843 deg,
      approach rate: -0.516430 m/s,
      LOS rate: 0.000566 deg/s,
      cmd heading: 340.122848 deg,
      new cmd heading: 340.123264 deg.

2025-08-22T17:16:41.917Z,1755883001.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936271 target range: 174.175537 and range: 175.30 m.
2025-08-22T17:16:42.027Z,1755883002.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527796
2025-08-22T17:16:42.284Z,1755883002.284 [DAT](INFO): DAT read: 17:16:42.3241 LVL= 32752, 32753, 28114, 32755, AGC= 67, IDX= 411, 0.09,-1.118,-2.760,-0.711,-1.216, PHS= 0.200,-1.499, 0.461, RAW= 157.1,   9.1, CAL= 156.8,   9.7, ROT= 353.2,  -9.7

2025-08-22T17:16:42.285Z,1755883002.285 [DAT](INFO): got valid direction response:
 17:16:42.3241 LVL= 32752, 32753, 28114, 32755, AGC= 67, IDX= 411, 0.09,-1.118,-2.760,-0.711,-1.216, PHS= 0.200,-1.499, 0.461, RAW= 157.1,   9.1, CAL= 156.8,   9.7, ROT= 353.2,  -9.7

2025-08-22T17:16:42.286Z,1755883002.286 [DAT](INFO): DAT read: Bearing 153.1,  -6.1 (Local)

2025-08-22T17:16:42.286Z,1755883002.286 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1,  -6.1 (Local)

2025-08-22T17:16:42.288Z,1755883002.288 [DAT](INFO): DAT read: Range 11 to 50 : 173.3 m  (Round-trip  231.1 ms) speed  0.5 m/s

2025-08-22T17:16:42.289Z,1755883002.289 [DAT](INFO): DAT read: user:562>

2025-08-22T17:16:42.289Z,1755883002.289 [DAT](INFO): DAT read: Tx time:17:16:43.4373

2025-08-22T17:16:42.290Z,1755883002.290 [DAT](INFO): Ping request sent.
2025-08-22T17:16:42.290Z,1755883002.290 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:42.290Z,1755883002.290 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:42.291Z,1755883002.291 [DAT](INFO): direction in FSK: [0.978770,-0.116711,0.168489]
2025-08-22T17:16:42.291Z,1755883002.291 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:42.291Z,1755883002.291 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:42.310Z,1755883002.310 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:42.310Z,1755883002.310 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:42.404Z,1755883002.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.300003 m,
      deltaT: 3.791051 s,
      deltaX: -2.000000 m,
      approachRate: -0.527558 m/s,
      rangeRepo size: 4

2025-08-22T17:16:42.411Z,1755883002.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.189362 m,
      bearing: 332.989621 deg,
      lat: 36.779506 deg,
      lon: -121.859610 deg,
      deltaT: 3.791051 s,
      deltaX: -1.986176 m,
      approachRate: -0.523912 m/s,
      posRepo size: 4

2025-08-22T17:16:42.412Z,1755883002.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:42.420Z,1755883002.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 170.571777 m,
      bearing: 331.573307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000566 deg/s,
      cmd heading: 340.123258 deg,
      new cmd heading: 340.123817 deg.

2025-08-22T17:16:42.421Z,1755883002.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936280 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:42.776Z,1755883002.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:42.778Z,1755883002.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:42.781Z,1755883002.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 170.364075 m,
      bearing: 331.573694 deg,
      approach rate: -0.555049 m/s,
      LOS rate: 0.001037 deg/s,
      cmd heading: 340.123804 deg,
      new cmd heading: 340.124581 deg.

2025-08-22T17:16:42.782Z,1755883002.782 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:42.782Z,1755883002.782 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:42.783Z,1755883002.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:42.785Z,1755883002.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936294 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:43.035Z,1755883003.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744782
2025-08-22T17:16:43.185Z,1755883003.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:43.190Z,1755883003.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 170.161987 m,
      bearing: 331.573997 deg,
      approach rate: -0.501407 m/s,
      LOS rate: 0.000751 deg/s,
      cmd heading: 340.124569 deg,
      new cmd heading: 340.125175 deg.

2025-08-22T17:16:43.191Z,1755883003.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936304 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:43.287Z,1755883003.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996899
2025-08-22T17:16:43.538Z,1755883003.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248726
2025-08-22T17:16:43.594Z,1755883003.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:43.597Z,1755883003.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 169.933945 m,
      bearing: 331.574785 deg,
      approach rate: -0.551774 m/s,
      LOS rate: 0.001911 deg/s,
      cmd heading: 340.125170 deg,
      new cmd heading: 340.126750 deg.

2025-08-22T17:16:43.598Z,1755883003.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936332 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:43.791Z,1755883003.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501567
2025-08-22T17:16:43.969Z,1755883003.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:43.972Z,1755883003.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 169.733856 m,
      bearing: 331.575436 deg,
      approach rate: -0.533845 m/s,
      LOS rate: 0.001739 deg/s,
      cmd heading: 340.126755 deg,
      new cmd heading: 340.128059 deg.

2025-08-22T17:16:43.973Z,1755883003.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936355 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:44.044Z,1755883004.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753857
2025-08-22T17:16:44.295Z,1755883004.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004769
2025-08-22T17:16:44.382Z,1755883004.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:44.385Z,1755883004.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 169.522385 m,
      bearing: 331.576072 deg,
      approach rate: -0.533293 m/s,
      LOS rate: 0.001606 deg/s,
      cmd heading: 340.128066 deg,
      new cmd heading: 340.129340 deg.

2025-08-22T17:16:44.386Z,1755883004.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936377 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:44.548Z,1755883004.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258223
2025-08-22T17:16:44.800Z,1755883004.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509831
2025-08-22T17:16:44.807Z,1755883004.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:44.816Z,1755883004.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:44.825Z,1755883004.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 169.293198 m,
      bearing: 331.577094 deg,
      approach rate: -0.510205 m/s,
      LOS rate: 0.002278 deg/s,
      cmd heading: 340.129350 deg,
      new cmd heading: 340.131397 deg.

2025-08-22T17:16:44.830Z,1755883004.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936413 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:45.051Z,1755883005.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760773
2025-08-22T17:16:45.192Z,1755883005.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:45.195Z,1755883005.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 169.075500 m,
      bearing: 331.578070 deg,
      approach rate: -0.577030 m/s,
      LOS rate: 0.002589 deg/s,
      cmd heading: 340.131400 deg,
      new cmd heading: 340.133353 deg.

2025-08-22T17:16:45.196Z,1755883005.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936447 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:45.304Z,1755883005.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014321
2025-08-22T17:16:45.555Z,1755883005.555 [DAT](INFO): DAT read: Rx Time:17:16:46.0698

2025-08-22T17:16:45.555Z,1755883005.555 [DAT](INFO): Rx dataTimestamp_ set to:1755883005.554753
2025-08-22T17:16:45.556Z,1755883005.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265857
2025-08-22T17:16:45.621Z,1755883005.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:45.628Z,1755883005.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 168.854797 m,
      bearing: 331.581517 deg,
      approach rate: -0.514808 m/s,
      LOS rate: 0.008050 deg/s,
      cmd heading: 340.133339 deg,
      new cmd heading: 340.140242 deg.

2025-08-22T17:16:45.629Z,1755883005.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936567 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:45.807Z,1755883005.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517645
2025-08-22T17:16:46.029Z,1755883006.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.19 m.
2025-08-22T17:16:46.035Z,1755883006.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.189362 m,
      nav range: 168.644379 m,
      bearing: 331.584794 deg,
      approach rate: -0.516029 m/s,
      LOS rate: 0.008049 deg/s,
      cmd heading: 340.140251 deg,
      new cmd heading: 340.146815 deg.

2025-08-22T17:16:46.036Z,1755883006.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936682 target range: 172.189362 and range: 173.30 m.
2025-08-22T17:16:46.065Z,1755883006.065 [DAT](INFO): DAT read: 17:16:46.0698 LVL= 32144, 32753, 25202, 32755, AGC= 66, IDX= 416, 0.10,-0.057,-1.678, 0.403,-0.124, PHS= 0.169,-1.509, 0.482, RAW= 158.4,   9.3, CAL= 158.2,   9.9, ROT= 351.8,  -9.9

2025-08-22T17:16:46.066Z,1755883006.066 [DAT](INFO): got valid direction response:
 17:16:46.0698 LVL= 32144, 32753, 25202, 32755, AGC= 66, IDX= 416, 0.10,-0.057,-1.678, 0.403,-0.124, PHS= 0.169,-1.509, 0.482, RAW= 158.4,   9.3, CAL= 158.2,   9.9, ROT= 351.8,  -9.9

2025-08-22T17:16:46.067Z,1755883006.067 [DAT](INFO): DAT read: Bearing 153.6,  -7.4 (Local)

2025-08-22T17:16:46.067Z,1755883006.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6,  -7.4 (Local)

2025-08-22T17:16:46.069Z,1755883006.069 [DAT](INFO): DAT read: Range 11 to 50 : 171.3 m  (Round-trip  228.5 ms) speed  0.6 m/s

2025-08-22T17:16:46.070Z,1755883006.070 [DAT](INFO): DAT read: user:563>

2025-08-22T17:16:46.071Z,1755883006.071 [DAT](INFO): DAT read: Tx time:17:16:47.1872

2025-08-22T17:16:46.071Z,1755883006.071 [DAT](INFO): Ping request sent.
2025-08-22T17:16:46.071Z,1755883006.071 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:46.072Z,1755883006.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:46.073Z,1755883006.073 [DAT](INFO): direction in FSK: [0.975038,-0.140505,0.171929]
2025-08-22T17:16:46.073Z,1755883006.073 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:46.073Z,1755883006.073 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:46.076Z,1755883006.076 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:46.077Z,1755883006.077 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:46.418Z,1755883006.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.300003 m,
      deltaT: 3.780498 s,
      deltaX: -2.000000 m,
      approachRate: -0.529031 m/s,
      rangeRepo size: 4

2025-08-22T17:16:46.420Z,1755883006.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.210403 m,
      bearing: 331.850057 deg,
      lat: 36.779506 deg,
      lon: -121.859603 deg,
      deltaT: 3.780498 s,
      deltaX: -1.978958 m,
      approachRate: -0.523465 m/s,
      posRepo size: 4

2025-08-22T17:16:46.421Z,1755883006.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:46.424Z,1755883006.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 168.108337 m,
      bearing: 331.796190 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008049 deg/s,
      cmd heading: 340.146808 deg,
      new cmd heading: 340.153069 deg.

2025-08-22T17:16:46.425Z,1755883006.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936791 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:46.847Z,1755883006.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:46.850Z,1755883006.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:46.852Z,1755883006.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 167.874039 m,
      bearing: 331.800944 deg,
      approach rate: -0.542661 m/s,
      LOS rate: 0.011025 deg/s,
      cmd heading: 340.153065 deg,
      new cmd heading: 340.162585 deg.

2025-08-22T17:16:46.854Z,1755883006.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936957 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:47.067Z,1755883007.067 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:47.067Z,1755883007.067 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:47.067Z,1755883007.067 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:47.209Z,1755883007.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:47.235Z,1755883007.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 167.680542 m,
      bearing: 331.804891 deg,
      approach rate: -0.538575 m/s,
      LOS rate: 0.010999 deg/s,
      cmd heading: 340.162573 deg,
      new cmd heading: 340.170476 deg.

2025-08-22T17:16:47.236Z,1755883007.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937095 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:47.320Z,1755883007.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247997
2025-08-22T17:16:47.581Z,1755883007.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501477
2025-08-22T17:16:47.650Z,1755883007.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:47.652Z,1755883007.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 167.458435 m,
      bearing: 331.810379 deg,
      approach rate: -0.522718 m/s,
      LOS rate: 0.012932 deg/s,
      cmd heading: 340.170468 deg,
      new cmd heading: 340.181458 deg.

2025-08-22T17:16:47.658Z,1755883007.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937286 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:47.824Z,1755883007.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752344
2025-08-22T17:16:48.036Z,1755883008.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:48.048Z,1755883008.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 167.247330 m,
      bearing: 331.815571 deg,
      approach rate: -0.524501 m/s,
      LOS rate: 0.012918 deg/s,
      cmd heading: 340.181451 deg,
      new cmd heading: 340.191850 deg.

2025-08-22T17:16:48.048Z,1755883008.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937468 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:48.075Z,1755883008.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003255
2025-08-22T17:16:48.327Z,1755883008.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255234
2025-08-22T17:16:48.431Z,1755883008.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:48.434Z,1755883008.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 167.048935 m,
      bearing: 331.820429 deg,
      approach rate: -0.502389 m/s,
      LOS rate: 0.012315 deg/s,
      cmd heading: 340.191860 deg,
      new cmd heading: 340.201587 deg.

2025-08-22T17:16:48.435Z,1755883008.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937638 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:48.582Z,1755883008.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509538
2025-08-22T17:16:48.831Z,1755883008.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759165
2025-08-22T17:16:48.860Z,1755883008.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:48.862Z,1755883008.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:48.865Z,1755883008.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 166.816650 m,
      bearing: 331.828164 deg,
      approach rate: -0.539168 m/s,
      LOS rate: 0.017981 deg/s,
      cmd heading: 340.201587 deg,
      new cmd heading: 340.217080 deg.

2025-08-22T17:16:48.866Z,1755883008.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937908 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:49.082Z,1755883009.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011101
2025-08-22T17:16:49.223Z,1755883009.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:49.226Z,1755883009.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 166.628403 m,
      bearing: 331.834478 deg,
      approach rate: -0.521172 m/s,
      LOS rate: 0.017500 deg/s,
      cmd heading: 340.217077 deg,
      new cmd heading: 340.229720 deg.

2025-08-22T17:16:49.227Z,1755883009.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938129 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:49.335Z,1755883009.335 [DAT](INFO): DAT read: Rx Time:17:16:49.8171

2025-08-22T17:16:49.336Z,1755883009.336 [DAT](INFO): Rx dataTimestamp_ set to:1755883009.335590
2025-08-22T17:16:49.337Z,1755883009.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265396
2025-08-22T17:16:49.589Z,1755883009.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517534
2025-08-22T17:16:49.801Z,1755883009.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.21 m.
2025-08-22T17:16:49.820Z,1755883009.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.210403 m,
      nav range: 166.342712 m,
      bearing: 331.842550 deg,
      approach rate: -0.494847 m/s,
      LOS rate: 0.014005 deg/s,
      cmd heading: 340.229727 deg,
      new cmd heading: 340.245898 deg.

2025-08-22T17:16:49.833Z,1755883009.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938411 target range: 170.210403 and range: 171.30 m.
2025-08-22T17:16:49.844Z,1755883009.844 [DAT](INFO): DAT read: 17:16:49.8171 LVL= 32752, 32753, 24850, 32755, AGC= 65, IDX= 421,-0.14,-2.591, 2.160,-2.162,-2.681, PHS= 0.192,-1.397, 0.475, RAW= 158.0,   8.4, CAL= 157.7,   8.8, ROT= 352.3,  -8.8

2025-08-22T17:16:49.845Z,1755883009.845 [DAT](INFO): got valid direction response:
 17:16:49.8171 LVL= 32752, 32753, 24850, 32755, AGC= 65, IDX= 421,-0.14,-2.591, 2.160,-2.162,-2.681, PHS= 0.192,-1.397, 0.475, RAW= 158.0,   8.4, CAL= 157.7,   8.8, ROT= 352.3,  -8.8

2025-08-22T17:16:49.846Z,1755883009.846 [DAT](INFO): DAT read: Bearing 152.4,  -6.8 (Local)

2025-08-22T17:16:49.847Z,1755883009.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4,  -6.8 (Local)

2025-08-22T17:16:49.848Z,1755883009.848 [DAT](INFO): DAT read: Range 11 to 50 : 169.3 m  (Round-trip  225.8 ms) speed  0.4 m/s

2025-08-22T17:16:49.849Z,1755883009.849 [DAT](INFO): DAT read: user:564>

2025-08-22T17:16:49.850Z,1755883009.850 [DAT](INFO): DAT read: Tx time:17:16:50.9372

2025-08-22T17:16:49.851Z,1755883009.851 [DAT](INFO): Ping request sent.
2025-08-22T17:16:49.851Z,1755883009.851 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:49.851Z,1755883009.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:49.852Z,1755883009.852 [DAT](INFO): direction in FSK: [0.979318,-0.132409,0.152986]
2025-08-22T17:16:49.852Z,1755883009.852 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:49.853Z,1755883009.853 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:49.856Z,1755883009.856 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:49.856Z,1755883009.856 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:50.256Z,1755883010.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.300003 m,
      deltaT: 3.779639 s,
      deltaX: -2.000000 m,
      approachRate: -0.529151 m/s,
      rangeRepo size: 4

2025-08-22T17:16:50.262Z,1755883010.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.222549 m,
      bearing: 332.227025 deg,
      lat: 36.779512 deg,
      lon: -121.859600 deg,
      deltaT: 3.779639 s,
      deltaX: -1.987854 m,
      approachRate: -0.525938 m/s,
      posRepo size: 4

2025-08-22T17:16:50.263Z,1755883010.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:50.265Z,1755883010.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 166.596542 m,
      bearing: 332.037533 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014005 deg/s,
      cmd heading: 340.245901 deg,
      new cmd heading: 340.258637 deg.

2025-08-22T17:16:50.270Z,1755883010.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938633 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:50.713Z,1755883010.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:50.715Z,1755883010.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 166.348389 m,
      bearing: 332.043878 deg,
      approach rate: -0.542287 m/s,
      LOS rate: 0.013886 deg/s,
      cmd heading: 340.258632 deg,
      new cmd heading: 340.271341 deg.

2025-08-22T17:16:50.716Z,1755883010.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938855 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:51.089Z,1755883011.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:51.091Z,1755883011.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:51.095Z,1755883011.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 166.159088 m,
      bearing: 332.048718 deg,
      approach rate: -0.500333 m/s,
      LOS rate: 0.012806 deg/s,
      cmd heading: 340.271336 deg,
      new cmd heading: 340.281027 deg.

2025-08-22T17:16:51.096Z,1755883011.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939024 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:51.098Z,1755883011.098 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:51.098Z,1755883011.098 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:51.099Z,1755883011.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:51.350Z,1755883011.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499611
2025-08-22T17:16:51.457Z,1755883011.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:51.460Z,1755883011.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 165.958481 m,
      bearing: 332.053902 deg,
      approach rate: -0.548425 m/s,
      LOS rate: 0.014189 deg/s,
      cmd heading: 340.281035 deg,
      new cmd heading: 340.291416 deg.

2025-08-22T17:16:51.460Z,1755883011.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939206 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:51.606Z,1755883011.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754023
2025-08-22T17:16:51.855Z,1755883011.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003676
2025-08-22T17:16:51.884Z,1755883011.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:51.887Z,1755883011.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 165.733521 m,
      bearing: 332.059855 deg,
      approach rate: -0.526246 m/s,
      LOS rate: 0.013946 deg/s,
      cmd heading: 340.291417 deg,
      new cmd heading: 340.303340 deg.

2025-08-22T17:16:51.888Z,1755883011.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939414 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:52.107Z,1755883012.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255869
2025-08-22T17:16:52.318Z,1755883012.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:52.320Z,1755883012.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 165.525208 m,
      bearing: 332.065356 deg,
      approach rate: -0.490043 m/s,
      LOS rate: 0.012958 deg/s,
      cmd heading: 340.303329 deg,
      new cmd heading: 340.314345 deg.

2025-08-22T17:16:52.330Z,1755883012.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939606 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:52.360Z,1755883012.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508743
2025-08-22T17:16:52.613Z,1755883012.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761674
2025-08-22T17:16:52.714Z,1755883012.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:52.716Z,1755883012.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 165.297989 m,
      bearing: 332.071397 deg,
      approach rate: -0.562161 m/s,
      LOS rate: 0.014967 deg/s,
      cmd heading: 340.314339 deg,
      new cmd heading: 340.326438 deg.

2025-08-22T17:16:52.717Z,1755883012.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939817 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:52.863Z,1755883012.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011733
2025-08-22T17:16:53.086Z,1755883013.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:53.088Z,1755883013.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 165.103043 m,
      bearing: 332.076562 deg,
      approach rate: -0.524290 m/s,
      LOS rate: 0.013907 deg/s,
      cmd heading: 340.326442 deg,
      new cmd heading: 340.336784 deg.

2025-08-22T17:16:53.089Z,1755883013.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939998 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:53.115Z,1755883013.115 [DAT](INFO): DAT read: Rx Time:17:16:53.5644

2025-08-22T17:16:53.115Z,1755883013.115 [DAT](INFO): Rx dataTimestamp_ set to:1755883013.114825
2025-08-22T17:16:53.116Z,1755883013.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264791
2025-08-22T17:16:53.367Z,1755883013.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515727
2025-08-22T17:16:53.513Z,1755883013.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:53.515Z,1755883013.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.22 m.
2025-08-22T17:16:53.518Z,1755883013.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.222549 m,
      nav range: 164.878082 m,
      bearing: 332.082555 deg,
      approach rate: -0.523540 m/s,
      LOS rate: 0.013966 deg/s,
      cmd heading: 340.336797 deg,
      new cmd heading: 340.348799 deg.

2025-08-22T17:16:53.519Z,1755883013.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940207 target range: 168.222549 and range: 169.30 m.
2025-08-22T17:16:53.652Z,1755883013.652 [DAT](INFO): DAT read: 17:16:53.5644 LVL= 32752, 32753, 27858, 32755, AGC= 70, IDX= 409,-0.21, 1.164,-0.453, 1.612, 1.090, PHS= 0.176,-1.498, 0.478, RAW= 158.2,   9.2, CAL= 157.9,   9.8, ROT= 352.1,  -9.8

2025-08-22T17:16:53.670Z,1755883013.670 [DAT](INFO): got valid direction response:
 17:16:53.5644 LVL= 32752, 32753, 27858, 32755, AGC= 70, IDX= 409,-0.21, 1.164,-0.453, 1.612, 1.090, PHS= 0.176,-1.498, 0.478, RAW= 158.2,   9.2, CAL= 157.9,   9.8, ROT= 352.1,  -9.8

2025-08-22T17:16:53.671Z,1755883013.671 [DAT](INFO): DAT read: Bearing 153.3,  -6.7 (Local)

2025-08-22T17:16:53.671Z,1755883013.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3,  -6.7 (Local)

2025-08-22T17:16:53.673Z,1755883013.673 [DAT](INFO): DAT read: Range 11 to 50 : 167.3 m  (Round-trip  223.1 ms) speed  0.4 m/s

2025-08-22T17:16:53.678Z,1755883013.678 [DAT](INFO): DAT read: user:565>

2025-08-22T17:16:53.679Z,1755883013.679 [DAT](INFO): DAT read: Tx time:17:16:54.6872

2025-08-22T17:16:53.679Z,1755883013.679 [DAT](INFO): Ping request sent.
2025-08-22T17:16:53.679Z,1755883013.679 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:53.679Z,1755883013.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:53.680Z,1755883013.680 [DAT](INFO): direction in FSK: [0.976056,-0.135439,0.170209]
2025-08-22T17:16:53.681Z,1755883013.681 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:53.681Z,1755883013.681 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:53.688Z,1755883013.688 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:53.688Z,1755883013.688 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:53.950Z,1755883013.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 167.300003 m,
      deltaT: 3.781711 s,
      deltaX: -2.000000 m,
      approachRate: -0.528861 m/s,
      rangeRepo size: 4

2025-08-22T17:16:53.952Z,1755883013.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.234802 m,
      bearing: 331.948097 deg,
      lat: 36.779512 deg,
      lon: -121.859599 deg,
      deltaT: 3.781711 s,
      deltaX: -1.987747 m,
      approachRate: -0.525621 m/s,
      posRepo size: 4

2025-08-22T17:16:53.953Z,1755883013.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:53.960Z,1755883013.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 164.634262 m,
      bearing: 332.103618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013966 deg/s,
      cmd heading: 340.348791 deg,
      new cmd heading: 340.360811 deg.

2025-08-22T17:16:53.961Z,1755883013.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940417 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:54.334Z,1755883014.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:54.337Z,1755883014.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 164.425583 m,
      bearing: 332.107498 deg,
      approach rate: -0.536552 m/s,
      LOS rate: 0.009990 deg/s,
      cmd heading: 340.360812 deg,
      new cmd heading: 340.368583 deg.

2025-08-22T17:16:54.345Z,1755883014.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940552 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:54.752Z,1755883014.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:54.755Z,1755883014.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 164.200455 m,
      bearing: 332.111919 deg,
      approach rate: -0.538605 m/s,
      LOS rate: 0.010591 deg/s,
      cmd heading: 340.368571 deg,
      new cmd heading: 340.377424 deg.

2025-08-22T17:16:54.756Z,1755883014.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940707 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:55.132Z,1755883015.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:55.135Z,1755883015.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 164.000015 m,
      bearing: 332.115814 deg,
      approach rate: -0.527188 m/s,
      LOS rate: 0.010258 deg/s,
      cmd heading: 340.377423 deg,
      new cmd heading: 340.385223 deg.

2025-08-22T17:16:55.136Z,1755883015.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940843 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:55.483Z,1755883015.483 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:16:55.524Z,1755883015.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:55.526Z,1755883015.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:55.529Z,1755883015.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 163.791443 m,
      bearing: 332.119896 deg,
      approach rate: -0.529437 m/s,
      LOS rate: 0.010373 deg/s,
      cmd heading: 340.385237 deg,
      new cmd heading: 340.393409 deg.

2025-08-22T17:16:55.530Z,1755883015.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940986 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:55.638Z,1755883015.638 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:55.639Z,1755883015.639 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:55.640Z,1755883015.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:55.886Z,1755883015.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207460
2025-08-22T17:16:55.953Z,1755883015.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:55.956Z,1755883015.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 163.561981 m,
      bearing: 332.123662 deg,
      approach rate: -0.537637 m/s,
      LOS rate: 0.008837 deg/s,
      cmd heading: 340.393406 deg,
      new cmd heading: 340.400949 deg.

2025-08-22T17:16:55.957Z,1755883015.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941117 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:56.139Z,1755883016.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459514
2025-08-22T17:16:56.367Z,1755883016.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:56.370Z,1755883016.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 163.346924 m,
      bearing: 332.127202 deg,
      approach rate: -0.519497 m/s,
      LOS rate: 0.008562 deg/s,
      cmd heading: 340.400946 deg,
      new cmd heading: 340.408035 deg.

2025-08-22T17:16:56.371Z,1755883016.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941241 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:56.391Z,1755883016.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711759
2025-08-22T17:16:56.486Z,1755883016.486 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:16:56.643Z,1755883016.643 [DAT](INFO): DAT read: Rx Time:17:16:57.3118

2025-08-22T17:16:56.643Z,1755883016.643 [DAT](INFO): Rx dataTimestamp_ set to:1755883016.643053
2025-08-22T17:16:56.648Z,1755883016.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966014
2025-08-22T17:16:56.810Z,1755883016.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:56.812Z,1755883016.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 163.102112 m,
      bearing: 332.131468 deg,
      approach rate: -0.553339 m/s,
      LOS rate: 0.009657 deg/s,
      cmd heading: 340.408022 deg,
      new cmd heading: 340.416567 deg.

2025-08-22T17:16:56.814Z,1755883016.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941390 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:56.895Z,1755883016.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215691
2025-08-22T17:16:57.146Z,1755883017.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467468
2025-08-22T17:16:57.152Z,1755883017.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.23 m.
2025-08-22T17:16:57.166Z,1755883017.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.234802 m,
      nav range: 162.920563 m,
      bearing: 332.134655 deg,
      approach rate: -0.531137 m/s,
      LOS rate: 0.009334 deg/s,
      cmd heading: 340.416574 deg,
      new cmd heading: 340.422955 deg.

2025-08-22T17:16:57.174Z,1755883017.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941502 target range: 166.234802 and range: 167.30 m.
2025-08-22T17:16:57.409Z,1755883017.409 [DAT](INFO): DAT read: 17:16:57.3118 LVL= 32752, 32753, 30706, 32755, AGC= 68, IDX= 414,-0.10, 1.887, 0.303, 2.288, 1.785, PHS= 0.204,-1.437, 0.459, RAW= 157.1,   8.7, CAL= 156.8,   9.2, ROT= 353.2,  -9.2

2025-08-22T17:16:57.410Z,1755883017.410 [DAT](INFO): got valid direction response:
 17:16:57.3118 LVL= 32752, 32753, 30706, 32755, AGC= 68, IDX= 414,-0.10, 1.887, 0.303, 2.288, 1.785, PHS= 0.204,-1.437, 0.459, RAW= 157.1,   8.7, CAL= 156.8,   9.2, ROT= 353.2,  -9.2

2025-08-22T17:16:57.411Z,1755883017.411 [DAT](INFO): DAT read: Bearing 152.8,  -5.2 (Local)

2025-08-22T17:16:57.411Z,1755883017.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8,  -5.2 (Local)

2025-08-22T17:16:57.412Z,1755883017.412 [DAT](INFO): DAT read: Range 11 to 50 : 165.3 m  (Round-trip  220.5 ms) speed  0.5 m/s

2025-08-22T17:16:57.413Z,1755883017.413 [DAT](INFO): DAT read: user:566>

2025-08-22T17:16:57.414Z,1755883017.414 [DAT](INFO): DAT read: Tx time:17:16:58.4372

2025-08-22T17:16:57.414Z,1755883017.414 [DAT](INFO): Ping request sent.
2025-08-22T17:16:57.414Z,1755883017.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:16:57.415Z,1755883017.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:16:57.416Z,1755883017.416 [DAT](INFO): direction in FSK: [0.980192,-0.116881,0.159881]
2025-08-22T17:16:57.416Z,1755883017.416 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:57.416Z,1755883017.416 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:57.419Z,1755883017.419 [DAT](INFO): publishing transmit ping time
2025-08-22T17:16:57.420Z,1755883017.420 [DAT](INFO): publishing direction and range info
2025-08-22T17:16:57.588Z,1755883017.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.300003 m,
      deltaT: 3.780571 s,
      deltaX: -2.000000 m,
      approachRate: -0.529021 m/s,
      rangeRepo size: 4

2025-08-22T17:16:57.594Z,1755883017.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.246185 m,
      bearing: 333.136380 deg,
      lat: 36.779512 deg,
      lon: -121.859593 deg,
      deltaT: 3.780571 s,
      deltaX: -1.988617 m,
      approachRate: -0.526010 m/s,
      posRepo size: 4

2025-08-22T17:16:57.598Z,1755883017.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:57.600Z,1755883017.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 162.421249 m,
      bearing: 332.316135 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009334 deg/s,
      cmd heading: 340.422967 deg,
      new cmd heading: 340.431101 deg.

2025-08-22T17:16:57.602Z,1755883017.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941644 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:57.969Z,1755883017.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:16:57.971Z,1755883017.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:57.974Z,1755883017.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 162.204971 m,
      bearing: 332.319460 deg,
      approach rate: -0.563053 m/s,
      LOS rate: 0.008666 deg/s,
      cmd heading: 340.431108 deg,
      new cmd heading: 340.437766 deg.

2025-08-22T17:16:57.975Z,1755883017.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941760 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:58.155Z,1755883018.155 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:16:58.156Z,1755883018.156 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:16:58.156Z,1755883018.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:16:58.357Z,1755883018.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:58.361Z,1755883018.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 161.996063 m,
      bearing: 332.322631 deg,
      approach rate: -0.541584 m/s,
      LOS rate: 0.008232 deg/s,
      cmd heading: 340.437774 deg,
      new cmd heading: 340.444125 deg.

2025-08-22T17:16:58.362Z,1755883018.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941871 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:58.407Z,1755883018.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992600
2025-08-22T17:16:58.659Z,1755883018.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244165
2025-08-22T17:16:58.835Z,1755883018.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:58.842Z,1755883018.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 161.750153 m,
      bearing: 332.325745 deg,
      approach rate: -0.514269 m/s,
      LOS rate: 0.006522 deg/s,
      cmd heading: 340.444113 deg,
      new cmd heading: 340.450351 deg.

2025-08-22T17:16:58.843Z,1755883018.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941979 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:58.911Z,1755883018.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496754
2025-08-22T17:16:59.163Z,1755883019.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748930
2025-08-22T17:16:59.211Z,1755883019.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:59.214Z,1755883019.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 161.551163 m,
      bearing: 332.328268 deg,
      approach rate: -0.529147 m/s,
      LOS rate: 0.006717 deg/s,
      cmd heading: 340.450342 deg,
      new cmd heading: 340.455394 deg.

2025-08-22T17:16:59.215Z,1755883019.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942068 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:59.417Z,1755883019.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002744
2025-08-22T17:16:59.602Z,1755883019.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:16:59.605Z,1755883019.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 161.342056 m,
      bearing: 332.330921 deg,
      approach rate: -0.535333 m/s,
      LOS rate: 0.006801 deg/s,
      cmd heading: 340.455396 deg,
      new cmd heading: 340.460710 deg.

2025-08-22T17:16:59.610Z,1755883019.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942160 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:16:59.667Z,1755883019.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252856
2025-08-22T17:16:59.919Z,1755883019.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504046
2025-08-22T17:17:00.010Z,1755883020.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:00.012Z,1755883020.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:17:00.015Z,1755883020.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 161.114471 m,
      bearing: 332.334757 deg,
      approach rate: -0.555111 m/s,
      LOS rate: 0.009369 deg/s,
      cmd heading: 340.460697 deg,
      new cmd heading: 340.468379 deg.

2025-08-22T17:17:00.016Z,1755883020.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942294 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:17:00.171Z,1755883020.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756491
2025-08-22T17:17:00.396Z,1755883020.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:17:00.399Z,1755883020.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 160.908432 m,
      bearing: 332.338201 deg,
      approach rate: -0.536070 m/s,
      LOS rate: 0.008973 deg/s,
      cmd heading: 340.468374 deg,
      new cmd heading: 340.475272 deg.

2025-08-22T17:17:00.400Z,1755883020.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942414 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:17:00.423Z,1755883020.423 [DAT](INFO): DAT read: Rx Time:17:17:01.0590

2025-08-22T17:17:00.423Z,1755883020.423 [DAT](INFO): Rx dataTimestamp_ set to:1755883020.422782
2025-08-22T17:17:00.424Z,1755883020.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009164
2025-08-22T17:17:00.675Z,1755883020.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260117
2025-08-22T17:17:00.864Z,1755883020.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.25 m.
2025-08-22T17:17:00.867Z,1755883020.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.246185 m,
      nav range: 160.658417 m,
      bearing: 332.342563 deg,
      approach rate: -0.534247 m/s,
      LOS rate: 0.009336 deg/s,
      cmd heading: 340.475259 deg,
      new cmd heading: 340.483996 deg.

2025-08-22T17:17:00.868Z,1755883020.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942567 target range: 164.246185 and range: 165.30 m.
2025-08-22T17:17:00.930Z,1755883020.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514929
2025-08-22T17:17:01.187Z,1755883021.187 [DAT](INFO): DAT read: 17:17:01.0590 LVL= 31456, 32753, 28402, 32755, AGC= 67, IDX= 419, 0.21, 1.224,-0.409, 1.637, 1.128, PHS= 0.197,-1.493, 0.465, RAW= 157.2,   9.1, CAL= 157.0,   9.6, ROT= 353.0,  -9.6

2025-08-22T17:17:01.189Z,1755883021.189 [DAT](INFO): got valid direction response:
 17:17:01.0590 LVL= 31456, 32753, 28402, 32755, AGC= 67, IDX= 419, 0.21, 1.224,-0.409, 1.637, 1.128, PHS= 0.197,-1.493, 0.465, RAW= 157.2,   9.1, CAL= 157.0,   9.6, ROT= 353.0,  -9.6

2025-08-22T17:17:01.190Z,1755883021.190 [DAT](INFO): DAT read: Bearing 153.4,  -5.3 (Local)

2025-08-22T17:17:01.190Z,1755883021.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4,  -5.3 (Local)

2025-08-22T17:17:01.191Z,1755883021.191 [DAT](INFO): DAT read: Range 11 to 50 : 163.3 m  (Round-trip  217.8 ms) speed  0.4 m/s

2025-08-22T17:17:01.192Z,1755883021.192 [DAT](INFO): DAT read: user:567>

2025-08-22T17:17:01.193Z,1755883021.193 [DAT](INFO): DAT read: Tx time:17:17:02.1871

2025-08-22T17:17:01.193Z,1755883021.193 [DAT](INFO): Ping request sent.
2025-08-22T17:17:01.193Z,1755883021.193 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:01.198Z,1755883021.198 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:01.199Z,1755883021.199 [DAT](INFO): direction in FSK: [0.978647,-0.120163,0.166769]
2025-08-22T17:17:01.199Z,1755883021.199 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:01.199Z,1755883021.199 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:01.222Z,1755883021.222 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:01.223Z,1755883021.223 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:01.304Z,1755883021.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 163.300003 m,
      deltaT: 3.778098 s,
      deltaX: -2.000000 m,
      approachRate: -0.529367 m/s,
      rangeRepo size: 4

2025-08-22T17:17:01.314Z,1755883021.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 162.258575 m,
      bearing: 333.181461 deg,
      lat: 36.779512 deg,
      lon: -121.859593 deg,
      deltaT: 3.778098 s,
      deltaX: -1.987610 m,
      approachRate: -0.526087 m/s,
      posRepo size: 4

2025-08-22T17:17:01.315Z,1755883021.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:01.321Z,1755883021.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 160.450409 m,
      bearing: 332.346113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009336 deg/s,
      cmd heading: 340.484001 deg,
      new cmd heading: 340.492064 deg.

2025-08-22T17:17:01.323Z,1755883021.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942708 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:01.670Z,1755883021.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:01.673Z,1755883021.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 160.227493 m,
      bearing: 332.349858 deg,
      approach rate: -0.595638 m/s,
      LOS rate: 0.010020 deg/s,
      cmd heading: 340.492061 deg,
      new cmd heading: 340.499561 deg.

2025-08-22T17:17:01.674Z,1755883021.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942839 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:02.131Z,1755883022.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:02.133Z,1755883022.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:02.140Z,1755883022.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 159.997299 m,
      bearing: 332.354169 deg,
      approach rate: -0.497389 m/s,
      LOS rate: 0.009330 deg/s,
      cmd heading: 340.499574 deg,
      new cmd heading: 340.508210 deg.

2025-08-22T17:17:02.141Z,1755883022.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942989 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:02.187Z,1755883022.187 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:02.187Z,1755883022.187 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:02.188Z,1755883022.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:02.438Z,1755883022.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245369
2025-08-22T17:17:02.517Z,1755883022.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:02.520Z,1755883022.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 159.787064 m,
      bearing: 332.358153 deg,
      approach rate: -0.547576 m/s,
      LOS rate: 0.010389 deg/s,
      cmd heading: 340.508207 deg,
      new cmd heading: 340.516185 deg.

2025-08-22T17:17:02.522Z,1755883022.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943129 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:02.691Z,1755883022.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497414
2025-08-22T17:17:02.943Z,1755883022.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749487
2025-08-22T17:17:03.000Z,1755883023.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:03.004Z,1755883023.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 159.531937 m,
      bearing: 332.364137 deg,
      approach rate: -0.528136 m/s,
      LOS rate: 0.012408 deg/s,
      cmd heading: 340.516185 deg,
      new cmd heading: 340.528173 deg.

2025-08-22T17:17:03.009Z,1755883023.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943338 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:03.195Z,1755883023.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002170
2025-08-22T17:17:03.446Z,1755883023.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253398
2025-08-22T17:17:03.522Z,1755883023.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:03.524Z,1755883023.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 159.267471 m,
      bearing: 332.370206 deg,
      approach rate: -0.511048 m/s,
      LOS rate: 0.011746 deg/s,
      cmd heading: 340.528179 deg,
      new cmd heading: 340.540336 deg.

2025-08-22T17:17:03.545Z,1755883023.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943550 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:03.699Z,1755883023.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505484
2025-08-22T17:17:03.923Z,1755883023.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:03.926Z,1755883023.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 159.044815 m,
      bearing: 332.375330 deg,
      approach rate: -0.548743 m/s,
      LOS rate: 0.012647 deg/s,
      cmd heading: 340.540337 deg,
      new cmd heading: 340.550600 deg.

2025-08-22T17:17:03.927Z,1755883023.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943729 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:03.950Z,1755883023.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757279
2025-08-22T17:17:04.203Z,1755883024.203 [DAT](INFO): DAT read: Rx Time:17:17:04.8063

2025-08-22T17:17:04.203Z,1755883024.203 [DAT](INFO): Rx dataTimestamp_ set to:1755883024.202869
2025-08-22T17:17:04.204Z,1755883024.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010639
2025-08-22T17:17:04.384Z,1755883024.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:04.386Z,1755883024.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.26 m.
2025-08-22T17:17:04.388Z,1755883024.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 162.258575 m,
      nav range: 158.806992 m,
      bearing: 332.380712 deg,
      approach rate: -0.514265 m/s,
      LOS rate: 0.011654 deg/s,
      cmd heading: 340.550609 deg,
      new cmd heading: 340.561388 deg.

2025-08-22T17:17:04.390Z,1755883024.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943918 target range: 162.258575 and range: 163.30 m.
2025-08-22T17:17:04.455Z,1755883024.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261740
2025-08-22T17:17:04.717Z,1755883024.717 [DAT](INFO): DAT read: 17:17:04.8063 LVL= 25712, 30849, 21618, 31779, AGC= 66, IDX= 407,-0.13,-1.377,-2.976,-0.968,-1.456, PHS= 0.181,-1.474, 0.445, RAW= 157.3,   9.5, CAL= 157.1,  10.1, ROT= 352.9, -10.1

2025-08-22T17:17:04.718Z,1755883024.718 [DAT](INFO): got valid direction response:
 17:17:04.8063 LVL= 25712, 30849, 21618, 31779, AGC= 66, IDX= 407,-0.13,-1.377,-2.976,-0.968,-1.456, PHS= 0.181,-1.474, 0.445, RAW= 157.3,   9.5, CAL= 157.1,  10.1, ROT= 352.9, -10.1

2025-08-22T17:17:04.719Z,1755883024.719 [DAT](INFO): DAT read: Bearing 154.3,  -5.1 (Local)

2025-08-22T17:17:04.719Z,1755883024.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3,  -5.1 (Local)

2025-08-22T17:17:04.720Z,1755883024.720 [DAT](INFO): DAT read: Range 11 to 50 : 161.3 m  (Round-trip  215.1 ms) speed  0.3 m/s

2025-08-22T17:17:04.721Z,1755883024.721 [DAT](INFO): DAT read: user:568>

2025-08-22T17:17:04.740Z,1755883024.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:04.741Z,1755883024.741 [DAT](INFO): direction in FSK: [0.976954,-0.121686,0.175367]
2025-08-22T17:17:04.753Z,1755883024.753 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:04.757Z,1755883024.757 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:04.757Z,1755883024.757 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:04.757Z,1755883024.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:04.959Z,1755883024.959 [DAT](INFO): DAT read: Tx time:17:17:05.9371

2025-08-22T17:17:04.959Z,1755883024.959 [DAT](INFO): Ping request sent.
2025-08-22T17:17:04.959Z,1755883024.959 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:04.959Z,1755883024.959 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:04.960Z,1755883024.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-22T17:17:04.965Z,1755883024.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.300003 m,
      deltaT: 3.528982 s,
      deltaX: -2.000000 m,
      approachRate: -0.566736 m/s,
      rangeRepo size: 4

2025-08-22T17:17:04.971Z,1755883024.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.270599 m,
      bearing: 333.207754 deg,
      lat: 36.779513 deg,
      lon: -121.859567 deg,
      deltaT: 3.528982 s,
      deltaX: -1.987976 m,
      approachRate: -0.563329 m/s,
      posRepo size: 4

2025-08-22T17:17:04.972Z,1755883024.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:04.979Z,1755883024.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 157.508728 m,
      bearing: 333.138035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011654 deg/s,
      cmd heading: 340.561401 deg,
      new cmd heading: 340.574884 deg.

2025-08-22T17:17:04.980Z,1755883024.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944153 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:05.211Z,1755883025.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252096
2025-08-22T17:17:05.321Z,1755883025.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:05.324Z,1755883025.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 157.312027 m,
      bearing: 333.143423 deg,
      approach rate: -0.551187 m/s,
      LOS rate: 0.015116 deg/s,
      cmd heading: 340.574897 deg,
      new cmd heading: 340.585686 deg.

2025-08-22T17:17:05.325Z,1755883025.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944342 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:05.463Z,1755883025.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503364
2025-08-22T17:17:05.715Z,1755883025.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755733
2025-08-22T17:17:05.719Z,1755883025.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:05.722Z,1755883025.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 157.102982 m,
      bearing: 333.149102 deg,
      approach rate: -0.524749 m/s,
      LOS rate: 0.014275 deg/s,
      cmd heading: 340.585689 deg,
      new cmd heading: 340.597062 deg.

2025-08-22T17:17:05.723Z,1755883025.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944540 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:05.967Z,1755883025.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007381
2025-08-22T17:17:06.155Z,1755883026.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:06.161Z,1755883026.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 156.871689 m,
      bearing: 333.155618 deg,
      approach rate: -0.530826 m/s,
      LOS rate: 0.014976 deg/s,
      cmd heading: 340.597055 deg,
      new cmd heading: 340.610106 deg.

2025-08-22T17:17:06.163Z,1755883026.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944768 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:06.219Z,1755883026.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260136
2025-08-22T17:17:06.470Z,1755883026.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511312
2025-08-22T17:17:06.523Z,1755883026.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:06.525Z,1755883026.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:06.529Z,1755883026.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 156.674652 m,
      bearing: 333.161170 deg,
      approach rate: -0.532624 m/s,
      LOS rate: 0.015027 deg/s,
      cmd heading: 340.610114 deg,
      new cmd heading: 340.621232 deg.

2025-08-22T17:17:06.530Z,1755883026.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944962 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:06.723Z,1755883026.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763383
2025-08-22T17:17:06.954Z,1755883026.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:06.957Z,1755883026.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 156.448746 m,
      bearing: 333.167577 deg,
      approach rate: -0.526463 m/s,
      LOS rate: 0.014953 deg/s,
      cmd heading: 340.621233 deg,
      new cmd heading: 340.634066 deg.

2025-08-22T17:17:06.958Z,1755883026.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945186 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:06.976Z,1755883026.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017217
2025-08-22T17:17:07.226Z,1755883027.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267369
2025-08-22T17:17:07.330Z,1755883027.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:07.332Z,1755883027.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 156.250931 m,
      bearing: 333.173215 deg,
      approach rate: -0.526960 m/s,
      LOS rate: 0.015039 deg/s,
      cmd heading: 340.634074 deg,
      new cmd heading: 340.645365 deg.

2025-08-22T17:17:07.333Z,1755883027.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945383 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:07.479Z,1755883027.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519506
2025-08-22T17:17:07.730Z,1755883027.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771300
2025-08-22T17:17:07.766Z,1755883027.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:07.772Z,1755883027.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 156.024826 m,
      bearing: 333.179677 deg,
      approach rate: -0.517844 m/s,
      LOS rate: 0.014821 deg/s,
      cmd heading: 340.645358 deg,
      new cmd heading: 340.658300 deg.

2025-08-22T17:17:07.773Z,1755883027.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945609 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:07.983Z,1755883027.983 [DAT](INFO): DAT read: Rx Time:17:17:08.5537

2025-08-22T17:17:07.983Z,1755883027.983 [DAT](INFO): Rx dataTimestamp_ set to:1755883027.982708
2025-08-22T17:17:07.984Z,1755883027.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024423
2025-08-22T17:17:08.203Z,1755883028.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.27 m.
2025-08-22T17:17:08.206Z,1755883028.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.270599 m,
      nav range: 155.795486 m,
      bearing: 333.183840 deg,
      approach rate: -0.525285 m/s,
      LOS rate: 0.009549 deg/s,
      cmd heading: 340.658308 deg,
      new cmd heading: 340.666646 deg.

2025-08-22T17:17:08.207Z,1755883028.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945755 target range: 160.270599 and range: 161.30 m.
2025-08-22T17:17:08.235Z,1755883028.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275549
2025-08-22T17:17:08.495Z,1755883028.495 [DAT](INFO): DAT read: 17:17:08.5537 LVL= 29472, 31985, 25650, 32755, AGC= 64, IDX= 412,-0.05, 0.553,-1.023, 0.948, 0.468, PHS= 0.187,-1.446, 0.436, RAW= 157.0,   9.3, CAL= 156.8,  10.0, ROT= 353.2, -10.0

2025-08-22T17:17:08.497Z,1755883028.497 [DAT](INFO): got valid direction response:
 17:17:08.5537 LVL= 29472, 31985, 25650, 32755, AGC= 64, IDX= 412,-0.05, 0.553,-1.023, 0.948, 0.468, PHS= 0.187,-1.446, 0.436, RAW= 157.0,   9.3, CAL= 156.8,  10.0, ROT= 353.2, -10.0

2025-08-22T17:17:08.499Z,1755883028.499 [DAT](INFO): DAT read: Bearing 154.5,  -3.9 (Local)

2025-08-22T17:17:08.499Z,1755883028.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.5,  -3.9 (Local)

2025-08-22T17:17:08.501Z,1755883028.501 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.5 ms) speed  0.4 m/s

2025-08-22T17:17:08.501Z,1755883028.501 [DAT](INFO): DAT read: user:569>

2025-08-22T17:17:08.502Z,1755883028.502 [DAT](INFO): DAT read: Tx time:17:17:09.6371

2025-08-22T17:17:08.502Z,1755883028.502 [DAT](INFO): Ping request sent.
2025-08-22T17:17:08.502Z,1755883028.502 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:08.503Z,1755883028.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:08.504Z,1755883028.504 [DAT](INFO): direction in FSK: [0.977880,-0.116605,0.173648]
2025-08-22T17:17:08.504Z,1755883028.504 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:08.504Z,1755883028.504 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:08.507Z,1755883028.507 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:08.508Z,1755883028.508 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:08.645Z,1755883028.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.300003 m,
      deltaT: 3.779024 s,
      deltaX: -2.000000 m,
      approachRate: -0.529237 m/s,
      rangeRepo size: 4

2025-08-22T17:17:08.656Z,1755883028.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.283569 m,
      bearing: 333.554339 deg,
      lat: 36.779513 deg,
      lon: -121.859565 deg,
      deltaT: 3.779024 s,
      deltaX: -1.987030 m,
      approachRate: -0.525805 m/s,
      posRepo size: 4

2025-08-22T17:17:08.657Z,1755883028.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:08.664Z,1755883028.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 155.510468 m,
      bearing: 333.235331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009549 deg/s,
      cmd heading: 340.666640 deg,
      new cmd heading: 340.675074 deg.

2025-08-22T17:17:08.665Z,1755883028.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945902 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:09.010Z,1755883029.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:09.016Z,1755883029.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:09.018Z,1755883029.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 155.310883 m,
      bearing: 333.238222 deg,
      approach rate: -0.537752 m/s,
      LOS rate: 0.007800 deg/s,
      cmd heading: 340.675083 deg,
      new cmd heading: 340.680873 deg.

2025-08-22T17:17:09.019Z,1755883029.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946003 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:09.247Z,1755883029.247 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:09.247Z,1755883029.247 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:09.247Z,1755883029.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:09.390Z,1755883029.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:09.393Z,1755883029.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 155.112900 m,
      bearing: 333.241075 deg,
      approach rate: -0.528051 m/s,
      LOS rate: 0.007617 deg/s,
      cmd heading: 340.680875 deg,
      new cmd heading: 340.686587 deg.

2025-08-22T17:17:09.394Z,1755883029.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946103 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:09.499Z,1755883029.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996083
2025-08-22T17:17:09.752Z,1755883029.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249516
2025-08-22T17:17:09.825Z,1755883029.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:09.832Z,1755883029.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 154.891174 m,
      bearing: 333.244220 deg,
      approach rate: -0.511642 m/s,
      LOS rate: 0.007268 deg/s,
      cmd heading: 340.686585 deg,
      new cmd heading: 340.692884 deg.

2025-08-22T17:17:09.833Z,1755883029.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946213 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:10.002Z,1755883030.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499998
2025-08-22T17:17:10.245Z,1755883030.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:10.248Z,1755883030.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 154.665451 m,
      bearing: 333.245339 deg,
      approach rate: -0.535631 m/s,
      LOS rate: 0.002659 deg/s,
      cmd heading: 340.692896 deg,
      new cmd heading: 340.695137 deg.

2025-08-22T17:17:10.256Z,1755883030.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753293
2025-08-22T17:17:10.271Z,1755883030.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946252 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:10.507Z,1755883030.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004026
2025-08-22T17:17:10.640Z,1755883030.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:10.643Z,1755883030.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 154.460556 m,
      bearing: 333.246361 deg,
      approach rate: -0.518983 m/s,
      LOS rate: 0.002592 deg/s,
      cmd heading: 340.695136 deg,
      new cmd heading: 340.697183 deg.

2025-08-22T17:17:10.644Z,1755883030.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946288 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:10.759Z,1755883030.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256635
2025-08-22T17:17:11.014Z,1755883031.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510364
2025-08-22T17:17:11.036Z,1755883031.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:11.059Z,1755883031.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:11.061Z,1755883031.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 154.250275 m,
      bearing: 333.247351 deg,
      approach rate: -0.502491 m/s,
      LOS rate: 0.002370 deg/s,
      cmd heading: 340.697185 deg,
      new cmd heading: 340.699169 deg.

2025-08-22T17:17:11.067Z,1755883031.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946322 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:11.264Z,1755883031.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761053
2025-08-22T17:17:11.458Z,1755883031.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:11.461Z,1755883031.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 154.030060 m,
      bearing: 333.248367 deg,
      approach rate: -0.550804 m/s,
      LOS rate: 0.002545 deg/s,
      cmd heading: 340.699179 deg,
      new cmd heading: 340.701215 deg.

2025-08-22T17:17:11.462Z,1755883031.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946358 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:11.516Z,1755883031.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013174
2025-08-22T17:17:11.767Z,1755883031.767 [DAT](INFO): DAT read: Rx Time:17:17:12.2510

2025-08-22T17:17:11.769Z,1755883031.769 [DAT](INFO): Rx dataTimestamp_ set to:1755883031.767973
2025-08-22T17:17:11.769Z,1755883031.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266661
2025-08-22T17:17:11.868Z,1755883031.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.28 m.
2025-08-22T17:17:11.890Z,1755883031.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.283569 m,
      nav range: 153.820496 m,
      bearing: 333.249385 deg,
      approach rate: -0.511835 m/s,
      LOS rate: 0.002488 deg/s,
      cmd heading: 340.701201 deg,
      new cmd heading: 340.703239 deg.

2025-08-22T17:17:11.898Z,1755883031.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946393 target range: 158.283569 and range: 159.30 m.
2025-08-22T17:17:12.019Z,1755883032.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516054
2025-08-22T17:17:12.279Z,1755883032.279 [DAT](INFO): DAT read: 17:17:12.2510 LVL= 27472, 32753, 24754, 32755, AGC= 67, IDX= 418,-0.34, 1.245,-0.411, 1.628, 1.099, PHS= 0.248,-1.465, 0.485, RAW= 156.4,   8.0, CAL= 156.0,   8.3, ROT= 354.0,  -8.3

2025-08-22T17:17:12.280Z,1755883032.280 [DAT](INFO): got valid direction response:
 17:17:12.2510 LVL= 27472, 32753, 24754, 32755, AGC= 67, IDX= 418,-0.34, 1.245,-0.411, 1.628, 1.099, PHS= 0.248,-1.465, 0.485, RAW= 156.4,   8.0, CAL= 156.0,   8.3, ROT= 354.0,  -8.3

2025-08-22T17:17:12.281Z,1755883032.281 [DAT](INFO): DAT read: Bearing 152.7,  -2.4 (Local)

2025-08-22T17:17:12.282Z,1755883032.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7,  -2.4 (Local)

2025-08-22T17:17:12.283Z,1755883032.283 [DAT](INFO): DAT read: Range 11 to 50 : 157.4 m  (Round-trip  209.9 ms) speed  0.4 m/s

2025-08-22T17:17:12.284Z,1755883032.284 [DAT](INFO): DAT read: user:570>

2025-08-22T17:17:12.285Z,1755883032.285 [DAT](INFO): DAT read: Tx time:17:17:13.3370

2025-08-22T17:17:12.285Z,1755883032.285 [DAT](INFO): Ping request sent.
2025-08-22T17:17:12.285Z,1755883032.285 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:12.285Z,1755883032.285 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:12.286Z,1755883032.286 [DAT](INFO): direction in FSK: [0.984105,-0.103434,0.144356]
2025-08-22T17:17:12.286Z,1755883032.286 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:12.287Z,1755883032.287 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:12.290Z,1755883032.290 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:12.290Z,1755883032.290 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:12.491Z,1755883032.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.399994 m,
      deltaT: 3.784184 s,
      deltaX: -1.900009 m,
      approachRate: -0.502092 m/s,
      rangeRepo size: 4

2025-08-22T17:17:12.493Z,1755883032.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.396606 m,
      bearing: 334.586581 deg,
      lat: 36.779515 deg,
      lon: -121.859565 deg,
      deltaT: 3.784184 s,
      deltaX: -1.886963 m,
      approachRate: -0.498645 m/s,
      posRepo size: 4

2025-08-22T17:17:12.493Z,1755883032.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:12.500Z,1755883032.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 153.733154 m,
      bearing: 333.324955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002488 deg/s,
      cmd heading: 340.703250 deg,
      new cmd heading: 340.706325 deg.

2025-08-22T17:17:12.501Z,1755883032.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946447 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:12.847Z,1755883032.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:12.854Z,1755883032.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 153.544647 m,
      bearing: 333.325995 deg,
      approach rate: -0.520887 m/s,
      LOS rate: 0.002877 deg/s,
      cmd heading: 340.706338 deg,
      new cmd heading: 340.708420 deg.

2025-08-22T17:17:12.855Z,1755883032.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946484 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:13.304Z,1755883033.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:13.310Z,1755883033.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:13.312Z,1755883033.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 153.300903 m,
      bearing: 333.329704 deg,
      approach rate: -0.531992 m/s,
      LOS rate: 0.008109 deg/s,
      cmd heading: 340.708414 deg,
      new cmd heading: 340.715844 deg.

2025-08-22T17:17:13.318Z,1755883033.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946613 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:13.533Z,1755883033.533 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:13.534Z,1755883033.534 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:13.534Z,1755883033.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:13.669Z,1755883033.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:13.672Z,1755883033.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 153.105377 m,
      bearing: 333.332675 deg,
      approach rate: -0.538184 m/s,
      LOS rate: 0.008187 deg/s,
      cmd heading: 340.715845 deg,
      new cmd heading: 340.721794 deg.

2025-08-22T17:17:13.673Z,1755883033.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946717 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:13.783Z,1755883033.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497800
2025-08-22T17:17:14.034Z,1755883034.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749469
2025-08-22T17:17:14.110Z,1755883034.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:14.112Z,1755883034.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 152.876236 m,
      bearing: 333.338324 deg,
      approach rate: -0.520069 m/s,
      LOS rate: 0.012842 deg/s,
      cmd heading: 340.721801 deg,
      new cmd heading: 340.733117 deg.

2025-08-22T17:17:14.113Z,1755883034.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946915 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:14.287Z,1755883034.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001633
2025-08-22T17:17:14.488Z,1755883034.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:14.490Z,1755883034.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 152.679779 m,
      bearing: 333.343181 deg,
      approach rate: -0.519678 m/s,
      LOS rate: 0.012865 deg/s,
      cmd heading: 340.733112 deg,
      new cmd heading: 340.742838 deg.

2025-08-22T17:17:14.491Z,1755883034.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947084 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:14.539Z,1755883034.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254020
2025-08-22T17:17:14.791Z,1755883034.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505599
2025-08-22T17:17:14.879Z,1755883034.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:14.882Z,1755883034.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 152.475830 m,
      bearing: 333.348257 deg,
      approach rate: -0.521110 m/s,
      LOS rate: 0.012987 deg/s,
      cmd heading: 340.742838 deg,
      new cmd heading: 340.753003 deg.

2025-08-22T17:17:14.883Z,1755883034.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947262 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:15.043Z,1755883035.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757622
2025-08-22T17:17:15.295Z,1755883035.295 [DAT](INFO): DAT read: Rx Time:17:17:15.9483

2025-08-22T17:17:15.295Z,1755883035.295 [DAT](INFO): Rx dataTimestamp_ set to:1755883035.294750
2025-08-22T17:17:15.296Z,1755883035.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010655
2025-08-22T17:17:15.337Z,1755883035.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:15.343Z,1755883035.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:15.350Z,1755883035.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 152.247269 m,
      bearing: 333.355815 deg,
      approach rate: -0.492516 m/s,
      LOS rate: 0.016310 deg/s,
      cmd heading: 340.753001 deg,
      new cmd heading: 340.768139 deg.

2025-08-22T17:17:15.351Z,1755883035.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947526 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:15.547Z,1755883035.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261621
2025-08-22T17:17:15.698Z,1755883035.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-22T17:17:15.700Z,1755883035.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.396606 m,
      nav range: 152.046387 m,
      bearing: 333.362483 deg,
      approach rate: -0.566975 m/s,
      LOS rate: 0.018845 deg/s,
      cmd heading: 340.768137 deg,
      new cmd heading: 340.781491 deg.

2025-08-22T17:17:15.701Z,1755883035.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947759 target range: 156.396606 and range: 157.40 m.
2025-08-22T17:17:15.802Z,1755883035.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516712
2025-08-22T17:17:16.056Z,1755883036.056 [DAT](INFO): DAT read: 17:17:15.9483 LVL= 32752, 32753, 26034, 32755, AGC= 67, IDX= 406, 0.44,-2.656, 1.990,-2.299,-2.783, PHS= 0.229,-1.466, 0.439, RAW= 155.8,   8.9, CAL= 155.5,   9.4, ROT= 354.5,  -9.4

2025-08-22T17:17:16.057Z,1755883036.057 [DAT](INFO): got valid direction response:
 17:17:15.9483 LVL= 32752, 32753, 26034, 32755, AGC= 67, IDX= 406, 0.44,-2.656, 1.990,-2.299,-2.783, PHS= 0.229,-1.466, 0.439, RAW= 155.8,   8.9, CAL= 155.5,   9.4, ROT= 354.5,  -9.4

2025-08-22T17:17:16.060Z,1755883036.060 [DAT](INFO): DAT read: Bearing 153.9,  -1.1 (Local)

2025-08-22T17:17:16.060Z,1755883036.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9,  -1.1 (Local)

2025-08-22T17:17:16.062Z,1755883036.062 [DAT](INFO): DAT read: Range 11 to 50 : 155.4 m  (Round-trip  207.2 ms) speed  0.4 m/s

2025-08-22T17:17:16.062Z,1755883036.062 [DAT](INFO): DAT read: user:571>

2025-08-22T17:17:16.063Z,1755883036.063 [DAT](INFO): DAT read: Tx time:17:17:17.0370

2025-08-22T17:17:16.063Z,1755883036.063 [DAT](INFO): Ping request sent.
2025-08-22T17:17:16.063Z,1755883036.063 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:16.064Z,1755883036.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:16.065Z,1755883036.065 [DAT](INFO): direction in FSK: [0.982030,-0.094559,0.163326]
2025-08-22T17:17:16.065Z,1755883036.065 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:16.065Z,1755883036.065 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:16.068Z,1755883036.068 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:16.069Z,1755883036.069 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:16.211Z,1755883036.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.399994 m,
      deltaT: 3.779223 s,
      deltaX: -2.000000 m,
      approachRate: -0.529209 m/s,
      rangeRepo size: 4

2025-08-22T17:17:16.219Z,1755883036.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.408554 m,
      bearing: 334.976323 deg,
      lat: 36.779515 deg,
      lon: -121.859554 deg,
      deltaT: 3.779223 s,
      deltaX: -1.988052 m,
      approachRate: -0.526048 m/s,
      posRepo size: 4

2025-08-22T17:17:16.226Z,1755883036.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:16.228Z,1755883036.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 151.387344 m,
      bearing: 333.675830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018845 deg/s,
      cmd heading: 340.781497 deg,
      new cmd heading: 340.800849 deg.

2025-08-22T17:17:16.229Z,1755883036.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948097 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:16.639Z,1755883036.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:16.642Z,1755883036.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 151.141434 m,
      bearing: 333.683556 deg,
      approach rate: -0.574033 m/s,
      LOS rate: 0.018065 deg/s,
      cmd heading: 340.800840 deg,
      new cmd heading: 340.816318 deg.

2025-08-22T17:17:16.643Z,1755883036.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948367 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:17.075Z,1755883037.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:17.078Z,1755883037.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 150.912994 m,
      bearing: 333.692211 deg,
      approach rate: -0.524326 m/s,
      LOS rate: 0.019894 deg/s,
      cmd heading: 340.816331 deg,
      new cmd heading: 340.833666 deg.

2025-08-22T17:17:17.079Z,1755883037.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948670 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:17.456Z,1755883037.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:17.458Z,1755883037.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:17.461Z,1755883037.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 150.712265 m,
      bearing: 333.699838 deg,
      approach rate: -0.524241 m/s,
      LOS rate: 0.019946 deg/s,
      cmd heading: 340.833680 deg,
      new cmd heading: 340.848954 deg.

2025-08-22T17:17:17.462Z,1755883037.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948936 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:17.562Z,1755883037.562 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:17.562Z,1755883037.562 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:17.563Z,1755883037.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:17.815Z,1755883037.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751350
2025-08-22T17:17:17.991Z,1755883037.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:18.026Z,1755883038.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 150.445267 m,
      bearing: 333.710120 deg,
      approach rate: -0.502638 m/s,
      LOS rate: 0.019390 deg/s,
      cmd heading: 340.848952 deg,
      new cmd heading: 340.869552 deg.

2025-08-22T17:17:18.027Z,1755883038.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949296 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:18.067Z,1755883038.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003134
2025-08-22T17:17:18.319Z,1755883038.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254964
2025-08-22T17:17:18.563Z,1755883038.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:18.566Z,1755883038.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 150.140594 m,
      bearing: 333.719963 deg,
      approach rate: -0.530839 m/s,
      LOS rate: 0.017185 deg/s,
      cmd heading: 340.869552 deg,
      new cmd heading: 340.889279 deg.

2025-08-22T17:17:18.567Z,1755883038.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949640 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:18.571Z,1755883038.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507079
2025-08-22T17:17:18.823Z,1755883038.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759022
2025-08-22T17:17:18.945Z,1755883038.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:18.947Z,1755883038.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 149.934631 m,
      bearing: 333.726591 deg,
      approach rate: -0.539517 m/s,
      LOS rate: 0.017387 deg/s,
      cmd heading: 340.889277 deg,
      new cmd heading: 340.902552 deg.

2025-08-22T17:17:18.948Z,1755883038.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949872 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:19.075Z,1755883039.075 [DAT](INFO): DAT read: Rx Time:17:17:19.6458

2025-08-22T17:17:19.075Z,1755883039.075 [DAT](INFO): Rx dataTimestamp_ set to:1755883039.074928
2025-08-22T17:17:19.076Z,1755883039.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012216
2025-08-22T17:17:19.326Z,1755883039.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262848
2025-08-22T17:17:19.383Z,1755883039.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.41 m.
2025-08-22T17:17:19.385Z,1755883039.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.408554 m,
      nav range: 149.700760 m,
      bearing: 333.732671 deg,
      approach rate: -0.534048 m/s,
      LOS rate: 0.013905 deg/s,
      cmd heading: 340.902555 deg,
      new cmd heading: 340.914734 deg.

2025-08-22T17:17:19.386Z,1755883039.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950085 target range: 154.408554 and range: 155.40 m.
2025-08-22T17:17:19.585Z,1755883039.585 [DAT](INFO): DAT read: 17:17:19.6458 LVL= 29680, 32753, 25202, 32755, AGC= 62, IDX= 413,-0.42, 1.596, 0.033, 1.952, 1.444, PHS= 0.255,-1.366, 0.465, RAW= 156.0,   7.5, CAL= 155.5,   7.8, ROT= 354.5,  -7.8

2025-08-22T17:17:19.586Z,1755883039.586 [DAT](INFO): got valid direction response:
 17:17:19.6458 LVL= 29680, 32753, 25202, 32755, AGC= 62, IDX= 413,-0.42, 1.596, 0.033, 1.952, 1.444, PHS= 0.255,-1.366, 0.465, RAW= 156.0,   7.5, CAL= 155.5,   7.8, ROT= 354.5,  -7.8

2025-08-22T17:17:19.587Z,1755883039.587 [DAT](INFO): DAT read: Bearing 152.4,  -0.5 (Local)

2025-08-22T17:17:19.587Z,1755883039.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4,  -0.5 (Local)

2025-08-22T17:17:19.589Z,1755883039.589 [DAT](INFO): DAT read: Range 11 to 50 : 153.4 m  (Round-trip  204.6 ms) speed  0.6 m/s

2025-08-22T17:17:19.589Z,1755883039.589 [DAT](INFO): DAT read: user:572>

2025-08-22T17:17:19.593Z,1755883039.593 [DAT](INFO): DAT read: Tx time:17:17:20.7370

2025-08-22T17:17:19.595Z,1755883039.595 [DAT](INFO): Ping request sent.
2025-08-22T17:17:19.595Z,1755883039.595 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:19.597Z,1755883039.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:19.598Z,1755883039.598 [DAT](INFO): direction in FSK: [0.986187,-0.094959,0.135716]
2025-08-22T17:17:19.598Z,1755883039.598 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:19.599Z,1755883039.599 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:19.602Z,1755883039.602 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:19.602Z,1755883039.602 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:19.803Z,1755883039.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.399994 m,
      deltaT: 3.528056 s,
      deltaX: -2.000000 m,
      approachRate: -0.566884 m/s,
      rangeRepo size: 4

2025-08-22T17:17:19.805Z,1755883039.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.422668 m,
      bearing: 335.100833 deg,
      lat: 36.779522 deg,
      lon: -121.859530 deg,
      deltaT: 3.528056 s,
      deltaX: -1.985886 m,
      approachRate: -0.562884 m/s,
      posRepo size: 4

2025-08-22T17:17:19.810Z,1755883039.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:19.816Z,1755883039.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 149.244385 m,
      bearing: 334.627432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013905 deg/s,
      cmd heading: 340.914740 deg,
      new cmd heading: 340.926407 deg.

2025-08-22T17:17:19.817Z,1755883039.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950288 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:20.211Z,1755883040.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:20.213Z,1755883040.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:20.226Z,1755883040.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 149.018524 m,
      bearing: 334.633023 deg,
      approach rate: -0.550065 m/s,
      LOS rate: 0.013636 deg/s,
      cmd heading: 340.926406 deg,
      new cmd heading: 340.937604 deg.

2025-08-22T17:17:20.227Z,1755883040.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950484 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:20.335Z,1755883040.335 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:20.335Z,1755883040.335 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:20.335Z,1755883040.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:20.569Z,1755883040.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:20.572Z,1755883040.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 148.823044 m,
      bearing: 334.637901 deg,
      approach rate: -0.548241 m/s,
      LOS rate: 0.013697 deg/s,
      cmd heading: 340.937608 deg,
      new cmd heading: 340.947376 deg.

2025-08-22T17:17:20.574Z,1755883040.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950655 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:20.587Z,1755883040.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992068
2025-08-22T17:17:20.839Z,1755883040.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244411
2025-08-22T17:17:20.987Z,1755883040.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:20.994Z,1755883040.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 148.607849 m,
      bearing: 334.643302 deg,
      approach rate: -0.514730 m/s,
      LOS rate: 0.012939 deg/s,
      cmd heading: 340.947389 deg,
      new cmd heading: 340.958208 deg.

2025-08-22T17:17:20.995Z,1755883040.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950843 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:21.091Z,1755883041.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496232
2025-08-22T17:17:21.342Z,1755883041.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747970
2025-08-22T17:17:21.438Z,1755883041.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:21.441Z,1755883041.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 148.370773 m,
      bearing: 334.649949 deg,
      approach rate: -0.525751 m/s,
      LOS rate: 0.014763 deg/s,
      cmd heading: 340.958208 deg,
      new cmd heading: 340.971522 deg.

2025-08-22T17:17:21.442Z,1755883041.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951076 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:21.595Z,1755883041.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000112
2025-08-22T17:17:21.821Z,1755883041.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:21.829Z,1755883041.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 148.180344 m,
      bearing: 334.655280 deg,
      approach rate: -0.498100 m/s,
      LOS rate: 0.013962 deg/s,
      cmd heading: 340.971513 deg,
      new cmd heading: 340.982189 deg.

2025-08-22T17:17:21.847Z,1755883041.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252063
2025-08-22T17:17:21.850Z,1755883041.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951262 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:22.101Z,1755883042.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506125
2025-08-22T17:17:22.279Z,1755883042.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:22.281Z,1755883042.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:22.288Z,1755883042.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 147.945358 m,
      bearing: 334.660207 deg,
      approach rate: -0.510111 m/s,
      LOS rate: 0.010713 deg/s,
      cmd heading: 340.982195 deg,
      new cmd heading: 340.992065 deg.

2025-08-22T17:17:22.289Z,1755883042.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951434 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:22.351Z,1755883042.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756544
2025-08-22T17:17:22.603Z,1755883042.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008150
2025-08-22T17:17:22.611Z,1755883042.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:22.614Z,1755883042.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 147.761826 m,
      bearing: 334.664067 deg,
      approach rate: -0.556315 m/s,
      LOS rate: 0.011715 deg/s,
      cmd heading: 340.992058 deg,
      new cmd heading: 340.999788 deg.

2025-08-22T17:17:22.615Z,1755883042.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951569 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:22.855Z,1755883042.855 [DAT](INFO): DAT read: Rx Time:17:17:23.3432

2025-08-22T17:17:22.855Z,1755883042.855 [DAT](INFO): Rx dataTimestamp_ set to:1755883042.854975
2025-08-22T17:17:22.856Z,1755883042.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261301
2025-08-22T17:17:23.029Z,1755883043.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.42 m.
2025-08-22T17:17:23.032Z,1755883043.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.422668 m,
      nav range: 147.543869 m,
      bearing: 334.668653 deg,
      approach rate: -0.521487 m/s,
      LOS rate: 0.010988 deg/s,
      cmd heading: 340.999790 deg,
      new cmd heading: 341.008974 deg.

2025-08-22T17:17:23.034Z,1755883043.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951729 target range: 152.422668 and range: 153.40 m.
2025-08-22T17:17:23.110Z,1755883043.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514879
2025-08-22T17:17:23.364Z,1755883043.364 [DAT](INFO): DAT read: 17:17:23.3432 LVL= 30240, 32753, 26818, 32755, AGC= 65, IDX= 418, 0.04,-0.676,-2.291,-0.332,-0.842, PHS= 0.268,-1.404, 0.466, RAW= 155.5,   7.6, CAL= 155.0,   7.9, ROT= 355.0,  -7.9

2025-08-22T17:17:23.365Z,1755883043.365 [DAT](INFO): got valid direction response:
 17:17:23.3432 LVL= 30240, 32753, 26818, 32755, AGC= 65, IDX= 418, 0.04,-0.676,-2.291,-0.332,-0.842, PHS= 0.268,-1.404, 0.466, RAW= 155.5,   7.6, CAL= 155.0,   7.9, ROT= 355.0,  -7.9

2025-08-22T17:17:23.367Z,1755883043.367 [DAT](INFO): DAT read: Bearing 152.6,   0.4 (Local)

2025-08-22T17:17:23.367Z,1755883043.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6,   0.4 (Local)

2025-08-22T17:17:23.369Z,1755883043.369 [DAT](INFO): DAT read: Range 11 to 50 : 151.5 m  (Round-trip  202.1 ms) speed  0.4 m/s

2025-08-22T17:17:23.369Z,1755883043.369 [DAT](INFO): DAT read: user:573>

2025-08-22T17:17:23.370Z,1755883043.370 [DAT](INFO): DAT read: Tx time:17:17:24.4370

2025-08-22T17:17:23.370Z,1755883043.370 [DAT](INFO): Ping request sent.
2025-08-22T17:17:23.371Z,1755883043.371 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:23.371Z,1755883043.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:23.372Z,1755883043.372 [DAT](INFO): direction in FSK: [0.986740,-0.086328,0.137445]
2025-08-22T17:17:23.372Z,1755883043.372 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:23.372Z,1755883043.372 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:23.380Z,1755883043.380 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:23.380Z,1755883043.380 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:23.549Z,1755883043.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.500000 m,
      deltaT: 3.780053 s,
      deltaX: -1.899994 m,
      approachRate: -0.502637 m/s,
      rangeRepo size: 4

2025-08-22T17:17:23.555Z,1755883043.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.533356 m,
      bearing: 335.589924 deg,
      lat: 36.779527 deg,
      lon: -121.859517 deg,
      deltaT: 3.780053 s,
      deltaX: -1.889313 m,
      approachRate: -0.499811 m/s,
      posRepo size: 4

2025-08-22T17:17:23.556Z,1755883043.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:23.563Z,1755883043.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 147.261200 m,
      bearing: 335.152921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010988 deg/s,
      cmd heading: 341.008970 deg,
      new cmd heading: 341.020380 deg.

2025-08-22T17:17:23.564Z,1755883043.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951929 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:23.850Z,1755883043.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:23.853Z,1755883043.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 147.095810 m,
      bearing: 335.156083 deg,
      approach rate: -0.547586 m/s,
      LOS rate: 0.010483 deg/s,
      cmd heading: 341.020390 deg,
      new cmd heading: 341.026722 deg.

2025-08-22T17:17:23.854Z,1755883043.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952039 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:24.296Z,1755883044.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:24.298Z,1755883044.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:24.301Z,1755883044.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 146.862305 m,
      bearing: 335.162831 deg,
      approach rate: -0.521047 m/s,
      LOS rate: 0.015080 deg/s,
      cmd heading: 341.026728 deg,
      new cmd heading: 341.040244 deg.

2025-08-22T17:17:24.303Z,1755883044.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952275 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:24.366Z,1755883044.366 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:24.367Z,1755883044.367 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:24.367Z,1755883044.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:24.619Z,1755883044.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247950
2025-08-22T17:17:24.782Z,1755883044.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:24.784Z,1755883044.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 146.609665 m,
      bearing: 335.170097 deg,
      approach rate: -0.522857 m/s,
      LOS rate: 0.015065 deg/s,
      cmd heading: 341.040252 deg,
      new cmd heading: 341.054810 deg.

2025-08-22T17:17:24.802Z,1755883044.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952529 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:24.872Z,1755883044.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501462
2025-08-22T17:17:25.126Z,1755883045.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754450
2025-08-22T17:17:25.257Z,1755883045.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:25.264Z,1755883045.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 146.380005 m,
      bearing: 335.178185 deg,
      approach rate: -0.482999 m/s,
      LOS rate: 0.017035 deg/s,
      cmd heading: 341.054814 deg,
      new cmd heading: 341.071014 deg.

2025-08-22T17:17:25.270Z,1755883045.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952812 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:25.375Z,1755883045.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004070
2025-08-22T17:17:25.628Z,1755883045.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257064
2025-08-22T17:17:25.731Z,1755883045.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:25.735Z,1755883045.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 146.122269 m,
      bearing: 335.187268 deg,
      approach rate: -0.545321 m/s,
      LOS rate: 0.019253 deg/s,
      cmd heading: 341.071015 deg,
      new cmd heading: 341.089214 deg.

2025-08-22T17:17:25.737Z,1755883045.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953130 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:25.878Z,1755883045.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507907
2025-08-22T17:17:26.134Z,1755883046.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762534
2025-08-22T17:17:26.242Z,1755883046.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:26.247Z,1755883046.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 145.852524 m,
      bearing: 335.196738 deg,
      approach rate: -0.527381 m/s,
      LOS rate: 0.018549 deg/s,
      cmd heading: 341.089211 deg,
      new cmd heading: 341.108185 deg.

2025-08-22T17:17:26.248Z,1755883046.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953461 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:26.383Z,1755883046.383 [DAT](INFO): DAT read: Rx Time:17:17:27.0404

2025-08-22T17:17:26.384Z,1755883046.384 [DAT](INFO): Rx dataTimestamp_ set to:1755883046.383326
2025-08-22T17:17:26.384Z,1755883046.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013593
2025-08-22T17:17:26.604Z,1755883046.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:26.606Z,1755883046.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:26.609Z,1755883046.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 145.650787 m,
      bearing: 335.203882 deg,
      approach rate: -0.552477 m/s,
      LOS rate: 0.019592 deg/s,
      cmd heading: 341.108199 deg,
      new cmd heading: 341.122506 deg.

2025-08-22T17:17:26.610Z,1755883046.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:17:26.611Z,1755883046.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953711 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:26.635Z,1755883046.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264048
2025-08-22T17:17:26.892Z,1755883046.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520642
2025-08-22T17:17:27.007Z,1755883047.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.53 m.
2025-08-22T17:17:27.010Z,1755883047.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.533356 m,
      nav range: 145.436539 m,
      bearing: 335.211472 deg,
      approach rate: -0.534638 m/s,
      LOS rate: 0.018968 deg/s,
      cmd heading: 341.122515 deg,
      new cmd heading: 341.137717 deg.

2025-08-22T17:17:27.011Z,1755883047.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953976 target range: 150.533356 and range: 151.50 m.
2025-08-22T17:17:27.164Z,1755883047.164 [DAT](INFO): DAT read: 17:17:27.0404 LVL= 30240, 32753, 26818, 32755, AGC= 64, IDX= 406, 0.03, 1.808, 0.208, 2.145, 1.667, PHS= 0.243,-1.414, 0.434, RAW= 155.4,   8.4, CAL= 155.0,   8.9, ROT= 355.0,  -8.9

2025-08-22T17:17:27.172Z,1755883047.172 [DAT](INFO): got valid direction response:
 17:17:27.0404 LVL= 30240, 32753, 26818, 32755, AGC= 64, IDX= 406, 0.03, 1.808, 0.208, 2.145, 1.667, PHS= 0.243,-1.414, 0.434, RAW= 155.4,   8.4, CAL= 155.0,   8.9, ROT= 355.0,  -8.9

2025-08-22T17:17:27.180Z,1755883047.180 [DAT](INFO): DAT read: Bearing 153.6,   0.5 (Local)

2025-08-22T17:17:27.181Z,1755883047.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6,   0.5 (Local)

2025-08-22T17:17:27.187Z,1755883047.187 [DAT](INFO): DAT read: Range 11 to 50 : 149.5 m  (Round-trip  199.4 ms) speed  0.4 m/s

2025-08-22T17:17:27.188Z,1755883047.188 [DAT](INFO): DAT read: user:574>

2025-08-22T17:17:27.189Z,1755883047.189 [DAT](INFO): DAT read: Tx time:17:17:28.1369

2025-08-22T17:17:27.194Z,1755883047.194 [DAT](INFO): Ping request sent.
2025-08-22T17:17:27.194Z,1755883047.194 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:27.194Z,1755883047.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:27.195Z,1755883047.195 [DAT](INFO): direction in FSK: [0.984200,-0.086106,0.154710]
2025-08-22T17:17:27.195Z,1755883047.195 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:27.196Z,1755883047.196 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:27.203Z,1755883047.203 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:27.203Z,1755883047.203 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:27.481Z,1755883047.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.500000 m,
      deltaT: 3.781909 s,
      deltaX: -2.000000 m,
      approachRate: -0.528833 m/s,
      rangeRepo size: 4

2025-08-22T17:17:27.483Z,1755883047.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.549835 m,
      bearing: 335.535539 deg,
      lat: 36.779527 deg,
      lon: -121.859516 deg,
      deltaT: 3.781909 s,
      deltaX: -1.983521 m,
      approachRate: -0.524476 m/s,
      posRepo size: 4

2025-08-22T17:17:27.484Z,1755883047.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:27.487Z,1755883047.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 145.149414 m,
      bearing: 335.258671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018968 deg/s,
      cmd heading: 341.137705 deg,
      new cmd heading: 341.155653 deg.

2025-08-22T17:17:27.488Z,1755883047.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954289 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:27.614Z,1755883047.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:17:27.843Z,1755883047.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:27.864Z,1755883047.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 144.945572 m,
      bearing: 335.266561 deg,
      approach rate: -0.561289 m/s,
      LOS rate: 0.021756 deg/s,
      cmd heading: 341.155655 deg,
      new cmd heading: 341.171457 deg.

2025-08-22T17:17:27.866Z,1755883047.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954565 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:28.296Z,1755883048.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:28.303Z,1755883048.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 144.715729 m,
      bearing: 335.276795 deg,
      approach rate: -0.508227 m/s,
      LOS rate: 0.022664 deg/s,
      cmd heading: 341.171446 deg,
      new cmd heading: 341.191946 deg.

2025-08-22T17:17:28.304Z,1755883048.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954923 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:28.647Z,1755883048.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:28.649Z,1755883048.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:28.650Z,1755883048.650 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:28.651Z,1755883048.651 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:28.651Z,1755883048.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:28.656Z,1755883048.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 144.521820 m,
      bearing: 335.285483 deg,
      approach rate: -0.548494 m/s,
      LOS rate: 0.024609 deg/s,
      cmd heading: 341.191937 deg,
      new cmd heading: 341.209337 deg.

2025-08-22T17:17:28.656Z,1755883048.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955226 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:28.903Z,1755883048.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708692
2025-08-22T17:17:29.066Z,1755883049.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:29.068Z,1755883049.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 144.311127 m,
      bearing: 335.294933 deg,
      approach rate: -0.506151 m/s,
      LOS rate: 0.022736 deg/s,
      cmd heading: 341.209340 deg,
      new cmd heading: 341.228268 deg.

2025-08-22T17:17:29.069Z,1755883049.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955557 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:29.161Z,1755883049.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966452
2025-08-22T17:17:29.411Z,1755883049.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216758
2025-08-22T17:17:29.486Z,1755883049.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:29.488Z,1755883049.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 144.085190 m,
      bearing: 335.305771 deg,
      approach rate: -0.538019 m/s,
      LOS rate: 0.025848 deg/s,
      cmd heading: 341.228273 deg,
      new cmd heading: 341.249983 deg.

2025-08-22T17:17:29.489Z,1755883049.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955936 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:29.662Z,1755883049.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468645
2025-08-22T17:17:29.915Z,1755883049.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720782
2025-08-22T17:17:29.922Z,1755883049.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:29.925Z,1755883049.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 143.859863 m,
      bearing: 335.316615 deg,
      approach rate: -0.516490 m/s,
      LOS rate: 0.024896 deg/s,
      cmd heading: 341.249993 deg,
      new cmd heading: 341.271716 deg.

2025-08-22T17:17:29.926Z,1755883049.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956315 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:30.171Z,1755883050.171 [DAT](INFO): DAT read: Rx Time:17:17:30.7378

2025-08-22T17:17:30.173Z,1755883050.173 [DAT](INFO): Rx dataTimestamp_ set to:1755883050.171951
2025-08-22T17:17:30.175Z,1755883050.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980511
2025-08-22T17:17:30.364Z,1755883050.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.55 m.
2025-08-22T17:17:30.370Z,1755883050.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.549835 m,
      nav range: 143.627106 m,
      bearing: 335.326182 deg,
      approach rate: -0.526689 m/s,
      LOS rate: 0.021683 deg/s,
      cmd heading: 341.271713 deg,
      new cmd heading: 341.290877 deg.

2025-08-22T17:17:30.371Z,1755883050.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956649 target range: 148.549835 and range: 149.50 m.
2025-08-22T17:17:30.419Z,1755883050.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224833
2025-08-22T17:17:30.676Z,1755883050.676 [DAT](INFO): DAT read: 17:17:30.7378 LVL= 30960, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.48,-0.125,-1.728, 0.235,-0.266, PHS= 0.243,-1.416, 0.457, RAW= 156.0,   8.1, CAL= 155.6,   8.5, ROT= 354.4,  -8.5

2025-08-22T17:17:30.677Z,1755883050.677 [DAT](INFO): got valid direction response:
 17:17:30.7378 LVL= 30960, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.48,-0.125,-1.728, 0.235,-0.266, PHS= 0.243,-1.416, 0.457, RAW= 156.0,   8.1, CAL= 155.6,   8.5, ROT= 354.4,  -8.5

2025-08-22T17:17:30.678Z,1755883050.678 [DAT](INFO): DAT read: Bearing 153.6,  -0.4 (Local)

2025-08-22T17:17:30.679Z,1755883050.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6,  -0.4 (Local)

2025-08-22T17:17:30.680Z,1755883050.680 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m  (Round-trip  196.8 ms) speed  0.4 m/s

2025-08-22T17:17:30.681Z,1755883050.681 [DAT](INFO): DAT read: user:575>

2025-08-22T17:17:30.682Z,1755883050.682 [DAT](INFO): DAT read: Tx time:17:17:31.8369

2025-08-22T17:17:30.682Z,1755883050.682 [DAT](INFO): Ping request sent.
2025-08-22T17:17:30.682Z,1755883050.682 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:30.682Z,1755883050.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:30.683Z,1755883050.683 [DAT](INFO): direction in FSK: [0.984296,-0.096511,0.147809]
2025-08-22T17:17:30.683Z,1755883050.683 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:30.684Z,1755883050.684 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:30.702Z,1755883050.702 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:30.702Z,1755883050.702 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:30.811Z,1755883050.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 3.530154 s,
      deltaX: -1.899994 m,
      approachRate: -0.538218 m/s,
      rangeRepo size: 4

2025-08-22T17:17:30.813Z,1755883050.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.660294 m,
      bearing: 335.027120 deg,
      lat: 36.779525 deg,
      lon: -121.859516 deg,
      deltaT: 3.530154 s,
      deltaX: -1.889542 m,
      approachRate: -0.535258 m/s,
      posRepo size: 4

2025-08-22T17:17:30.818Z,1755883050.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:30.820Z,1755883050.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 143.223831 m,
      bearing: 335.303727 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021683 deg/s,
      cmd heading: 341.290865 deg,
      new cmd heading: 341.310042 deg.

2025-08-22T17:17:30.821Z,1755883050.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956984 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:31.120Z,1755883051.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:31.122Z,1755883051.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:31.125Z,1755883051.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 143.044281 m,
      bearing: 335.311040 deg,
      approach rate: -0.567245 m/s,
      LOS rate: 0.023134 deg/s,
      cmd heading: 341.310044 deg,
      new cmd heading: 341.324689 deg.

2025-08-22T17:17:31.126Z,1755883051.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957240 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:31.177Z,1755883051.177 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:31.177Z,1755883051.177 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:31.178Z,1755883051.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:31.427Z,1755883051.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744546
2025-08-22T17:17:31.533Z,1755883051.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:31.536Z,1755883051.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 142.836273 m,
      bearing: 335.319997 deg,
      approach rate: -0.506219 m/s,
      LOS rate: 0.021830 deg/s,
      cmd heading: 341.324688 deg,
      new cmd heading: 341.342628 deg.

2025-08-22T17:17:31.537Z,1755883051.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957553 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:31.679Z,1755883051.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996567
2025-08-22T17:17:31.919Z,1755883051.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:31.922Z,1755883051.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 142.640976 m,
      bearing: 335.328413 deg,
      approach rate: -0.505674 m/s,
      LOS rate: 0.021820 deg/s,
      cmd heading: 341.342638 deg,
      new cmd heading: 341.359492 deg.

2025-08-22T17:17:31.923Z,1755883051.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957847 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:31.939Z,1755883051.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256661
2025-08-22T17:17:32.194Z,1755883052.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511050
2025-08-22T17:17:32.351Z,1755883052.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:32.354Z,1755883052.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 142.420105 m,
      bearing: 335.338136 deg,
      approach rate: -0.511826 m/s,
      LOS rate: 0.022566 deg/s,
      cmd heading: 341.359495 deg,
      new cmd heading: 341.378971 deg.

2025-08-22T17:17:32.355Z,1755883052.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958187 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:32.443Z,1755883052.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760745
2025-08-22T17:17:32.694Z,1755883052.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012506
2025-08-22T17:17:32.858Z,1755883052.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:32.861Z,1755883052.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 142.159210 m,
      bearing: 335.349575 deg,
      approach rate: -0.514376 m/s,
      LOS rate: 0.022595 deg/s,
      cmd heading: 341.378975 deg,
      new cmd heading: 341.401895 deg.

2025-08-22T17:17:32.863Z,1755883052.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958587 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:32.948Z,1755883052.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265842
2025-08-22T17:17:33.199Z,1755883053.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516618
2025-08-22T17:17:33.339Z,1755883053.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:33.341Z,1755883053.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:33.344Z,1755883053.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 141.905624 m,
      bearing: 335.359053 deg,
      approach rate: -0.524978 m/s,
      LOS rate: 0.019657 deg/s,
      cmd heading: 341.401897 deg,
      new cmd heading: 341.420887 deg.

2025-08-22T17:17:33.345Z,1755883053.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958919 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:33.451Z,1755883053.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768693
2025-08-22T17:17:33.703Z,1755883053.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020566
2025-08-22T17:17:33.788Z,1755883053.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:33.791Z,1755883053.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 141.671677 m,
      bearing: 335.367799 deg,
      approach rate: -0.523946 m/s,
      LOS rate: 0.019619 deg/s,
      cmd heading: 341.420885 deg,
      new cmd heading: 341.438405 deg.

2025-08-22T17:17:33.792Z,1755883053.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959224 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:33.955Z,1755883053.955 [DAT](INFO): DAT read: Rx Time:17:17:34.4352

2025-08-22T17:17:33.955Z,1755883053.955 [DAT](INFO): Rx dataTimestamp_ set to:1755883053.954749
2025-08-22T17:17:33.956Z,1755883053.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273609
2025-08-22T17:17:34.210Z,1755883054.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527696
2025-08-22T17:17:34.379Z,1755883054.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.66 m.
2025-08-22T17:17:34.382Z,1755883054.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.660294 m,
      nav range: 141.365707 m,
      bearing: 335.376866 deg,
      approach rate: -0.517207 m/s,
      LOS rate: 0.015360 deg/s,
      cmd heading: 341.438397 deg,
      new cmd heading: 341.456571 deg.

2025-08-22T17:17:34.383Z,1755883054.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959541 target range: 146.660294 and range: 147.60 m.
2025-08-22T17:17:34.464Z,1755883054.464 [DAT](INFO): DAT read: 17:17:34.4352 LVL= 29072, 32753, 25074, 32755, AGC= 62, IDX= 418,-0.44,-0.195,-1.777, 0.139,-0.372, PHS= 0.279,-1.359, 0.468, RAW= 155.4,   7.1, CAL= 154.8,   7.3, ROT= 355.2,  -7.3

2025-08-22T17:17:34.465Z,1755883054.465 [DAT](INFO): got valid direction response:
 17:17:34.4352 LVL= 29072, 32753, 25074, 32755, AGC= 62, IDX= 418,-0.44,-0.195,-1.777, 0.139,-0.372, PHS= 0.279,-1.359, 0.468, RAW= 155.4,   7.1, CAL= 154.8,   7.3, ROT= 355.2,  -7.3

2025-08-22T17:17:34.466Z,1755883054.466 [DAT](INFO): DAT read: Bearing 152.6,  -0.2 (Local)

2025-08-22T17:17:34.467Z,1755883054.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6,  -0.2 (Local)

2025-08-22T17:17:34.468Z,1755883054.468 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m  (Round-trip  194.2 ms) speed  0.4 m/s

2025-08-22T17:17:34.469Z,1755883054.469 [DAT](INFO): DAT read: user:576>

2025-08-22T17:17:34.470Z,1755883054.470 [DAT](INFO): DAT read: Tx time:17:17:35.5369

2025-08-22T17:17:34.470Z,1755883054.470 [DAT](INFO): Ping request sent.
2025-08-22T17:17:34.470Z,1755883054.470 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:34.470Z,1755883054.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:34.471Z,1755883054.471 [DAT](INFO): direction in FSK: [0.988416,-0.083000,0.127065]
2025-08-22T17:17:34.471Z,1755883054.471 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:34.472Z,1755883054.472 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:34.481Z,1755883054.481 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:34.481Z,1755883054.481 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:34.746Z,1755883054.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.600006 m,
      deltaT: 3.788106 s,
      deltaX: -2.000000 m,
      approachRate: -0.527968 m/s,
      rangeRepo size: 4

2025-08-22T17:17:34.748Z,1755883054.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.670792 m,
      bearing: 336.139866 deg,
      lat: 36.779527 deg,
      lon: -121.859506 deg,
      deltaT: 3.788106 s,
      deltaX: -1.989502 m,
      approachRate: -0.525197 m/s,
      posRepo size: 4

2025-08-22T17:17:34.749Z,1755883054.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:34.756Z,1755883054.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 141.014847 m,
      bearing: 335.731267 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015360 deg/s,
      cmd heading: 341.456566 deg,
      new cmd heading: 341.467688 deg.

2025-08-22T17:17:34.757Z,1755883054.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959735 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:35.116Z,1755883055.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:35.119Z,1755883055.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 140.803741 m,
      bearing: 335.737844 deg,
      approach rate: -0.562838 m/s,
      LOS rate: 0.017560 deg/s,
      cmd heading: 341.467685 deg,
      new cmd heading: 341.480858 deg.

2025-08-22T17:17:35.120Z,1755883055.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959965 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:35.551Z,1755883055.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:35.553Z,1755883055.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:35.560Z,1755883055.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 140.577454 m,
      bearing: 335.743614 deg,
      approach rate: -0.518741 m/s,
      LOS rate: 0.013248 deg/s,
      cmd heading: 341.480854 deg,
      new cmd heading: 341.492412 deg.

2025-08-22T17:17:35.561Z,1755883055.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960167 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:35.720Z,1755883055.720 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:35.720Z,1755883055.720 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:35.720Z,1755883055.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:35.947Z,1755883055.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:35.954Z,1755883055.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 140.362656 m,
      bearing: 335.749018 deg,
      approach rate: -0.544885 m/s,
      LOS rate: 0.013730 deg/s,
      cmd heading: 341.492410 deg,
      new cmd heading: 341.503235 deg.

2025-08-22T17:17:35.955Z,1755883055.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960356 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:35.971Z,1755883055.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500627
2025-08-22T17:17:36.223Z,1755883056.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753165
2025-08-22T17:17:36.370Z,1755883056.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:36.373Z,1755883056.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 140.128220 m,
      bearing: 335.754138 deg,
      approach rate: -0.553759 m/s,
      LOS rate: 0.012115 deg/s,
      cmd heading: 341.503229 deg,
      new cmd heading: 341.513487 deg.

2025-08-22T17:17:36.374Z,1755883056.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960535 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:36.475Z,1755883056.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004625
2025-08-22T17:17:36.728Z,1755883056.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257991
2025-08-22T17:17:36.754Z,1755883056.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:36.757Z,1755883056.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 139.924911 m,
      bearing: 335.758528 deg,
      approach rate: -0.529608 m/s,
      LOS rate: 0.011453 deg/s,
      cmd heading: 341.513475 deg,
      new cmd heading: 341.522268 deg.

2025-08-22T17:17:36.758Z,1755883056.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960688 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:36.979Z,1755883056.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509046
2025-08-22T17:17:37.134Z,1755883057.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:37.137Z,1755883057.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 139.723694 m,
      bearing: 335.762842 deg,
      approach rate: -0.529664 m/s,
      LOS rate: 0.011370 deg/s,
      cmd heading: 341.522272 deg,
      new cmd heading: 341.530911 deg.

2025-08-22T17:17:37.138Z,1755883057.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960839 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:37.234Z,1755883057.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763318
2025-08-22T17:17:37.487Z,1755883057.487 [DAT](INFO): DAT read: Rx Time:17:17:38.1326

2025-08-22T17:17:37.487Z,1755883057.487 [DAT](INFO): Rx dataTimestamp_ set to:1755883057.486745
2025-08-22T17:17:37.488Z,1755883057.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017629
2025-08-22T17:17:37.585Z,1755883057.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:37.588Z,1755883057.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:37.590Z,1755883057.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 139.483032 m,
      bearing: 335.768385 deg,
      approach rate: -0.530643 m/s,
      LOS rate: 0.012243 deg/s,
      cmd heading: 341.530905 deg,
      new cmd heading: 341.542010 deg.

2025-08-22T17:17:37.591Z,1755883057.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961032 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:37.739Z,1755883057.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268599
2025-08-22T17:17:37.954Z,1755883057.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.67 m.
2025-08-22T17:17:37.957Z,1755883057.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.670792 m,
      nav range: 139.294586 m,
      bearing: 335.772669 deg,
      approach rate: -0.513555 m/s,
      LOS rate: 0.011692 deg/s,
      cmd heading: 341.541998 deg,
      new cmd heading: 341.550578 deg.

2025-08-22T17:17:37.962Z,1755883057.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961182 target range: 144.670792 and range: 145.60 m.
2025-08-22T17:17:37.994Z,1755883057.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523674
2025-08-22T17:17:38.268Z,1755883058.268 [DAT](INFO): DAT read: 17:17:38.1326 LVL= 32752, 31921, 26418, 32755, AGC= 66, IDX= 423,-0.35, 0.474,-1.136, 0.845, 0.334, PHS= 0.242,-1.426, 0.467, RAW= 156.3,   8.1, CAL= 155.8,   8.4, ROT= 354.2,  -8.4

2025-08-22T17:17:38.277Z,1755883058.277 [DAT](INFO): got valid direction response:
 17:17:38.1326 LVL= 32752, 31921, 26418, 32755, AGC= 66, IDX= 423,-0.35, 0.474,-1.136, 0.845, 0.334, PHS= 0.242,-1.426, 0.467, RAW= 156.3,   8.1, CAL= 155.8,   8.4, ROT= 354.2,  -8.4

2025-08-22T17:17:38.308Z,1755883058.308 [DAT](INFO): DAT read: Bearing 154.3,  -2.1 (Local)

2025-08-22T17:17:38.333Z,1755883058.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3,  -2.1 (Local)

2025-08-22T17:17:38.335Z,1755883058.335 [DAT](INFO): DAT read: Range 11 to 50 : 143.7 m  (Round-trip  191.6 ms) speed  0.4 m/s

2025-08-22T17:17:38.336Z,1755883058.336 [DAT](INFO): DAT read: user:577>

2025-08-22T17:17:38.336Z,1755883058.336 [DAT](INFO): DAT read: Tx time:17:17:39.2369

2025-08-22T17:17:38.337Z,1755883058.337 [DAT](INFO): Ping request sent.
2025-08-22T17:17:38.337Z,1755883058.337 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:38.337Z,1755883058.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:38.346Z,1755883058.346 [DAT](INFO): direction in FSK: [0.984208,-0.099972,0.146083]
2025-08-22T17:17:38.347Z,1755883058.347 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:38.347Z,1755883058.347 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:38.358Z,1755883058.358 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:38.358Z,1755883058.358 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:38.483Z,1755883058.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.699997 m,
      deltaT: 3.784999 s,
      deltaX: -1.900009 m,
      approachRate: -0.501984 m/s,
      rangeRepo size: 4

2025-08-22T17:17:38.485Z,1755883058.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.782547 m,
      bearing: 335.416922 deg,
      lat: 36.779530 deg,
      lon: -121.859506 deg,
      deltaT: 3.784999 s,
      deltaX: -1.888245 m,
      approachRate: -0.498876 m/s,
      posRepo size: 4

2025-08-22T17:17:38.489Z,1755883058.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:38.492Z,1755883058.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 139.340988 m,
      bearing: 335.839752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011692 deg/s,
      cmd heading: 341.550576 deg,
      new cmd heading: 341.562809 deg.

2025-08-22T17:17:38.493Z,1755883058.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961396 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:38.795Z,1755883058.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:38.798Z,1755883058.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 139.165970 m,
      bearing: 335.845059 deg,
      approach rate: -0.550921 m/s,
      LOS rate: 0.016726 deg/s,
      cmd heading: 341.562816 deg,
      new cmd heading: 341.573443 deg.

2025-08-22T17:17:38.799Z,1755883058.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961581 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:39.232Z,1755883059.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:39.239Z,1755883059.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 138.939270 m,
      bearing: 335.851953 deg,
      approach rate: -0.519130 m/s,
      LOS rate: 0.015813 deg/s,
      cmd heading: 341.573444 deg,
      new cmd heading: 341.587254 deg.

2025-08-22T17:17:39.240Z,1755883059.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961823 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:39.640Z,1755883059.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:39.643Z,1755883059.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:39.646Z,1755883059.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 138.721741 m,
      bearing: 335.858360 deg,
      approach rate: -0.529527 m/s,
      LOS rate: 0.015621 deg/s,
      cmd heading: 341.587268 deg,
      new cmd heading: 341.600102 deg.

2025-08-22T17:17:39.647Z,1755883059.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962047 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:39.755Z,1755883059.755 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:39.755Z,1755883059.755 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:39.755Z,1755883059.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:40.007Z,1755883060.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669824
2025-08-22T17:17:40.010Z,1755883060.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:40.013Z,1755883060.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 138.529434 m,
      bearing: 335.864062 deg,
      approach rate: -0.522926 m/s,
      LOS rate: 0.015529 deg/s,
      cmd heading: 341.600109 deg,
      new cmd heading: 341.611530 deg.

2025-08-22T17:17:40.014Z,1755883060.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962246 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:40.259Z,1755883060.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.921685
2025-08-22T17:17:40.452Z,1755883060.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:40.455Z,1755883060.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 138.291672 m,
      bearing: 335.872951 deg,
      approach rate: -0.538411 m/s,
      LOS rate: 0.020162 deg/s,
      cmd heading: 341.611529 deg,
      new cmd heading: 341.629336 deg.

2025-08-22T17:17:40.456Z,1755883060.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962557 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:40.512Z,1755883060.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174719
2025-08-22T17:17:40.763Z,1755883060.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425704
2025-08-22T17:17:40.827Z,1755883060.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:40.830Z,1755883060.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 138.090530 m,
      bearing: 335.880486 deg,
      approach rate: -0.536092 m/s,
      LOS rate: 0.020112 deg/s,
      cmd heading: 341.629342 deg,
      new cmd heading: 341.644434 deg.

2025-08-22T17:17:40.831Z,1755883060.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962820 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:41.016Z,1755883061.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.679014
2025-08-22T17:17:41.249Z,1755883061.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:41.251Z,1755883061.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 137.866669 m,
      bearing: 335.888905 deg,
      approach rate: -0.531407 m/s,
      LOS rate: 0.020019 deg/s,
      cmd heading: 341.644423 deg,
      new cmd heading: 341.661289 deg.

2025-08-22T17:17:41.252Z,1755883061.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963114 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:41.267Z,1755883061.267 [DAT](INFO): DAT read: Rx Time:17:17:41.8300

2025-08-22T17:17:41.267Z,1755883061.267 [DAT](INFO): Rx dataTimestamp_ set to:1755883061.266789
2025-08-22T17:17:41.268Z,1755883061.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930790
2025-08-22T17:17:41.519Z,1755883061.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181717
2025-08-22T17:17:41.646Z,1755883061.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:41.649Z,1755883061.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.78 m.
2025-08-22T17:17:41.651Z,1755883061.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.782547 m,
      nav range: 137.662659 m,
      bearing: 335.899028 deg,
      approach rate: -0.510099 m/s,
      LOS rate: 0.025349 deg/s,
      cmd heading: 341.661280 deg,
      new cmd heading: 341.681556 deg.

2025-08-22T17:17:41.652Z,1755883061.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963468 target range: 142.782547 and range: 143.70 m.
2025-08-22T17:17:41.780Z,1755883061.780 [DAT](INFO): DAT read: 17:17:41.8300 LVL= 31600, 32753, 24754, 32755, AGC= 64, IDX= 413, 0.08, 2.481, 0.873, 2.872, 2.375, PHS= 0.209,-1.456, 0.454, RAW= 156.8,   8.9, CAL= 156.5,   9.4, ROT= 353.5,  -9.4

2025-08-22T17:17:41.781Z,1755883061.781 [DAT](INFO): got valid direction response:
 17:17:41.8300 LVL= 31600, 32753, 24754, 32755, AGC= 64, IDX= 413, 0.08, 2.481, 0.873, 2.872, 2.375, PHS= 0.209,-1.456, 0.454, RAW= 156.8,   8.9, CAL= 156.5,   9.4, ROT= 353.5,  -9.4

2025-08-22T17:17:41.783Z,1755883061.783 [DAT](INFO): DAT read: Bearing 155.3,  -3.6 (Local)

2025-08-22T17:17:41.783Z,1755883061.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.3,  -3.6 (Local)

2025-08-22T17:17:41.785Z,1755883061.785 [DAT](INFO): DAT read: Range 11 to 50 : 141.8 m  (Round-trip  189.1 ms) speed  0.4 m/s

2025-08-22T17:17:41.786Z,1755883061.786 [DAT](INFO): DAT read: user:578>

2025-08-22T17:17:41.787Z,1755883061.787 [DAT](INFO): DAT read: Tx time:17:17:42.9368

2025-08-22T17:17:41.788Z,1755883061.788 [DAT](INFO): Ping request sent.
2025-08-22T17:17:41.788Z,1755883061.788 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:41.788Z,1755883061.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:41.790Z,1755883061.790 [DAT](INFO): direction in FSK: [0.980230,-0.111683,0.163326]
2025-08-22T17:17:41.790Z,1755883061.790 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:41.791Z,1755883061.791 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:41.802Z,1755883061.802 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:41.802Z,1755883061.802 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:42.063Z,1755883062.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.800003 m,
      deltaT: 3.527759 s,
      deltaX: -1.899994 m,
      approachRate: -0.538584 m/s,
      rangeRepo size: 4

2025-08-22T17:17:42.065Z,1755883062.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.895508 m,
      bearing: 334.709749 deg,
      lat: 36.779526 deg,
      lon: -121.859520 deg,
      deltaT: 3.527759 s,
      deltaX: -1.887039 m,
      approachRate: -0.534912 m/s,
      posRepo size: 4

2025-08-22T17:17:42.066Z,1755883062.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:42.069Z,1755883062.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 137.551636 m,
      bearing: 335.356702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025349 deg/s,
      cmd heading: 341.681552 deg,
      new cmd heading: 341.702543 deg.

2025-08-22T17:17:42.070Z,1755883062.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963834 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:42.484Z,1755883062.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:42.487Z,1755883062.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 137.322342 m,
      bearing: 335.365491 deg,
      approach rate: -0.544177 m/s,
      LOS rate: 0.020895 deg/s,
      cmd heading: 341.702534 deg,
      new cmd heading: 341.720143 deg.

2025-08-22T17:17:42.488Z,1755883062.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964142 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:42.863Z,1755883062.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:42.866Z,1755883062.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 137.117874 m,
      bearing: 335.373417 deg,
      approach rate: -0.538819 m/s,
      LOS rate: 0.020918 deg/s,
      cmd heading: 341.720156 deg,
      new cmd heading: 341.736032 deg.

2025-08-22T17:17:42.867Z,1755883062.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964419 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:43.342Z,1755883063.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:43.344Z,1755883063.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 136.862564 m,
      bearing: 335.383391 deg,
      approach rate: -0.534273 m/s,
      LOS rate: 0.020910 deg/s,
      cmd heading: 341.736030 deg,
      new cmd heading: 341.756014 deg.

2025-08-22T17:17:43.345Z,1755883063.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964767 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:43.787Z,1755883063.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:43.789Z,1755883063.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:43.796Z,1755883063.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 136.637344 m,
      bearing: 335.394721 deg,
      approach rate: -0.503054 m/s,
      LOS rate: 0.025349 deg/s,
      cmd heading: 341.756001 deg,
      new cmd heading: 341.778699 deg.

2025-08-22T17:17:43.797Z,1755883063.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965164 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:44.039Z,1755883064.039 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:44.039Z,1755883064.039 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:44.040Z,1755883064.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:44.168Z,1755883064.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:44.194Z,1755883064.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 136.445816 m,
      bearing: 335.404395 deg,
      approach rate: -0.505987 m/s,
      LOS rate: 0.025593 deg/s,
      cmd heading: 341.778705 deg,
      new cmd heading: 341.798080 deg.

2025-08-22T17:17:44.195Z,1755883064.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965502 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:44.291Z,1755883064.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502439
2025-08-22T17:17:44.542Z,1755883064.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754275
2025-08-22T17:17:44.586Z,1755883064.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:44.588Z,1755883064.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 136.222961 m,
      bearing: 335.413655 deg,
      approach rate: -0.533358 m/s,
      LOS rate: 0.022199 deg/s,
      cmd heading: 341.798075 deg,
      new cmd heading: 341.816626 deg.

2025-08-22T17:17:44.589Z,1755883064.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965826 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:44.794Z,1755883064.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006297
2025-08-22T17:17:44.962Z,1755883064.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:44.964Z,1755883064.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 136.024460 m,
      bearing: 335.421897 deg,
      approach rate: -0.527963 m/s,
      LOS rate: 0.021952 deg/s,
      cmd heading: 341.816626 deg,
      new cmd heading: 341.833133 deg.

2025-08-22T17:17:44.965Z,1755883064.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966114 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:45.050Z,1755883065.050 [DAT](INFO): DAT read: Rx Time:17:17:45.5273

2025-08-22T17:17:45.050Z,1755883065.050 [DAT](INFO): Rx dataTimestamp_ set to:1755883065.050045
2025-08-22T17:17:45.051Z,1755883065.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262828
2025-08-22T17:17:45.299Z,1755883065.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510381
2025-08-22T17:17:45.363Z,1755883065.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.90 m.
2025-08-22T17:17:45.396Z,1755883065.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.895508 m,
      nav range: 135.816711 m,
      bearing: 335.430532 deg,
      approach rate: -0.517158 m/s,
      LOS rate: 0.021529 deg/s,
      cmd heading: 341.833128 deg,
      new cmd heading: 341.850425 deg.

2025-08-22T17:17:45.410Z,1755883065.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966415 target range: 140.895508 and range: 141.80 m.
2025-08-22T17:17:45.556Z,1755883065.556 [DAT](INFO): DAT read: 17:17:45.5273 LVL= 32752, 29569, 23634, 32755, AGC= 66, IDX= 417, 0.39,-0.576,-2.194,-0.176,-0.672, PHS= 0.198,-1.476, 0.452, RAW= 157.0,   9.1, CAL= 156.7,   9.7, ROT= 353.3,  -9.7

2025-08-22T17:17:45.557Z,1755883065.557 [DAT](INFO): got valid direction response:
 17:17:45.5273 LVL= 32752, 29569, 23634, 32755, AGC= 66, IDX= 417, 0.39,-0.576,-2.194,-0.176,-0.672, PHS= 0.198,-1.476, 0.452, RAW= 157.0,   9.1, CAL= 156.7,   9.7, ROT= 353.3,  -9.7

2025-08-22T17:17:45.558Z,1755883065.558 [DAT](INFO): DAT read: Bearing 155.6,  -4.8 (Local)

2025-08-22T17:17:45.558Z,1755883065.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.6,  -4.8 (Local)

2025-08-22T17:17:45.560Z,1755883065.560 [DAT](INFO): DAT read: Range 11 to 50 : 139.8 m  (Round-trip  186.4 ms) speed  0.4 m/s

2025-08-22T17:17:45.560Z,1755883065.560 [DAT](INFO): DAT read: user:579>

2025-08-22T17:17:45.561Z,1755883065.561 [DAT](INFO): DAT read: Tx time:17:17:46.6368

2025-08-22T17:17:45.562Z,1755883065.562 [DAT](INFO): Ping request sent.
2025-08-22T17:17:45.562Z,1755883065.562 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:45.562Z,1755883065.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:45.563Z,1755883065.563 [DAT](INFO): direction in FSK: [0.978972,-0.115003,0.168489]
2025-08-22T17:17:45.563Z,1755883065.563 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:45.563Z,1755883065.563 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:45.583Z,1755883065.583 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:45.583Z,1755883065.583 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:45.874Z,1755883065.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.800003 m,
      deltaT: 3.778961 s,
      deltaX: -2.000000 m,
      approachRate: -0.529246 m/s,
      rangeRepo size: 4

2025-08-22T17:17:45.876Z,1755883065.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.907745 m,
      bearing: 334.395032 deg,
      lat: 36.779526 deg,
      lon: -121.859523 deg,
      deltaT: 3.778961 s,
      deltaX: -1.987762 m,
      approachRate: -0.526008 m/s,
      posRepo size: 4

2025-08-22T17:17:45.877Z,1755883065.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:45.879Z,1755883065.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 135.639832 m,
      bearing: 335.358905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021529 deg/s,
      cmd heading: 341.850422 deg,
      new cmd heading: 341.872375 deg.

2025-08-22T17:17:45.880Z,1755883065.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966799 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:46.244Z,1755883066.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:46.251Z,1755883066.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:46.254Z,1755883066.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 135.444366 m,
      bearing: 335.366842 deg,
      approach rate: -0.516827 m/s,
      LOS rate: 0.021017 deg/s,
      cmd heading: 341.872387 deg,
      new cmd heading: 341.888285 deg.

2025-08-22T17:17:46.255Z,1755883066.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967076 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:46.307Z,1755883066.307 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:46.307Z,1755883066.307 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:46.307Z,1755883066.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:46.559Z,1755883066.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996831
2025-08-22T17:17:46.660Z,1755883066.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:46.663Z,1755883066.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 135.233322 m,
      bearing: 335.374042 deg,
      approach rate: -0.516070 m/s,
      LOS rate: 0.017633 deg/s,
      cmd heading: 341.888288 deg,
      new cmd heading: 341.902710 deg.

2025-08-22T17:17:46.664Z,1755883066.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967328 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:46.811Z,1755883066.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248905
2025-08-22T17:17:47.047Z,1755883067.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:47.052Z,1755883067.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 135.042786 m,
      bearing: 335.380494 deg,
      approach rate: -0.494948 m/s,
      LOS rate: 0.016783 deg/s,
      cmd heading: 341.902713 deg,
      new cmd heading: 341.915635 deg.

2025-08-22T17:17:47.054Z,1755883067.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967554 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:47.063Z,1755883067.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500903
2025-08-22T17:17:47.315Z,1755883067.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752876
2025-08-22T17:17:47.544Z,1755883067.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:47.563Z,1755883067.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 134.783264 m,
      bearing: 335.388458 deg,
      approach rate: -0.520366 m/s,
      LOS rate: 0.015999 deg/s,
      cmd heading: 341.915636 deg,
      new cmd heading: 341.931595 deg.

2025-08-22T17:17:47.564Z,1755883067.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967832 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:47.567Z,1755883067.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005014
2025-08-22T17:17:47.819Z,1755883067.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256866
2025-08-22T17:17:47.913Z,1755883067.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:47.915Z,1755883067.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 134.595444 m,
      bearing: 335.394155 deg,
      approach rate: -0.509141 m/s,
      LOS rate: 0.015466 deg/s,
      cmd heading: 341.931592 deg,
      new cmd heading: 341.943002 deg.

2025-08-22T17:17:47.916Z,1755883067.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968031 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:48.071Z,1755883068.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508831
2025-08-22T17:17:48.313Z,1755883068.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:48.315Z,1755883068.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:48.318Z,1755883068.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 134.390594 m,
      bearing: 335.400359 deg,
      approach rate: -0.508559 m/s,
      LOS rate: 0.015426 deg/s,
      cmd heading: 341.943012 deg,
      new cmd heading: 341.955438 deg.

2025-08-22T17:17:48.319Z,1755883068.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968248 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:48.323Z,1755883068.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761014
2025-08-22T17:17:48.575Z,1755883068.575 [DAT](INFO): DAT read: Rx Time:17:17:49.2248

2025-08-22T17:17:48.576Z,1755883068.576 [DAT](INFO): Rx dataTimestamp_ set to:1755883068.575415
2025-08-22T17:17:48.576Z,1755883068.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014590
2025-08-22T17:17:48.763Z,1755883068.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:48.766Z,1755883068.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 134.150040 m,
      bearing: 335.405667 deg,
      approach rate: -0.537764 m/s,
      LOS rate: 0.011888 deg/s,
      cmd heading: 341.955443 deg,
      new cmd heading: 341.966078 deg.

2025-08-22T17:17:48.767Z,1755883068.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968434 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:48.827Z,1755883068.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265207
2025-08-22T17:17:49.082Z,1755883069.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519945
2025-08-22T17:17:49.198Z,1755883069.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.91 m.
2025-08-22T17:17:49.209Z,1755883069.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.907745 m,
      nav range: 133.933914 m,
      bearing: 335.410448 deg,
      approach rate: -0.502148 m/s,
      LOS rate: 0.011126 deg/s,
      cmd heading: 341.966070 deg,
      new cmd heading: 341.975647 deg.

2025-08-22T17:17:49.214Z,1755883069.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968601 target range: 138.907745 and range: 139.80 m.
2025-08-22T17:17:49.339Z,1755883069.339 [DAT](INFO): DAT read: 17:17:49.2248 LVL= 28464, 32753, 21586, 32755, AGC= 67, IDX= 423,-0.17, 2.665, 1.100, 3.085, 2.602, PHS= 0.165,-1.457, 0.439, RAW= 157.7,   9.6, CAL= 157.5,  10.4, ROT= 352.5, -10.4

2025-08-22T17:17:49.340Z,1755883069.340 [DAT](INFO): got valid direction response:
 17:17:49.2248 LVL= 28464, 32753, 21586, 32755, AGC= 67, IDX= 423,-0.17, 2.665, 1.100, 3.085, 2.602, PHS= 0.165,-1.457, 0.439, RAW= 157.7,   9.6, CAL= 157.5,  10.4, ROT= 352.5, -10.4

2025-08-22T17:17:49.341Z,1755883069.341 [DAT](INFO): DAT read: Bearing 156.5,  -5.9 (Local)

2025-08-22T17:17:49.341Z,1755883069.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.5,  -5.9 (Local)

2025-08-22T17:17:49.343Z,1755883069.343 [DAT](INFO): DAT read: Range 11 to 50 : 137.8 m  (Round-trip  183.8 ms) speed  0.4 m/s

2025-08-22T17:17:49.343Z,1755883069.343 [DAT](INFO): DAT read: user:580>

2025-08-22T17:17:49.344Z,1755883069.344 [DAT](INFO): DAT read: Tx time:17:17:50.3383

2025-08-22T17:17:49.344Z,1755883069.344 [DAT](INFO): Ping request sent.
2025-08-22T17:17:49.344Z,1755883069.344 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:49.345Z,1755883069.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:49.346Z,1755883069.346 [DAT](INFO): direction in FSK: [0.975157,-0.128382,0.180519]
2025-08-22T17:17:49.346Z,1755883069.346 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:49.346Z,1755883069.346 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:49.349Z,1755883069.349 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:49.350Z,1755883069.350 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:49.646Z,1755883069.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.800003 m,
      deltaT: 3.780345 s,
      deltaX: -2.000000 m,
      approachRate: -0.529052 m/s,
      rangeRepo size: 4

2025-08-22T17:17:49.648Z,1755883069.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.921173 m,
      bearing: 333.690408 deg,
      lat: 36.779526 deg,
      lon: -121.859540 deg,
      deltaT: 3.780345 s,
      deltaX: -1.986572 m,
      approachRate: -0.525500 m/s,
      posRepo size: 4

2025-08-22T17:17:49.649Z,1755883069.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:49.652Z,1755883069.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 134.311050 m,
      bearing: 334.834381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011126 deg/s,
      cmd heading: 341.975660 deg,
      new cmd heading: 341.985714 deg.

2025-08-22T17:17:49.652Z,1755883069.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968777 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:49.994Z,1755883069.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:49.997Z,1755883069.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 134.121109 m,
      bearing: 334.838278 deg,
      approach rate: -0.543647 m/s,
      LOS rate: 0.011171 deg/s,
      cmd heading: 341.985714 deg,
      new cmd heading: 341.993520 deg.

2025-08-22T17:17:49.998Z,1755883069.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968913 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:50.401Z,1755883070.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:50.499Z,1755883070.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:50.508Z,1755883070.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 133.902130 m,
      bearing: 334.842785 deg,
      approach rate: -0.442547 m/s,
      LOS rate: 0.009124 deg/s,
      cmd heading: 341.993528 deg,
      new cmd heading: 342.002557 deg.

2025-08-22T17:17:50.509Z,1755883070.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969070 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:50.591Z,1755883070.591 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:50.591Z,1755883070.591 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:50.591Z,1755883070.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:50.842Z,1755883070.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498051
2025-08-22T17:17:50.891Z,1755883070.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:50.910Z,1755883070.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 133.639481 m,
      bearing: 334.846081 deg,
      approach rate: -0.653908 m/s,
      LOS rate: 0.008221 deg/s,
      cmd heading: 342.002544 deg,
      new cmd heading: 342.009148 deg.

2025-08-22T17:17:50.911Z,1755883070.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969186 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:51.096Z,1755883071.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751354
2025-08-22T17:17:51.273Z,1755883071.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:51.276Z,1755883071.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 133.433121 m,
      bearing: 334.848626 deg,
      approach rate: -0.540257 m/s,
      LOS rate: 0.006673 deg/s,
      cmd heading: 342.009155 deg,
      new cmd heading: 342.014253 deg.

2025-08-22T17:17:51.277Z,1755883071.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969275 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:51.347Z,1755883071.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003055
2025-08-22T17:17:51.598Z,1755883071.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254136
2025-08-22T17:17:51.717Z,1755883071.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:51.740Z,1755883071.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 133.192352 m,
      bearing: 334.852144 deg,
      approach rate: -0.541827 m/s,
      LOS rate: 0.007933 deg/s,
      cmd heading: 342.014264 deg,
      new cmd heading: 342.021314 deg.

2025-08-22T17:17:51.741Z,1755883071.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969398 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:51.855Z,1755883071.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509671
2025-08-22T17:17:52.111Z,1755883072.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766242
2025-08-22T17:17:52.126Z,1755883072.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:52.129Z,1755883072.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 132.979675 m,
      bearing: 334.855169 deg,
      approach rate: -0.519614 m/s,
      LOS rate: 0.007401 deg/s,
      cmd heading: 342.021313 deg,
      new cmd heading: 342.027371 deg.

2025-08-22T17:17:52.134Z,1755883072.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969504 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:52.362Z,1755883072.362 [DAT](INFO): DAT read: Rx Time:17:17:52.9239

2025-08-22T17:17:52.363Z,1755883072.363 [DAT](INFO): Rx dataTimestamp_ set to:1755883072.362685
2025-08-22T17:17:52.364Z,1755883072.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019169
2025-08-22T17:17:52.587Z,1755883072.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:52.589Z,1755883072.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.92 m.
2025-08-22T17:17:52.608Z,1755883072.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.921173 m,
      nav range: 132.736771 m,
      bearing: 334.861714 deg,
      approach rate: -0.525495 m/s,
      LOS rate: 0.014186 deg/s,
      cmd heading: 342.027378 deg,
      new cmd heading: 342.040492 deg.

2025-08-22T17:17:52.608Z,1755883072.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969733 target range: 136.921173 and range: 137.80 m.
2025-08-22T17:17:52.615Z,1755883072.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270237
2025-08-22T17:17:52.878Z,1755883072.878 [DAT](INFO): DAT read: 17:17:52.9239 LVL= 31376, 32753, 25794, 32755, AGC= 67, IDX= 414,-0.14, 0.605,-0.966, 1.091, 0.579, PHS= 0.128,-1.500, 0.468, RAW= 159.3,  10.0, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-22T17:17:52.880Z,1755883072.880 [DAT](INFO): got valid direction response:
 17:17:52.9239 LVL= 31376, 32753, 25794, 32755, AGC= 67, IDX= 414,-0.14, 0.605,-0.966, 1.091, 0.579, PHS= 0.128,-1.500, 0.468, RAW= 159.3,  10.0, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-22T17:17:52.881Z,1755883072.881 [DAT](INFO): DAT read: Bearing 157.8,  -8.0 (Local)

2025-08-22T17:17:52.883Z,1755883072.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -8.0 (Local)

2025-08-22T17:17:52.884Z,1755883072.884 [DAT](INFO): DAT read: Range 11 to 50 : 136.0 m  (Round-trip  181.4 ms) speed  0.4 m/s

2025-08-22T17:17:52.885Z,1755883072.885 [DAT](INFO): DAT read: user:581>

2025-08-22T17:17:52.887Z,1755883072.887 [DAT](INFO): DAT read: Tx time:17:17:54.0368

2025-08-22T17:17:52.887Z,1755883072.887 [DAT](INFO): Ping request sent.
2025-08-22T17:17:52.887Z,1755883072.887 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:52.887Z,1755883072.887 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:52.888Z,1755883072.888 [DAT](INFO): direction in FSK: [0.969973,-0.157101,0.185667]
2025-08-22T17:17:52.888Z,1755883072.888 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:52.889Z,1755883072.889 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:52.892Z,1755883072.892 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:52.892Z,1755883072.892 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:53.025Z,1755883073.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.000000 m,
      deltaT: 3.538274 s,
      deltaX: -1.800003 m,
      approachRate: -0.508723 m/s,
      rangeRepo size: 4

2025-08-22T17:17:53.031Z,1755883073.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.133514 m,
      bearing: 332.409098 deg,
      lat: 36.779525 deg,
      lon: -121.859551 deg,
      deltaT: 3.538274 s,
      deltaX: -1.787659 m,
      approachRate: -0.505235 m/s,
      posRepo size: 4

2025-08-22T17:17:53.032Z,1755883073.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:53.039Z,1755883073.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 132.863342 m,
      bearing: 334.466495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014186 deg/s,
      cmd heading: 342.040492 deg,
      new cmd heading: 342.052843 deg.

2025-08-22T17:17:53.040Z,1755883073.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969948 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:53.380Z,1755883073.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:53.383Z,1755883073.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 132.666672 m,
      bearing: 334.471185 deg,
      approach rate: -0.552503 m/s,
      LOS rate: 0.013196 deg/s,
      cmd heading: 342.052841 deg,
      new cmd heading: 342.062236 deg.

2025-08-22T17:17:53.384Z,1755883073.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970112 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:53.812Z,1755883073.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:53.814Z,1755883073.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 132.443985 m,
      bearing: 334.476471 deg,
      approach rate: -0.516020 m/s,
      LOS rate: 0.012268 deg/s,
      cmd heading: 342.062239 deg,
      new cmd heading: 342.072828 deg.

2025-08-22T17:17:53.815Z,1755883073.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970297 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:54.208Z,1755883074.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:54.211Z,1755883074.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 132.239655 m,
      bearing: 334.481323 deg,
      approach rate: -0.515545 m/s,
      LOS rate: 0.012263 deg/s,
      cmd heading: 342.072840 deg,
      new cmd heading: 342.082560 deg.

2025-08-22T17:17:54.212Z,1755883074.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970467 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:54.624Z,1755883074.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:54.626Z,1755883074.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:54.629Z,1755883074.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 132.024216 m,
      bearing: 334.487126 deg,
      approach rate: -0.515008 m/s,
      LOS rate: 0.013895 deg/s,
      cmd heading: 342.082566 deg,
      new cmd heading: 342.094191 deg.

2025-08-22T17:17:54.630Z,1755883074.630 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:54.631Z,1755883074.631 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:54.631Z,1755883074.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:54.634Z,1755883074.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970670 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:54.882Z,1755883074.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995458
2025-08-22T17:17:54.998Z,1755883074.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:55.001Z,1755883075.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 131.833435 m,
      bearing: 334.492292 deg,
      approach rate: -0.512571 m/s,
      LOS rate: 0.013898 deg/s,
      cmd heading: 342.094177 deg,
      new cmd heading: 342.104523 deg.

2025-08-22T17:17:55.002Z,1755883075.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970850 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:55.135Z,1755883075.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247624
2025-08-22T17:17:55.387Z,1755883075.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499548
2025-08-22T17:17:55.412Z,1755883075.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:55.415Z,1755883075.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 131.618179 m,
      bearing: 334.498155 deg,
      approach rate: -0.519990 m/s,
      LOS rate: 0.014186 deg/s,
      cmd heading: 342.104532 deg,
      new cmd heading: 342.116277 deg.

2025-08-22T17:17:55.416Z,1755883075.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971056 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:55.639Z,1755883075.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751489
2025-08-22T17:17:55.829Z,1755883075.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:55.832Z,1755883075.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 131.399170 m,
      bearing: 334.506171 deg,
      approach rate: -0.525601 m/s,
      LOS rate: 0.019271 deg/s,
      cmd heading: 342.116280 deg,
      new cmd heading: 342.132339 deg.

2025-08-22T17:17:55.833Z,1755883075.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971336 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:55.891Z,1755883075.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004376
2025-08-22T17:17:56.142Z,1755883076.142 [DAT](INFO): DAT read: Rx Time:17:17:56.6196

2025-08-22T17:17:56.143Z,1755883076.143 [DAT](INFO): Rx dataTimestamp_ set to:1755883076.142684
2025-08-22T17:17:56.143Z,1755883076.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256494
2025-08-22T17:17:56.247Z,1755883076.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.13 m.
2025-08-22T17:17:56.255Z,1755883076.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.133514 m,
      nav range: 131.183731 m,
      bearing: 334.514092 deg,
      approach rate: -0.515546 m/s,
      LOS rate: 0.018986 deg/s,
      cmd heading: 342.132344 deg,
      new cmd heading: 342.148212 deg.

2025-08-22T17:17:56.262Z,1755883076.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971613 target range: 135.133514 and range: 136.00 m.
2025-08-22T17:17:56.395Z,1755883076.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507466
2025-08-22T17:17:56.652Z,1755883076.652 [DAT](INFO): DAT read: 17:17:56.6196 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 418, 0.29,-0.808,-2.370,-0.317,-0.837, PHS= 0.131,-1.489, 0.476, RAW= 159.5,   9.7, CAL= 159.4,  10.5, ROT= 350.6, -10.5

2025-08-22T17:17:56.653Z,1755883076.653 [DAT](INFO): got valid direction response:
 17:17:56.6196 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 418, 0.29,-0.808,-2.370,-0.317,-0.837, PHS= 0.131,-1.489, 0.476, RAW= 159.5,   9.7, CAL= 159.4,  10.5, ROT= 350.6, -10.5

2025-08-22T17:17:56.655Z,1755883076.655 [DAT](INFO): DAT read: Bearing 157.6,  -8.5 (Local)

2025-08-22T17:17:56.657Z,1755883076.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -8.5 (Local)

2025-08-22T17:17:56.665Z,1755883076.665 [DAT](INFO): DAT read: Range 11 to 50 : 134.0 m  (Round-trip  178.7 ms) speed  0.4 m/s

2025-08-22T17:17:56.667Z,1755883076.667 [DAT](INFO): DAT read: user:582>

2025-08-22T17:17:56.669Z,1755883076.669 [DAT](INFO): DAT read: Tx time:17:17:57.7368

2025-08-22T17:17:56.674Z,1755883076.674 [DAT](INFO): Ping request sent.
2025-08-22T17:17:56.674Z,1755883076.674 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:17:56.675Z,1755883076.675 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:17:56.676Z,1755883076.676 [DAT](INFO): direction in FSK: [0.970052,-0.160591,0.182236]
2025-08-22T17:17:56.677Z,1755883076.677 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:56.677Z,1755883076.677 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:56.691Z,1755883076.691 [DAT](INFO): publishing transmit ping time
2025-08-22T17:17:56.691Z,1755883076.691 [DAT](INFO): publishing direction and range info
2025-08-22T17:17:56.860Z,1755883076.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.000000 m,
      deltaT: 3.777536 s,
      deltaX: -2.000000 m,
      approachRate: -0.529446 m/s,
      rangeRepo size: 4

2025-08-22T17:17:56.866Z,1755883076.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.145645 m,
      bearing: 332.261784 deg,
      lat: 36.779518 deg,
      lon: -121.859568 deg,
      deltaT: 3.777536 s,
      deltaX: -1.987869 m,
      approachRate: -0.526234 m/s,
      posRepo size: 4

2025-08-22T17:17:56.867Z,1755883076.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:56.869Z,1755883076.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 130.838379 m,
      bearing: 333.756569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018986 deg/s,
      cmd heading: 342.148218 deg,
      new cmd heading: 342.171455 deg.

2025-08-22T17:17:56.874Z,1755883076.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972019 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:57.221Z,1755883077.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:57.224Z,1755883077.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:57.226Z,1755883077.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 130.647171 m,
      bearing: 333.763414 deg,
      approach rate: -0.524310 m/s,
      LOS rate: 0.018797 deg/s,
      cmd heading: 342.171468 deg,
      new cmd heading: 342.185178 deg.

2025-08-22T17:17:57.227Z,1755883077.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972258 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:57.402Z,1755883077.402 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:17:57.403Z,1755883077.403 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:17:57.403Z,1755883077.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:17:57.655Z,1755883077.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980820
2025-08-22T17:17:57.722Z,1755883077.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:57.725Z,1755883077.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 130.386261 m,
      bearing: 333.771291 deg,
      approach rate: -0.523323 m/s,
      LOS rate: 0.015831 deg/s,
      cmd heading: 342.185183 deg,
      new cmd heading: 342.200968 deg.

2025-08-22T17:17:57.730Z,1755883077.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972534 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:57.734Z,1755883077.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:17:57.907Z,1755883077.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232748
2025-08-22T17:17:58.079Z,1755883078.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:58.082Z,1755883078.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 130.188324 m,
      bearing: 333.777276 deg,
      approach rate: -0.554267 m/s,
      LOS rate: 0.016785 deg/s,
      cmd heading: 342.200974 deg,
      new cmd heading: 342.212962 deg.

2025-08-22T17:17:58.083Z,1755883078.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972743 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:58.162Z,1755883078.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487603
2025-08-22T17:17:58.410Z,1755883078.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736749
2025-08-22T17:17:58.456Z,1755883078.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:58.459Z,1755883078.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 129.986282 m,
      bearing: 333.783404 deg,
      approach rate: -0.536035 m/s,
      LOS rate: 0.016283 deg/s,
      cmd heading: 342.212968 deg,
      new cmd heading: 342.225243 deg.

2025-08-22T17:17:58.460Z,1755883078.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972957 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:58.664Z,1755883078.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990239
2025-08-22T17:17:58.738Z,1755883078.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:17:58.878Z,1755883078.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:58.881Z,1755883078.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 129.771500 m,
      bearing: 333.790563 deg,
      approach rate: -0.508805 m/s,
      LOS rate: 0.016988 deg/s,
      cmd heading: 342.225235 deg,
      new cmd heading: 342.239577 deg.

2025-08-22T17:17:58.882Z,1755883078.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973207 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:58.915Z,1755883078.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241304
2025-08-22T17:17:59.168Z,1755883079.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493914
2025-08-22T17:17:59.259Z,1755883079.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:17:59.261Z,1755883079.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:59.264Z,1755883079.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 129.576965 m,
      bearing: 333.797102 deg,
      approach rate: -0.508387 m/s,
      LOS rate: 0.017112 deg/s,
      cmd heading: 342.239578 deg,
      new cmd heading: 342.252675 deg.

2025-08-22T17:17:59.265Z,1755883079.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973436 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:59.419Z,1755883079.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744765
2025-08-22T17:17:59.671Z,1755883079.671 [DAT](INFO): DAT read: Rx Time:17:18:00.3168

2025-08-22T17:17:59.672Z,1755883079.672 [DAT](INFO): Rx dataTimestamp_ set to:1755883079.671814
2025-08-22T17:17:59.674Z,1755883079.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999599
2025-08-22T17:17:59.747Z,1755883079.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:17:59.750Z,1755883079.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 129.323517 m,
      bearing: 333.803860 deg,
      approach rate: -0.521364 m/s,
      LOS rate: 0.013931 deg/s,
      cmd heading: 342.252665 deg,
      new cmd heading: 342.266209 deg.

2025-08-22T17:17:59.751Z,1755883079.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973672 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:17:59.922Z,1755883079.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248716
2025-08-22T17:18:00.078Z,1755883080.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.15 m.
2025-08-22T17:18:00.081Z,1755883080.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.145645 m,
      nav range: 129.150375 m,
      bearing: 333.808490 deg,
      approach rate: -0.523597 m/s,
      LOS rate: 0.014020 deg/s,
      cmd heading: 342.266216 deg,
      new cmd heading: 342.275488 deg.

2025-08-22T17:18:00.082Z,1755883080.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973834 target range: 133.145645 and range: 134.00 m.
2025-08-22T17:18:00.179Z,1755883080.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504771
2025-08-22T17:18:00.432Z,1755883080.432 [DAT](INFO): DAT read: 17:18:00.3168 LVL= 30704, 32113, 27682, 32755, AGC= 67, IDX= 407, 0.34,-0.582,-2.128,-0.086,-0.588, PHS= 0.109,-1.495, 0.459, RAW= 159.7,  10.3, CAL= 159.7,  11.2, ROT= 350.3, -11.2

2025-08-22T17:18:00.433Z,1755883080.433 [DAT](INFO): got valid direction response:
 17:18:00.3168 LVL= 30704, 32113, 27682, 32755, AGC= 67, IDX= 407, 0.34,-0.582,-2.128,-0.086,-0.588, PHS= 0.109,-1.495, 0.459, RAW= 159.7,  10.3, CAL= 159.7,  11.2, ROT= 350.3, -11.2

2025-08-22T17:18:00.434Z,1755883080.434 [DAT](INFO): DAT read: Bearing 158.3,  -9.3 (Local)

2025-08-22T17:18:00.435Z,1755883080.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -9.3 (Local)

2025-08-22T17:18:00.436Z,1755883080.436 [DAT](INFO): DAT read: Range 11 to 50 : 132.0 m  (Round-trip  176.0 ms) speed  0.4 m/s

2025-08-22T17:18:00.437Z,1755883080.437 [DAT](INFO): DAT read: user:583>

2025-08-22T17:18:00.438Z,1755883080.438 [DAT](INFO): DAT read: Tx time:17:18:01.4367

2025-08-22T17:18:00.438Z,1755883080.438 [DAT](INFO): Ping request sent.
2025-08-22T17:18:00.438Z,1755883080.438 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:00.438Z,1755883080.438 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:00.439Z,1755883080.439 [DAT](INFO): direction in FSK: [0.966931,-0.165281,0.194234]
2025-08-22T17:18:00.439Z,1755883080.439 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:00.440Z,1755883080.440 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:00.449Z,1755883080.449 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:00.450Z,1755883080.450 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:00.579Z,1755883080.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.000000 m,
      deltaT: 3.779941 s,
      deltaX: -2.000000 m,
      approachRate: -0.529109 m/s,
      rangeRepo size: 4

2025-08-22T17:18:00.581Z,1755883080.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.157349 m,
      bearing: 331.969264 deg,
      lat: 36.779507 deg,
      lon: -121.859599 deg,
      deltaT: 3.779941 s,
      deltaX: -1.988297 m,
      approachRate: -0.526013 m/s,
      posRepo size: 4

2025-08-22T17:18:00.592Z,1755883080.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:00.609Z,1755883080.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 129.069229 m,
      bearing: 332.476949 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014020 deg/s,
      cmd heading: 342.275478 deg,
      new cmd heading: 342.289272 deg.

2025-08-22T17:18:00.621Z,1755883080.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974075 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:01.072Z,1755883081.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:01.079Z,1755883081.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 128.808395 m,
      bearing: 332.478325 deg,
      approach rate: -0.519538 m/s,
      LOS rate: 0.002747 deg/s,
      cmd heading: 342.289275 deg,
      new cmd heading: 342.292033 deg.

2025-08-22T17:18:01.080Z,1755883081.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974123 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:01.403Z,1755883081.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:01.405Z,1755883081.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:01.428Z,1755883081.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 128.618713 m,
      bearing: 332.479232 deg,
      approach rate: -0.569484 m/s,
      LOS rate: 0.002728 deg/s,
      cmd heading: 342.292034 deg,
      new cmd heading: 342.293852 deg.

2025-08-22T17:18:01.429Z,1755883081.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974155 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:01.434Z,1755883081.434 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:01.434Z,1755883081.434 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:01.435Z,1755883081.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:01.687Z,1755883081.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249227
2025-08-22T17:18:01.858Z,1755883081.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:01.865Z,1755883081.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 128.397232 m,
      bearing: 332.481313 deg,
      approach rate: -0.489597 m/s,
      LOS rate: 0.004608 deg/s,
      cmd heading: 342.293865 deg,
      new cmd heading: 342.298034 deg.

2025-08-22T17:18:01.866Z,1755883081.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974228 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:01.939Z,1755883081.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500553
2025-08-22T17:18:02.191Z,1755883082.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752628
2025-08-22T17:18:02.222Z,1755883082.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:02.225Z,1755883082.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 128.203140 m,
      bearing: 332.482929 deg,
      approach rate: -0.531466 m/s,
      LOS rate: 0.004430 deg/s,
      cmd heading: 342.298045 deg,
      new cmd heading: 342.301280 deg.

2025-08-22T17:18:02.226Z,1755883082.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974284 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:02.443Z,1755883082.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004596
2025-08-22T17:18:02.690Z,1755883082.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:02.693Z,1755883082.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 127.997818 m,
      bearing: 332.484660 deg,
      approach rate: -0.438713 m/s,
      LOS rate: 0.003705 deg/s,
      cmd heading: 342.301269 deg,
      new cmd heading: 342.304737 deg.

2025-08-22T17:18:02.695Z,1755883082.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256830
2025-08-22T17:18:02.698Z,1755883082.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974345 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:02.946Z,1755883082.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508484
2025-08-22T17:18:03.056Z,1755883083.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:03.079Z,1755883083.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 127.769913 m,
      bearing: 332.481597 deg,
      approach rate: -0.623641 m/s,
      LOS rate: -0.008397 deg/s,
      cmd heading: 342.304738 deg,
      new cmd heading: 342.298601 deg.

2025-08-22T17:18:03.080Z,1755883083.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974237 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:03.200Z,1755883083.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761899
2025-08-22T17:18:03.423Z,1755883083.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:03.425Z,1755883083.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:03.428Z,1755883083.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 127.574509 m,
      bearing: 332.478874 deg,
      approach rate: -0.529537 m/s,
      LOS rate: -0.007391 deg/s,
      cmd heading: 342.298591 deg,
      new cmd heading: 342.293137 deg.

2025-08-22T17:18:03.429Z,1755883083.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974142 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:03.451Z,1755883083.451 [DAT](INFO): DAT read: Rx Time:17:18:04.0143

2025-08-22T17:18:03.451Z,1755883083.451 [DAT](INFO): Rx dataTimestamp_ set to:1755883083.450797
2025-08-22T17:18:03.452Z,1755883083.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013640
2025-08-22T17:18:03.706Z,1755883083.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267105
2025-08-22T17:18:03.951Z,1755883083.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.16 m.
2025-08-22T17:18:03.960Z,1755883083.960 [DAT](INFO): DAT read: 17:18:04.0143 LVL= 24048, 31809, 19346, 32755, AGC= 67, IDX= 413, 0.13, 2.405, 0.785, 2.904, 2.390, PHS= 0.117,-1.560, 0.470, RAW= 159.4,  10.4, CAL= 159.4,  11.3, ROT= 350.6, -11.3

2025-08-22T17:18:03.961Z,1755883083.961 [DAT](INFO): got valid direction response:
 17:18:04.0143 LVL= 24048, 31809, 19346, 32755, AGC= 67, IDX= 413, 0.13, 2.405, 0.785, 2.904, 2.390, PHS= 0.117,-1.560, 0.470, RAW= 159.4,  10.4, CAL= 159.4,  11.3, ROT= 350.6, -11.3

2025-08-22T17:18:03.962Z,1755883083.962 [DAT](INFO): DAT read: Bearing 158.7,  -9.2 (Local)

2025-08-22T17:18:03.963Z,1755883083.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.7,  -9.2 (Local)

2025-08-22T17:18:03.964Z,1755883083.964 [DAT](INFO): DAT read: Range 11 to 50 : 130.1 m  (Round-trip  173.5 ms) speed  0.4 m/s

2025-08-22T17:18:03.965Z,1755883083.965 [DAT](INFO): DAT read: user:584>

2025-08-22T17:18:03.966Z,1755883083.966 [DAT](INFO): DAT read: Tx time:17:18:05.1367

2025-08-22T17:18:03.966Z,1755883083.966 [DAT](INFO): Ping request sent.
2025-08-22T17:18:03.966Z,1755883083.966 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:03.966Z,1755883083.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:03.967Z,1755883083.967 [DAT](INFO): direction in FSK: [0.967447,-0.160160,0.195946]
2025-08-22T17:18:03.967Z,1755883083.967 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:03.968Z,1755883083.968 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:03.970Z,1755883083.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.157349 m,
      nav range: 127.301544 m,
      bearing: 332.474513 deg,
      approach rate: -0.518845 m/s,
      LOS rate: -0.008308 deg/s,
      cmd heading: 342.293127 deg,
      new cmd heading: 342.284386 deg.

2025-08-22T17:18:03.971Z,1755883083.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973989 target range: 131.157349 and range: 132.00 m.
2025-08-22T17:18:03.973Z,1755883083.973 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:03.973Z,1755883083.973 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:04.450Z,1755883084.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.100006 m,
      deltaT: 3.528135 s,
      deltaX: -1.899994 m,
      approachRate: -0.538526 m/s,
      rangeRepo size: 4

2025-08-22T17:18:04.452Z,1755883084.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.269196 m,
      bearing: 332.604508 deg,
      lat: 36.779507 deg,
      lon: -121.859599 deg,
      deltaT: 3.528135 s,
      deltaX: -1.888153 m,
      approachRate: -0.535170 m/s,
      posRepo size: 4

2025-08-22T17:18:04.453Z,1755883084.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:04.456Z,1755883084.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 127.045418 m,
      bearing: 332.470185 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008308 deg/s,
      cmd heading: 342.284384 deg,
      new cmd heading: 342.276108 deg.

2025-08-22T17:18:04.457Z,1755883084.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973845 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:04.899Z,1755883084.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:04.902Z,1755883084.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 126.804993 m,
      bearing: 332.466797 deg,
      approach rate: -0.533888 m/s,
      LOS rate: -0.007537 deg/s,
      cmd heading: 342.276106 deg,
      new cmd heading: 342.269318 deg.

2025-08-22T17:18:04.903Z,1755883084.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973727 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:05.274Z,1755883085.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:05.277Z,1755883085.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 126.607285 m,
      bearing: 332.463884 deg,
      approach rate: -0.528893 m/s,
      LOS rate: -0.007805 deg/s,
      cmd heading: 342.269331 deg,
      new cmd heading: 342.263495 deg.

2025-08-22T17:18:05.278Z,1755883085.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973625 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:05.748Z,1755883085.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:05.755Z,1755883085.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:05.761Z,1755883085.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 126.376579 m,
      bearing: 332.460499 deg,
      approach rate: -0.479230 m/s,
      LOS rate: -0.007046 deg/s,
      cmd heading: 342.263484 deg,
      new cmd heading: 342.256700 deg.

2025-08-22T17:18:05.762Z,1755883085.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973506 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:05.970Z,1755883085.970 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:05.970Z,1755883085.970 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:05.971Z,1755883085.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:06.136Z,1755883086.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:06.140Z,1755883086.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 126.147827 m,
      bearing: 332.457479 deg,
      approach rate: -0.599733 m/s,
      LOS rate: -0.007930 deg/s,
      cmd heading: 342.256709 deg,
      new cmd heading: 342.250659 deg.

2025-08-22T17:18:06.141Z,1755883086.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973401 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:06.222Z,1755883086.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256464
2025-08-22T17:18:06.475Z,1755883086.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508578
2025-08-22T17:18:06.536Z,1755883086.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:06.544Z,1755883086.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 125.938049 m,
      bearing: 332.454676 deg,
      approach rate: -0.524829 m/s,
      LOS rate: -0.007025 deg/s,
      cmd heading: 342.250671 deg,
      new cmd heading: 342.245055 deg.

2025-08-22T17:18:06.545Z,1755883086.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973303 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:06.729Z,1755883086.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762949
2025-08-22T17:18:06.939Z,1755883086.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:06.942Z,1755883086.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 125.720566 m,
      bearing: 332.451975 deg,
      approach rate: -0.539815 m/s,
      LOS rate: -0.006715 deg/s,
      cmd heading: 342.245043 deg,
      new cmd heading: 342.239632 deg.

2025-08-22T17:18:06.942Z,1755883086.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973208 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:06.979Z,1755883086.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012645
2025-08-22T17:18:07.231Z,1755883087.231 [DAT](INFO): DAT read: Rx Time:17:18:07.7117

2025-08-22T17:18:07.231Z,1755883087.231 [DAT](INFO): Rx dataTimestamp_ set to:1755883087.230754
2025-08-22T17:18:07.232Z,1755883087.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265589
2025-08-22T17:18:07.330Z,1755883087.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.27 m.
2025-08-22T17:18:07.333Z,1755883087.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.269196 m,
      nav range: 125.513817 m,
      bearing: 332.449357 deg,
      approach rate: -0.528639 m/s,
      LOS rate: -0.006705 deg/s,
      cmd heading: 342.239633 deg,
      new cmd heading: 342.234388 deg.

2025-08-22T17:18:07.334Z,1755883087.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973117 target range: 129.269196 and range: 130.10 m.
2025-08-22T17:18:07.483Z,1755883087.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516550
2025-08-22T17:18:07.752Z,1755883087.752 [DAT](INFO): DAT read: 17:18:07.7117 LVL= 32752, 32753, 27330, 32755, AGC= 67, IDX= 418, 0.37,-2.931, 1.763,-2.408,-2.949, PHS= 0.119,-1.526, 0.497, RAW= 160.1,   9.8, CAL= 160.0,  10.5, ROT= 350.0, -10.5

2025-08-22T17:18:07.756Z,1755883087.756 [DAT](INFO): got valid direction response:
 17:18:07.7117 LVL= 32752, 32753, 27330, 32755, AGC= 67, IDX= 418, 0.37,-2.931, 1.763,-2.408,-2.949, PHS= 0.119,-1.526, 0.497, RAW= 160.1,   9.8, CAL= 160.0,  10.5, ROT= 350.0, -10.5

2025-08-22T17:18:07.759Z,1755883087.759 [DAT](INFO): DAT read: Bearing 158.1, -10.6 (Local)

2025-08-22T17:18:07.760Z,1755883087.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1, -10.6 (Local)

2025-08-22T17:18:07.772Z,1755883087.772 [DAT](INFO): DAT read: Range 11 to 50 : 128.1 m  (Round-trip  170.8 ms) speed  0.6 m/s

2025-08-22T17:18:07.776Z,1755883087.776 [DAT](INFO): DAT read: user:585>

2025-08-22T17:18:07.777Z,1755883087.777 [DAT](INFO): DAT read: Tx time:17:18:08.8367

2025-08-22T17:18:07.790Z,1755883087.790 [DAT](INFO): Ping request sent.
2025-08-22T17:18:07.790Z,1755883087.790 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:07.791Z,1755883087.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:07.792Z,1755883087.792 [DAT](INFO): direction in FSK: [0.968317,-0.170740,0.182236]
2025-08-22T17:18:07.792Z,1755883087.792 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:07.792Z,1755883087.792 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:07.808Z,1755883087.808 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:07.809Z,1755883087.809 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:07.906Z,1755883087.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.100006 m,
      deltaT: 3.780978 s,
      deltaX: -2.000000 m,
      approachRate: -0.528964 m/s,
      rangeRepo size: 4

2025-08-22T17:18:07.908Z,1755883087.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.281868 m,
      bearing: 332.241659 deg,
      lat: 36.779507 deg,
      lon: -121.859604 deg,
      deltaT: 3.780978 s,
      deltaX: -1.987328 m,
      approachRate: -0.525612 m/s,
      posRepo size: 4

2025-08-22T17:18:07.909Z,1755883087.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:07.928Z,1755883087.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 125.438560 m,
      bearing: 332.265468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006705 deg/s,
      cmd heading: 342.234387 deg,
      new cmd heading: 342.226726 deg.

2025-08-22T17:18:07.929Z,1755883087.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972983 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:08.278Z,1755883088.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:08.280Z,1755883088.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:08.282Z,1755883088.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 125.225876 m,
      bearing: 332.265396 deg,
      approach rate: -0.561815 m/s,
      LOS rate: -0.000191 deg/s,
      cmd heading: 342.226738 deg,
      new cmd heading: 342.226593 deg.

2025-08-22T17:18:08.283Z,1755883088.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972981 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:08.490Z,1755883088.490 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:08.490Z,1755883088.490 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:08.491Z,1755883088.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:08.707Z,1755883088.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:08.716Z,1755883088.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 125.009079 m,
      bearing: 332.265380 deg,
      approach rate: -0.506711 m/s,
      LOS rate: -0.000038 deg/s,
      cmd heading: 342.226601 deg,
      new cmd heading: 342.226569 deg.

2025-08-22T17:18:08.720Z,1755883088.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972980 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:08.746Z,1755883088.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.954690
2025-08-22T17:18:08.995Z,1755883088.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.205190
2025-08-22T17:18:09.119Z,1755883089.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:09.125Z,1755883089.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 124.781990 m,
      bearing: 332.266959 deg,
      approach rate: -0.551807 m/s,
      LOS rate: 0.003844 deg/s,
      cmd heading: 342.226574 deg,
      new cmd heading: 342.229737 deg.

2025-08-22T17:18:09.143Z,1755883089.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973036 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:09.247Z,1755883089.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456304
2025-08-22T17:18:09.499Z,1755883089.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708344
2025-08-22T17:18:09.526Z,1755883089.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:09.528Z,1755883089.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 124.580864 m,
      bearing: 332.268319 deg,
      approach rate: -0.494775 m/s,
      LOS rate: 0.003351 deg/s,
      cmd heading: 342.229743 deg,
      new cmd heading: 342.232467 deg.

2025-08-22T17:18:09.530Z,1755883089.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973083 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:09.754Z,1755883089.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962451
2025-08-22T17:18:09.983Z,1755883089.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:09.986Z,1755883089.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 124.322006 m,
      bearing: 332.270462 deg,
      approach rate: -0.565640 m/s,
      LOS rate: 0.004693 deg/s,
      cmd heading: 342.232475 deg,
      new cmd heading: 342.236770 deg.

2025-08-22T17:18:09.987Z,1755883089.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973158 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:10.003Z,1755883090.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212273
2025-08-22T17:18:10.255Z,1755883090.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464286
2025-08-22T17:18:10.317Z,1755883090.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:10.319Z,1755883090.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:10.322Z,1755883090.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 124.141220 m,
      bearing: 332.271942 deg,
      approach rate: -0.538448 m/s,
      LOS rate: 0.004416 deg/s,
      cmd heading: 342.236764 deg,
      new cmd heading: 342.239729 deg.

2025-08-22T17:18:10.323Z,1755883090.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973210 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:10.507Z,1755883090.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716288
2025-08-22T17:18:10.733Z,1755883090.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:10.736Z,1755883090.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 123.921730 m,
      bearing: 332.273727 deg,
      approach rate: -0.530597 m/s,
      LOS rate: 0.004322 deg/s,
      cmd heading: 342.239742 deg,
      new cmd heading: 342.243318 deg.

2025-08-22T17:18:10.736Z,1755883090.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973273 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:10.762Z,1755883090.762 [DAT](INFO): DAT read: Rx Time:17:18:11.4090

2025-08-22T17:18:10.763Z,1755883090.763 [DAT](INFO): Rx dataTimestamp_ set to:1755883090.762138
2025-08-22T17:18:10.765Z,1755883090.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974141
2025-08-22T17:18:11.011Z,1755883091.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220728
2025-08-22T17:18:11.194Z,1755883091.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m.
2025-08-22T17:18:11.197Z,1755883091.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.281868 m,
      nav range: 123.694954 m,
      bearing: 332.276959 deg,
      approach rate: -0.496542 m/s,
      LOS rate: 0.007090 deg/s,
      cmd heading: 342.243321 deg,
      new cmd heading: 342.249798 deg.

2025-08-22T17:18:11.202Z,1755883091.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973386 target range: 127.281868 and range: 128.10 m.
2025-08-22T17:18:11.266Z,1755883091.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475122
2025-08-22T17:18:11.520Z,1755883091.520 [DAT](INFO): DAT read: 17:18:11.4090 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.40, 2.313, 0.803, 2.878, 2.381, PHS= 0.034,-1.534, 0.452, RAW= 161.5,  11.5, CAL= 161.7,  12.9, ROT= 348.3, -12.9

2025-08-22T17:18:11.521Z,1755883091.521 [DAT](INFO): got valid direction response:
 17:18:11.4090 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.40, 2.313, 0.803, 2.878, 2.381, PHS= 0.034,-1.534, 0.452, RAW= 161.5,  11.5, CAL= 161.7,  12.9, ROT= 348.3, -12.9

2025-08-22T17:18:11.522Z,1755883091.522 [DAT](INFO): DAT read: Bearing 160.9, -13.2 (Local)

2025-08-22T17:18:11.523Z,1755883091.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9, -13.2 (Local)

2025-08-22T17:18:11.524Z,1755883091.524 [DAT](INFO): DAT read: Range 11 to 50 : 126.2 m  (Round-trip  168.3 ms) speed  0.4 m/s

2025-08-22T17:18:11.525Z,1755883091.525 [DAT](INFO): DAT read: user:586>

2025-08-22T17:18:11.525Z,1755883091.525 [DAT](INFO): DAT read: Tx time:17:18:12.5366

2025-08-22T17:18:11.526Z,1755883091.526 [DAT](INFO): Ping request sent.
2025-08-22T17:18:11.526Z,1755883091.526 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:11.526Z,1755883091.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:11.527Z,1755883091.527 [DAT](INFO): direction in FSK: [0.954508,-0.197670,0.223250]
2025-08-22T17:18:11.527Z,1755883091.527 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:11.528Z,1755883091.528 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:11.539Z,1755883091.539 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:11.540Z,1755883091.540 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:11.608Z,1755883091.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.199997 m,
      deltaT: 3.778854 s,
      deltaX: -1.900009 m,
      approachRate: -0.502800 m/s,
      rangeRepo size: 4

2025-08-22T17:18:11.619Z,1755883091.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.392784 m,
      bearing: 330.588275 deg,
      lat: 36.779507 deg,
      lon: -121.859607 deg,
      deltaT: 3.778854 s,
      deltaX: -1.889084 m,
      approachRate: -0.499909 m/s,
      posRepo size: 4

2025-08-22T17:18:11.619Z,1755883091.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:11.626Z,1755883091.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 123.605385 m,
      bearing: 332.179441 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007090 deg/s,
      cmd heading: 342.249796 deg,
      new cmd heading: 342.255729 deg.

2025-08-22T17:18:11.627Z,1755883091.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973489 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:12.033Z,1755883092.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:12.036Z,1755883092.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 123.359467 m,
      bearing: 332.184138 deg,
      approach rate: -0.578333 m/s,
      LOS rate: 0.011068 deg/s,
      cmd heading: 342.255725 deg,
      new cmd heading: 342.265138 deg.

2025-08-22T17:18:12.037Z,1755883092.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973654 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:12.377Z,1755883092.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:12.395Z,1755883092.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:12.402Z,1755883092.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 123.163719 m,
      bearing: 332.187914 deg,
      approach rate: -0.540462 m/s,
      LOS rate: 0.010442 deg/s,
      cmd heading: 342.265151 deg,
      new cmd heading: 342.272714 deg.

2025-08-22T17:18:12.403Z,1755883092.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973786 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:12.522Z,1755883092.522 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:12.522Z,1755883092.522 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:12.523Z,1755883092.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:12.778Z,1755883092.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251004
2025-08-22T17:18:12.849Z,1755883092.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:12.856Z,1755883092.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 122.919151 m,
      bearing: 332.192624 deg,
      approach rate: -0.538597 m/s,
      LOS rate: 0.010393 deg/s,
      cmd heading: 342.272718 deg,
      new cmd heading: 342.282157 deg.

2025-08-22T17:18:12.857Z,1755883092.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973950 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:13.027Z,1755883093.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500961
2025-08-22T17:18:13.280Z,1755883093.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753816
2025-08-22T17:18:13.367Z,1755883093.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:13.369Z,1755883093.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 122.632874 m,
      bearing: 332.200147 deg,
      approach rate: -0.553367 m/s,
      LOS rate: 0.014575 deg/s,
      cmd heading: 342.282144 deg,
      new cmd heading: 342.297225 deg.

2025-08-22T17:18:13.390Z,1755883093.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974214 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:13.530Z,1755883093.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004623
2025-08-22T17:18:13.784Z,1755883093.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257495
2025-08-22T17:18:13.887Z,1755883093.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:13.889Z,1755883093.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 122.370132 m,
      bearing: 332.207126 deg,
      approach rate: -0.505300 m/s,
      LOS rate: 0.013450 deg/s,
      cmd heading: 342.297225 deg,
      new cmd heading: 342.311213 deg.

2025-08-22T17:18:13.894Z,1755883093.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974458 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:14.035Z,1755883094.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508660
2025-08-22T17:18:14.287Z,1755883094.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760729
2025-08-22T17:18:14.320Z,1755883094.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:14.323Z,1755883094.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 122.136589 m,
      bearing: 332.213305 deg,
      approach rate: -0.538964 m/s,
      LOS rate: 0.014288 deg/s,
      cmd heading: 342.311213 deg,
      new cmd heading: 342.323596 deg.

2025-08-22T17:18:14.324Z,1755883094.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974674 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:14.539Z,1755883094.539 [DAT](INFO): DAT read: Rx Time:17:18:15.1065

2025-08-22T17:18:14.540Z,1755883094.540 [DAT](INFO): Rx dataTimestamp_ set to:1755883094.539411
2025-08-22T17:18:14.541Z,1755883094.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014731
2025-08-22T17:18:14.716Z,1755883094.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:14.719Z,1755883094.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.39 m.
2025-08-22T17:18:14.722Z,1755883094.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.392784 m,
      nav range: 121.934448 m,
      bearing: 332.218850 deg,
      approach rate: -0.506645 m/s,
      LOS rate: 0.013920 deg/s,
      cmd heading: 342.323590 deg,
      new cmd heading: 342.334697 deg.

2025-08-22T17:18:14.723Z,1755883094.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974868 target range: 125.392784 and range: 126.20 m.
2025-08-22T17:18:14.791Z,1755883094.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264830
2025-08-22T17:18:15.048Z,1755883095.048 [DAT](INFO): DAT read: 17:18:15.1065 LVL= 30000, 32753, 25074, 32755, AGC= 67, IDX= 414, 0.19,-1.421,-2.922,-0.817,-1.325, PHS= 0.006,-1.552, 0.464, RAW= 162.5,  11.8, CAL= 162.7,  13.4, ROT= 347.3, -13.4

2025-08-22T17:18:15.049Z,1755883095.049 [DAT](INFO): got valid direction response:
 17:18:15.1065 LVL= 30000, 32753, 25074, 32755, AGC= 67, IDX= 414, 0.19,-1.421,-2.922,-0.817,-1.325, PHS= 0.006,-1.552, 0.464, RAW= 162.5,  11.8, CAL= 162.7,  13.4, ROT= 347.3, -13.4

2025-08-22T17:18:15.059Z,1755883095.059 [DAT](INFO): DAT read: Bearing 161.6, -14.9 (Local)

2025-08-22T17:18:15.059Z,1755883095.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6, -14.9 (Local)

2025-08-22T17:18:15.061Z,1755883095.061 [DAT](INFO): DAT read: Range 11 to 50 : 124.3 m  (Round-trip  165.8 ms) speed  0.4 m/s

2025-08-22T17:18:15.070Z,1755883095.070 [DAT](INFO): DAT read: user:587>

2025-08-22T17:18:15.071Z,1755883095.071 [DAT](INFO): DAT read: Tx time:17:18:16.2366

2025-08-22T17:18:15.071Z,1755883095.071 [DAT](INFO): Ping request sent.
2025-08-22T17:18:15.071Z,1755883095.071 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:15.073Z,1755883095.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:15.142Z,1755883095.142 [DAT](INFO): direction in FSK: [0.948976,-0.213861,0.231748]
2025-08-22T17:18:15.142Z,1755883095.142 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:15.142Z,1755883095.142 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:15.160Z,1755883095.160 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:15.160Z,1755883095.160 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:15.302Z,1755883095.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.300003 m,
      deltaT: 3.527981 s,
      deltaX: -1.899994 m,
      approachRate: -0.538550 m/s,
      rangeRepo size: 4

2025-08-22T17:18:15.304Z,1755883095.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.504799 m,
      bearing: 329.499741 deg,
      lat: 36.779502 deg,
      lon: -121.859611 deg,
      deltaT: 3.527981 s,
      deltaX: -1.887985 m,
      approachRate: -0.535146 m/s,
      posRepo size: 4

2025-08-22T17:18:15.305Z,1755883095.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:15.312Z,1755883095.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 121.339539 m,
      bearing: 331.974588 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013920 deg/s,
      cmd heading: 342.334709 deg,
      new cmd heading: 342.350801 deg.

2025-08-22T17:18:15.313Z,1755883095.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975149 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:15.661Z,1755883095.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:15.664Z,1755883095.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 121.140182 m,
      bearing: 331.976231 deg,
      approach rate: -0.547791 m/s,
      LOS rate: 0.004522 deg/s,
      cmd heading: 342.350801 deg,
      new cmd heading: 342.354092 deg.

2025-08-22T17:18:15.665Z,1755883095.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975206 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:16.070Z,1755883096.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:16.072Z,1755883096.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 120.928925 m,
      bearing: 331.978543 deg,
      approach rate: -0.517043 m/s,
      LOS rate: 0.005668 deg/s,
      cmd heading: 342.354080 deg,
      new cmd heading: 342.358711 deg.

2025-08-22T17:18:16.073Z,1755883096.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975287 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:16.457Z,1755883096.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:16.460Z,1755883096.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 120.731400 m,
      bearing: 331.980707 deg,
      approach rate: -0.509324 m/s,
      LOS rate: 0.005590 deg/s,
      cmd heading: 342.358724 deg,
      new cmd heading: 342.363060 deg.

2025-08-22T17:18:16.461Z,1755883096.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975363 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:16.909Z,1755883096.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:16.912Z,1755883096.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:16.925Z,1755883096.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 120.501671 m,
      bearing: 331.983150 deg,
      approach rate: -0.505098 m/s,
      LOS rate: 0.005382 deg/s,
      cmd heading: 342.363068 deg,
      new cmd heading: 342.367964 deg.

2025-08-22T17:18:16.935Z,1755883096.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975448 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:17.058Z,1755883097.058 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:17.058Z,1755883097.058 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:17.059Z,1755883097.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:17.299Z,1755883097.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:17.306Z,1755883097.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 120.309547 m,
      bearing: 331.983090 deg,
      approach rate: -0.496466 m/s,
      LOS rate: -0.000157 deg/s,
      cmd heading: 342.367959 deg,
      new cmd heading: 342.367837 deg.

2025-08-22T17:18:17.307Z,1755883097.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975446 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:17.311Z,1755883097.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239071
2025-08-22T17:18:17.562Z,1755883097.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490942
2025-08-22T17:18:17.687Z,1755883097.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:17.694Z,1755883097.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 120.106888 m,
      bearing: 331.982994 deg,
      approach rate: -0.522177 m/s,
      LOS rate: -0.000246 deg/s,
      cmd heading: 342.367849 deg,
      new cmd heading: 342.367658 deg.

2025-08-22T17:18:17.695Z,1755883097.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975443 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:17.815Z,1755883097.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742966
2025-08-22T17:18:18.066Z,1755883098.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994773
2025-08-22T17:18:18.114Z,1755883098.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:18.117Z,1755883098.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 119.880211 m,
      bearing: 331.982018 deg,
      approach rate: -0.531204 m/s,
      LOS rate: -0.002291 deg/s,
      cmd heading: 342.367658 deg,
      new cmd heading: 342.365702 deg.

2025-08-22T17:18:18.118Z,1755883098.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975409 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:18.318Z,1755883098.318 [DAT](INFO): DAT read: Rx Time:17:18:18.8038

2025-08-22T17:18:18.319Z,1755883098.319 [DAT](INFO): Rx dataTimestamp_ set to:1755883098.318590
2025-08-22T17:18:18.319Z,1755883098.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247875
2025-08-22T17:18:18.496Z,1755883098.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.50 m.
2025-08-22T17:18:18.498Z,1755883098.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.504799 m,
      nav range: 119.692978 m,
      bearing: 331.981199 deg,
      approach rate: -0.490465 m/s,
      LOS rate: -0.002149 deg/s,
      cmd heading: 342.365691 deg,
      new cmd heading: 342.364050 deg.

2025-08-22T17:18:18.499Z,1755883098.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975380 target range: 123.504799 and range: 124.30 m.
2025-08-22T17:18:18.571Z,1755883098.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499469
2025-08-22T17:18:18.828Z,1755883098.828 [DAT](INFO): DAT read: 17:18:18.8038 LVL= 29808, 32753, 21970, 32755, AGC= 68, IDX= 418, 0.19, 1.245,-0.300, 1.872, 1.300, PHS= 0.047,-1.555, 0.528, RAW= 162.7,  10.4, CAL= 162.7,  11.4, ROT= 347.3, -11.4

2025-08-22T17:18:18.830Z,1755883098.830 [DAT](INFO): got valid direction response:
 17:18:18.8038 LVL= 29808, 32753, 21970, 32755, AGC= 68, IDX= 418, 0.19, 1.245,-0.300, 1.872, 1.300, PHS= 0.047,-1.555, 0.528, RAW= 162.7,  10.4, CAL= 162.7,  11.4, ROT= 347.3, -11.4

2025-08-22T17:18:18.831Z,1755883098.831 [DAT](INFO): DAT read: Bearing 159.5, -15.4 (Local)

2025-08-22T17:18:18.831Z,1755883098.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5, -15.4 (Local)

2025-08-22T17:18:18.832Z,1755883098.832 [DAT](INFO): DAT read: Range 11 to 50 : 122.2 m  (Round-trip  163.0 ms) speed  0.4 m/s

2025-08-22T17:18:18.833Z,1755883098.833 [DAT](INFO): DAT read: user:588>

2025-08-22T17:18:18.834Z,1755883098.834 [DAT](INFO): DAT read: Tx time:17:18:19.8866

2025-08-22T17:18:18.834Z,1755883098.834 [DAT](INFO): Ping request sent.
2025-08-22T17:18:18.834Z,1755883098.834 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:18.835Z,1755883098.835 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:18.836Z,1755883098.836 [DAT](INFO): direction in FSK: [0.956288,-0.215509,0.197657]
2025-08-22T17:18:18.836Z,1755883098.836 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:18.836Z,1755883098.836 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:18.839Z,1755883098.839 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:18.840Z,1755883098.840 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:19.037Z,1755883099.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.199997 m,
      deltaT: 3.780409 s,
      deltaX: -2.100006 m,
      approachRate: -0.555497 m/s,
      rangeRepo size: 4

2025-08-22T17:18:19.043Z,1755883099.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.418404 m,
      bearing: 329.704629 deg,
      lat: 36.779493 deg,
      lon: -121.859641 deg,
      deltaT: 3.780409 s,
      deltaX: -2.086395 m,
      approachRate: -0.551897 m/s,
      posRepo size: 4

2025-08-22T17:18:19.044Z,1755883099.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:19.051Z,1755883099.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 119.767258 m,
      bearing: 330.587765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002149 deg/s,
      cmd heading: 342.364052 deg,
      new cmd heading: 342.361758 deg.

2025-08-22T17:18:19.052Z,1755883099.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975340 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:19.379Z,1755883099.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:19.381Z,1755883099.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:19.384Z,1755883099.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 119.580338 m,
      bearing: 330.584031 deg,
      approach rate: -0.531395 m/s,
      LOS rate: -0.010630 deg/s,
      cmd heading: 342.361757 deg,
      new cmd heading: 342.354278 deg.

2025-08-22T17:18:19.385Z,1755883099.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975209 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:19.578Z,1755883099.578 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:19.578Z,1755883099.578 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:19.579Z,1755883099.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:19.778Z,1755883099.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:19.781Z,1755883099.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 119.377632 m,
      bearing: 330.579956 deg,
      approach rate: -0.510132 m/s,
      LOS rate: -0.010273 deg/s,
      cmd heading: 342.354271 deg,
      new cmd heading: 342.346107 deg.

2025-08-22T17:18:19.782Z,1755883099.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975067 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:19.831Z,1755883099.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996458
2025-08-22T17:18:20.083Z,1755883100.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248181
2025-08-22T17:18:20.228Z,1755883100.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:20.231Z,1755883100.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 119.147980 m,
      bearing: 330.575712 deg,
      approach rate: -0.510206 m/s,
      LOS rate: -0.009447 deg/s,
      cmd heading: 342.346102 deg,
      new cmd heading: 342.337598 deg.

2025-08-22T17:18:20.232Z,1755883100.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974918 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:20.335Z,1755883100.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500040
2025-08-22T17:18:20.586Z,1755883100.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751896
2025-08-22T17:18:20.607Z,1755883100.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:20.610Z,1755883100.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 118.954887 m,
      bearing: 330.572131 deg,
      approach rate: -0.510400 m/s,
      LOS rate: -0.009481 deg/s,
      cmd heading: 342.337605 deg,
      new cmd heading: 342.330432 deg.

2025-08-22T17:18:20.611Z,1755883100.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974793 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:20.839Z,1755883100.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004140
2025-08-22T17:18:21.016Z,1755883101.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:21.019Z,1755883101.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 118.744125 m,
      bearing: 330.567785 deg,
      approach rate: -0.514872 m/s,
      LOS rate: -0.010636 deg/s,
      cmd heading: 342.330420 deg,
      new cmd heading: 342.321712 deg.

2025-08-22T17:18:21.020Z,1755883101.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974641 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:21.091Z,1755883101.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256274
2025-08-22T17:18:21.342Z,1755883101.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507971
2025-08-22T17:18:21.504Z,1755883101.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:21.507Z,1755883101.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:21.534Z,1755883101.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 118.491386 m,
      bearing: 330.562553 deg,
      approach rate: -0.515021 m/s,
      LOS rate: -0.010684 deg/s,
      cmd heading: 342.321705 deg,
      new cmd heading: 342.311219 deg.

2025-08-22T17:18:21.535Z,1755883101.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974458 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:21.595Z,1755883101.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760345
2025-08-22T17:18:21.847Z,1755883101.847 [DAT](INFO): DAT read: Rx Time:17:18:22.4514

2025-08-22T17:18:21.847Z,1755883101.847 [DAT](INFO): Rx dataTimestamp_ set to:1755883101.846857
2025-08-22T17:18:21.848Z,1755883101.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013234
2025-08-22T17:18:22.055Z,1755883102.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.42 m.
2025-08-22T17:18:22.058Z,1755883102.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.418404 m,
      nav range: 118.202614 m,
      bearing: 330.558084 deg,
      approach rate: -0.526785 m/s,
      LOS rate: -0.008173 deg/s,
      cmd heading: 342.311213 deg,
      new cmd heading: 342.302253 deg.

2025-08-22T17:18:22.059Z,1755883102.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974301 target range: 121.418404 and range: 122.20 m.
2025-08-22T17:18:22.099Z,1755883102.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264179
2025-08-22T17:18:22.363Z,1755883102.363 [DAT](INFO): DAT read: 17:18:22.4514 LVL= 29808, 30369, 23794, 32755, AGC= 69, IDX= 410, 0.07, 2.237, 0.721, 2.857, 2.357, PHS=-0.018,-1.591, 0.456, RAW= 162.8,  12.4, CAL= 163.1,  14.2, ROT= 346.9, -14.2

2025-08-22T17:18:22.364Z,1755883102.364 [DAT](INFO): got valid direction response:
 17:18:22.4514 LVL= 29808, 30369, 23794, 32755, AGC= 69, IDX= 410, 0.07, 2.237, 0.721, 2.857, 2.357, PHS=-0.018,-1.591, 0.456, RAW= 162.8,  12.4, CAL= 163.1,  14.2, ROT= 346.9, -14.2

2025-08-22T17:18:22.365Z,1755883102.365 [DAT](INFO): DAT read: Bearing 162.6, -15.4 (Local)

2025-08-22T17:18:22.365Z,1755883102.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.6, -15.4 (Local)

2025-08-22T17:18:22.403Z,1755883102.403 [DAT](INFO): DAT read: Range 11 to 50 : 120.5 m  (Round-trip  160.7 ms) speed  0.4 m/s

2025-08-22T17:18:22.404Z,1755883102.404 [DAT](INFO): DAT read: user:589>

2025-08-22T17:18:22.405Z,1755883102.405 [DAT](INFO): DAT read: Tx time:17:18:23.5366

2025-08-22T17:18:22.405Z,1755883102.405 [DAT](INFO): Ping request sent.
2025-08-22T17:18:22.405Z,1755883102.405 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:22.412Z,1755883102.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:22.415Z,1755883102.415 [DAT](INFO): direction in FSK: [0.944216,-0.219726,0.245307]
2025-08-22T17:18:22.416Z,1755883102.416 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:22.416Z,1755883102.416 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:22.478Z,1755883102.478 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:22.479Z,1755883102.479 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:22.579Z,1755883102.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.500000 m,
      deltaT: 3.529115 s,
      deltaX: -1.699997 m,
      approachRate: -0.481706 m/s,
      rangeRepo size: 4

2025-08-22T17:18:22.581Z,1755883102.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.728676 m,
      bearing: 329.206039 deg,
      lat: 36.779490 deg,
      lon: -121.859663 deg,
      deltaT: 3.529115 s,
      deltaX: -1.689728 m,
      approachRate: -0.478796 m/s,
      posRepo size: 4

2025-08-22T17:18:22.586Z,1755883102.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:22.589Z,1755883102.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 118.649834 m,
      bearing: 329.657943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008173 deg/s,
      cmd heading: 342.302252 deg,
      new cmd heading: 342.293697 deg.

2025-08-22T17:18:22.603Z,1755883102.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974152 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:23.155Z,1755883103.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:23.159Z,1755883103.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 118.326782 m,
      bearing: 329.651472 deg,
      approach rate: -0.560562 m/s,
      LOS rate: -0.011259 deg/s,
      cmd heading: 342.293701 deg,
      new cmd heading: 342.280724 deg.

2025-08-22T17:18:23.161Z,1755883103.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973926 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:23.541Z,1755883103.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:23.543Z,1755883103.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:23.546Z,1755883103.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 118.120964 m,
      bearing: 329.647247 deg,
      approach rate: -0.530045 m/s,
      LOS rate: -0.010901 deg/s,
      cmd heading: 342.280723 deg,
      new cmd heading: 342.272258 deg.

2025-08-22T17:18:23.547Z,1755883103.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973778 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:23.612Z,1755883103.612 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:23.612Z,1755883103.612 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:23.613Z,1755883103.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:23.863Z,1755883103.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457233
2025-08-22T17:18:23.983Z,1755883103.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:24.005Z,1755883104.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 117.905510 m,
      bearing: 329.642735 deg,
      approach rate: -0.495851 m/s,
      LOS rate: -0.010402 deg/s,
      cmd heading: 342.272254 deg,
      new cmd heading: 342.263215 deg.

2025-08-22T17:18:24.013Z,1755883104.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973620 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:24.116Z,1755883104.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710510
2025-08-22T17:18:24.367Z,1755883104.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961345
2025-08-22T17:18:24.374Z,1755883104.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:24.376Z,1755883104.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 117.690361 m,
      bearing: 329.638450 deg,
      approach rate: -0.543071 m/s,
      LOS rate: -0.010836 deg/s,
      cmd heading: 342.263211 deg,
      new cmd heading: 342.254625 deg.

2025-08-22T17:18:24.378Z,1755883104.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973470 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:24.620Z,1755883104.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214880
2025-08-22T17:18:24.750Z,1755883104.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:24.753Z,1755883104.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 117.499779 m,
      bearing: 329.634638 deg,
      approach rate: -0.505708 m/s,
      LOS rate: -0.010131 deg/s,
      cmd heading: 342.254632 deg,
      new cmd heading: 342.246996 deg.

2025-08-22T17:18:24.754Z,1755883104.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973337 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:24.871Z,1755883104.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465798
2025-08-22T17:18:25.123Z,1755883105.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717830
2025-08-22T17:18:25.201Z,1755883105.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:25.204Z,1755883105.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 117.255821 m,
      bearing: 329.629236 deg,
      approach rate: -0.541983 m/s,
      LOS rate: -0.012027 deg/s,
      cmd heading: 342.246982 deg,
      new cmd heading: 342.236155 deg.

2025-08-22T17:18:25.204Z,1755883105.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973148 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:25.375Z,1755883105.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969723
2025-08-22T17:18:25.555Z,1755883105.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:25.557Z,1755883105.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:25.560Z,1755883105.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 117.063171 m,
      bearing: 329.624986 deg,
      approach rate: -0.540459 m/s,
      LOS rate: -0.011942 deg/s,
      cmd heading: 342.236163 deg,
      new cmd heading: 342.227650 deg.

2025-08-22T17:18:25.561Z,1755883105.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972999 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:25.629Z,1755883105.629 [DAT](INFO): DAT read: Rx Time:17:18:26.0989

2025-08-22T17:18:25.629Z,1755883105.629 [DAT](INFO): Rx dataTimestamp_ set to:1755883105.628807
2025-08-22T17:18:25.630Z,1755883105.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224832
2025-08-22T17:18:25.878Z,1755883105.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473224
2025-08-22T17:18:26.058Z,1755883106.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.73 m.
2025-08-22T17:18:26.061Z,1755883106.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.728676 m,
      nav range: 116.818420 m,
      bearing: 329.619611 deg,
      approach rate: -0.493273 m/s,
      LOS rate: -0.010856 deg/s,
      cmd heading: 342.227639 deg,
      new cmd heading: 342.216866 deg.

2025-08-22T17:18:26.066Z,1755883106.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972811 target range: 119.728676 and range: 120.50 m.
2025-08-22T17:18:26.141Z,1755883106.141 [DAT](INFO): DAT read: 17:18:26.0989 LVL= 32400, 32753, 25026, 32755, AGC= 64, IDX= 416,-0.20,-0.853,-2.294,-0.244,-0.775, PHS= 0.024,-1.474, 0.486, RAW= 163.0,  10.9, CAL= 163.1,  12.1, ROT= 346.9, -12.1

2025-08-22T17:18:26.142Z,1755883106.142 [DAT](INFO): got valid direction response:
 17:18:26.0989 LVL= 32400, 32753, 25026, 32755, AGC= 64, IDX= 416,-0.20,-0.853,-2.294,-0.244,-0.775, PHS= 0.024,-1.474, 0.486, RAW= 163.0,  10.9, CAL= 163.1,  12.1, ROT= 346.9, -12.1

2025-08-22T17:18:26.143Z,1755883106.143 [DAT](INFO): DAT read: Bearing 160.5, -15.5 (Local)

2025-08-22T17:18:26.143Z,1755883106.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5, -15.5 (Local)

2025-08-22T17:18:26.145Z,1755883106.145 [DAT](INFO): DAT read: Range 11 to 50 : 118.6 m  (Round-trip  158.2 ms) speed  0.4 m/s

2025-08-22T17:18:26.145Z,1755883106.145 [DAT](INFO): DAT read: user:590>

2025-08-22T17:18:26.147Z,1755883106.147 [DAT](INFO): DAT read: Tx time:17:18:27.1866

2025-08-22T17:18:26.147Z,1755883106.147 [DAT](INFO): Ping request sent.
2025-08-22T17:18:26.147Z,1755883106.147 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:26.147Z,1755883106.147 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:26.148Z,1755883106.148 [DAT](INFO): direction in FSK: [0.952337,-0.221616,0.209619]
2025-08-22T17:18:26.149Z,1755883106.149 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:26.149Z,1755883106.149 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:26.153Z,1755883106.153 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:26.158Z,1755883106.158 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:26.458Z,1755883106.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.599998 m,
      deltaT: 3.779646 s,
      deltaX: -1.900002 m,
      approachRate: -0.502693 m/s,
      rangeRepo size: 4

2025-08-22T17:18:26.460Z,1755883106.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.840668 m,
      bearing: 329.286889 deg,
      lat: 36.779487 deg,
      lon: -121.859665 deg,
      deltaT: 3.779646 s,
      deltaX: -1.888008 m,
      approachRate: -0.499520 m/s,
      posRepo size: 4

2025-08-22T17:18:26.461Z,1755883106.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:26.471Z,1755883106.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 116.458374 m,
      bearing: 329.486704 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010856 deg/s,
      cmd heading: 342.216875 deg,
      new cmd heading: 342.208274 deg.

2025-08-22T17:18:26.472Z,1755883106.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972661 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:26.823Z,1755883106.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:26.826Z,1755883106.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 116.255913 m,
      bearing: 329.484499 deg,
      approach rate: -0.542406 m/s,
      LOS rate: -0.005918 deg/s,
      cmd heading: 342.208269 deg,
      new cmd heading: 342.203851 deg.

2025-08-22T17:18:26.827Z,1755883106.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972584 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:27.238Z,1755883107.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:27.241Z,1755883107.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 116.038765 m,
      bearing: 329.482073 deg,
      approach rate: -0.522641 m/s,
      LOS rate: -0.005850 deg/s,
      cmd heading: 342.203843 deg,
      new cmd heading: 342.198982 deg.

2025-08-22T17:18:27.242Z,1755883107.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972499 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:27.632Z,1755883107.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:27.635Z,1755883107.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:27.638Z,1755883107.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 115.838165 m,
      bearing: 329.479832 deg,
      approach rate: -0.505071 m/s,
      LOS rate: -0.005652 deg/s,
      cmd heading: 342.198980 deg,
      new cmd heading: 342.194490 deg.

2025-08-22T17:18:27.639Z,1755883107.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972421 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:27.642Z,1755883107.642 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:27.643Z,1755883107.643 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:27.643Z,1755883107.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:27.895Z,1755883107.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747348
2025-08-22T17:18:28.093Z,1755883108.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:28.096Z,1755883108.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 115.605644 m,
      bearing: 329.477225 deg,
      approach rate: -0.507921 m/s,
      LOS rate: -0.005707 deg/s,
      cmd heading: 342.194499 deg,
      new cmd heading: 342.189274 deg.

2025-08-22T17:18:28.097Z,1755883108.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972330 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:28.148Z,1755883108.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000890
2025-08-22T17:18:28.399Z,1755883108.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251448
2025-08-22T17:18:28.479Z,1755883108.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:28.486Z,1755883108.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 115.398148 m,
      bearing: 329.474554 deg,
      approach rate: -0.537858 m/s,
      LOS rate: -0.006935 deg/s,
      cmd heading: 342.189281 deg,
      new cmd heading: 342.183930 deg.

2025-08-22T17:18:28.487Z,1755883108.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972236 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:28.650Z,1755883108.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503285
2025-08-22T17:18:28.851Z,1755883108.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:28.854Z,1755883108.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 115.204811 m,
      bearing: 329.472069 deg,
      approach rate: -0.519936 m/s,
      LOS rate: -0.006694 deg/s,
      cmd heading: 342.183926 deg,
      new cmd heading: 342.178947 deg.

2025-08-22T17:18:28.854Z,1755883108.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972149 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:28.858Z,1755883108.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:18:28.904Z,1755883108.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756414
2025-08-22T17:18:29.155Z,1755883109.155 [DAT](INFO): DAT read: Rx Time:17:18:29.7461

2025-08-22T17:18:29.156Z,1755883109.156 [DAT](INFO): Rx dataTimestamp_ set to:1755883109.155463
2025-08-22T17:18:29.157Z,1755883109.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009393
2025-08-22T17:18:29.293Z,1755883109.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.84 m.
2025-08-22T17:18:29.308Z,1755883109.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.840668 m,
      nav range: 114.977531 m,
      bearing: 329.467175 deg,
      approach rate: -0.513931 m/s,
      LOS rate: -0.011090 deg/s,
      cmd heading: 342.178954 deg,
      new cmd heading: 342.169145 deg.

2025-08-22T17:18:29.309Z,1755883109.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971978 target range: 117.840668 and range: 118.60 m.
2025-08-22T17:18:29.407Z,1755883109.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259380
2025-08-22T17:18:29.664Z,1755883109.664 [DAT](INFO): DAT read: 17:18:29.7461 LVL= 32464, 29345, 22322, 30867, AGC= 67, IDX= 421,-0.35, 1.280,-0.303, 1.917, 1.366, PHS= 0.016,-1.624, 0.506, RAW= 162.7,  11.4, CAL= 162.9,  12.8, ROT= 347.1, -12.8

2025-08-22T17:18:29.665Z,1755883109.665 [DAT](INFO): got valid direction response:
 17:18:29.7461 LVL= 32464, 29345, 22322, 30867, AGC= 67, IDX= 421,-0.35, 1.280,-0.303, 1.917, 1.366, PHS= 0.016,-1.624, 0.506, RAW= 162.7,  11.4, CAL= 162.9,  12.8, ROT= 347.1, -12.8

2025-08-22T17:18:29.666Z,1755883109.666 [DAT](INFO): DAT read: Bearing 161.1, -15.0 (Local)

2025-08-22T17:18:29.666Z,1755883109.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.1, -15.0 (Local)

2025-08-22T17:18:29.668Z,1755883109.668 [DAT](INFO): DAT read: Range 11 to 50 : 116.6 m  (Round-trip  155.5 ms) speed  0.4 m/s

2025-08-22T17:18:29.668Z,1755883109.668 [DAT](INFO): DAT read: user:591>

2025-08-22T17:18:29.669Z,1755883109.669 [DAT](INFO): DAT read: Tx time:17:18:30.8365

2025-08-22T17:18:29.674Z,1755883109.674 [DAT](INFO): Ping request sent.
2025-08-22T17:18:29.674Z,1755883109.674 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:29.674Z,1755883109.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:29.675Z,1755883109.675 [DAT](INFO): direction in FSK: [0.950538,-0.217702,0.221548]
2025-08-22T17:18:29.675Z,1755883109.675 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:29.676Z,1755883109.676 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:29.691Z,1755883109.691 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:29.691Z,1755883109.691 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:29.820Z,1755883109.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.599998 m,
      deltaT: 3.526835 s,
      deltaX: -2.000000 m,
      approachRate: -0.567081 m/s,
      rangeRepo size: 4

2025-08-22T17:18:29.830Z,1755883109.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.852760 m,
      bearing: 329.475801 deg,
      lat: 36.779485 deg,
      lon: -121.859665 deg,
      deltaT: 3.526835 s,
      deltaX: -1.987907 m,
      approachRate: -0.563652 m/s,
      posRepo size: 4

2025-08-22T17:18:29.831Z,1755883109.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:29.837Z,1755883109.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 114.526405 m,
      bearing: 329.406647 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011090 deg/s,
      cmd heading: 342.169145 deg,
      new cmd heading: 342.157477 deg.

2025-08-22T17:18:29.838Z,1755883109.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971775 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:29.862Z,1755883109.862 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:18:30.201Z,1755883110.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:30.203Z,1755883110.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:30.206Z,1755883110.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 114.315872 m,
      bearing: 329.402739 deg,
      approach rate: -0.547743 m/s,
      LOS rate: -0.010185 deg/s,
      cmd heading: 342.157480 deg,
      new cmd heading: 342.149650 deg.

2025-08-22T17:18:30.207Z,1755883110.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971638 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:30.416Z,1755883110.416 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:30.416Z,1755883110.416 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:30.416Z,1755883110.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:30.580Z,1755883110.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:30.583Z,1755883110.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 114.119415 m,
      bearing: 329.398962 deg,
      approach rate: -0.521441 m/s,
      LOS rate: -0.010043 deg/s,
      cmd heading: 342.149638 deg,
      new cmd heading: 342.142071 deg.

2025-08-22T17:18:30.584Z,1755883110.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971506 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:30.668Z,1755883110.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993847
2025-08-22T17:18:30.918Z,1755883110.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244721
2025-08-22T17:18:30.977Z,1755883110.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:30.980Z,1755883110.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 113.912888 m,
      bearing: 329.394873 deg,
      approach rate: -0.520449 m/s,
      LOS rate: -0.010321 deg/s,
      cmd heading: 342.142071 deg,
      new cmd heading: 342.133879 deg.

2025-08-22T17:18:30.981Z,1755883110.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971363 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:31.171Z,1755883111.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497199
2025-08-22T17:18:31.403Z,1755883111.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:31.406Z,1755883111.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 113.687248 m,
      bearing: 329.387689 deg,
      approach rate: -0.529686 m/s,
      LOS rate: -0.016899 deg/s,
      cmd heading: 342.133874 deg,
      new cmd heading: 342.119477 deg.

2025-08-22T17:18:31.407Z,1755883111.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971111 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:31.427Z,1755883111.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752838
2025-08-22T17:18:31.678Z,1755883111.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004726
2025-08-22T17:18:31.876Z,1755883111.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:31.879Z,1755883111.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 113.437004 m,
      bearing: 329.379646 deg,
      approach rate: -0.529093 m/s,
      LOS rate: -0.017043 deg/s,
      cmd heading: 342.119476 deg,
      new cmd heading: 342.103355 deg.

2025-08-22T17:18:31.880Z,1755883111.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970830 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:31.931Z,1755883111.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257455
2025-08-22T17:18:32.184Z,1755883112.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510536
2025-08-22T17:18:32.305Z,1755883112.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:32.307Z,1755883112.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:32.310Z,1755883112.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 113.212662 m,
      bearing: 329.372631 deg,
      approach rate: -0.520477 m/s,
      LOS rate: -0.016306 deg/s,
      cmd heading: 342.103357 deg,
      new cmd heading: 342.089300 deg.

2025-08-22T17:18:32.311Z,1755883112.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970584 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:32.435Z,1755883112.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761634
2025-08-22T17:18:32.688Z,1755883112.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014149
2025-08-22T17:18:32.793Z,1755883112.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:32.796Z,1755883112.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 112.959816 m,
      bearing: 329.364681 deg,
      approach rate: -0.520327 m/s,
      LOS rate: -0.016396 deg/s,
      cmd heading: 342.089287 deg,
      new cmd heading: 342.073352 deg.

2025-08-22T17:18:32.797Z,1755883112.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970306 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:32.939Z,1755883112.939 [DAT](INFO): DAT read: Rx Time:17:18:33.3938

2025-08-22T17:18:32.939Z,1755883112.939 [DAT](INFO): Rx dataTimestamp_ set to:1755883112.938747
2025-08-22T17:18:32.940Z,1755883112.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265849
2025-08-22T17:18:33.191Z,1755883113.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516812
2025-08-22T17:18:33.376Z,1755883113.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.85 m.
2025-08-22T17:18:33.387Z,1755883113.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.852760 m,
      nav range: 112.671570 m,
      bearing: 329.352894 deg,
      approach rate: -0.494450 m/s,
      LOS rate: -0.020272 deg/s,
      cmd heading: 342.073359 deg,
      new cmd heading: 342.049724 deg.

2025-08-22T17:18:33.388Z,1755883113.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969894 target range: 115.852760 and range: 116.60 m.
2025-08-22T17:18:33.449Z,1755883113.449 [DAT](INFO): DAT read: 17:18:33.3938 LVL= 30048, 30513, 25714, 32755, AGC= 66, IDX= 413, 0.04, 1.295,-0.177, 1.907, 1.410, PHS=-0.013,-1.542, 0.453, RAW= 162.9,  12.2, CAL= 163.2,  13.9, ROT= 346.8, -13.9

2025-08-22T17:18:33.459Z,1755883113.459 [DAT](INFO): got valid direction response:
 17:18:33.3938 LVL= 30048, 30513, 25714, 32755, AGC= 66, IDX= 413, 0.04, 1.295,-0.177, 1.907, 1.410, PHS=-0.013,-1.542, 0.453, RAW= 162.9,  12.2, CAL= 163.2,  13.9, ROT= 346.8, -13.9

2025-08-22T17:18:33.460Z,1755883113.460 [DAT](INFO): DAT read: Bearing 162.4, -15.0 (Local)

2025-08-22T17:18:33.460Z,1755883113.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.4, -15.0 (Local)

2025-08-22T17:18:33.463Z,1755883113.463 [DAT](INFO): DAT read: Range 11 to 50 : 114.9 m  (Round-trip  153.2 ms) speed  0.4 m/s

2025-08-22T17:18:33.464Z,1755883113.464 [DAT](INFO): DAT read: user:592>

2025-08-22T17:18:33.465Z,1755883113.465 [DAT](INFO): DAT read: Tx time:17:18:34.4865

2025-08-22T17:18:33.466Z,1755883113.466 [DAT](INFO): Ping request sent.
2025-08-22T17:18:33.466Z,1755883113.466 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:33.466Z,1755883113.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:33.468Z,1755883113.468 [DAT](INFO): direction in FSK: [0.945069,-0.221664,0.240228]
2025-08-22T17:18:33.468Z,1755883113.468 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:33.468Z,1755883113.468 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:33.474Z,1755883113.474 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:33.474Z,1755883113.474 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:33.754Z,1755883113.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.900002 m,
      deltaT: 3.784172 s,
      deltaX: -1.699997 m,
      approachRate: -0.449239 m/s,
      rangeRepo size: 4

2025-08-22T17:18:33.756Z,1755883113.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.163223 m,
      bearing: 329.261307 deg,
      lat: 36.779485 deg,
      lon: -121.859666 deg,
      deltaT: 3.784172 s,
      deltaX: -1.689537 m,
      approachRate: -0.446475 m/s,
      posRepo size: 4

2025-08-22T17:18:33.757Z,1755883113.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:33.760Z,1755883113.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 112.517822 m,
      bearing: 329.306351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020272 deg/s,
      cmd heading: 342.049726 deg,
      new cmd heading: 342.034418 deg.

2025-08-22T17:18:33.761Z,1755883113.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969627 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:34.237Z,1755883114.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:34.244Z,1755883114.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 112.278900 m,
      bearing: 329.295545 deg,
      approach rate: -0.494397 m/s,
      LOS rate: -0.022409 deg/s,
      cmd heading: 342.034427 deg,
      new cmd heading: 342.012768 deg.

2025-08-22T17:18:34.245Z,1755883114.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969249 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:34.582Z,1755883114.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:34.584Z,1755883114.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:34.587Z,1755883114.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 112.094284 m,
      bearing: 329.287223 deg,
      approach rate: -0.531738 m/s,
      LOS rate: -0.024009 deg/s,
      cmd heading: 342.012761 deg,
      new cmd heading: 341.996090 deg.

2025-08-22T17:18:34.588Z,1755883114.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968958 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:34.703Z,1755883114.703 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:34.703Z,1755883114.703 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:34.703Z,1755883114.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:34.955Z,1755883114.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488884
2025-08-22T17:18:34.980Z,1755883114.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:34.983Z,1755883114.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 111.892731 m,
      bearing: 329.278164 deg,
      approach rate: -0.508225 m/s,
      LOS rate: -0.022883 deg/s,
      cmd heading: 341.996096 deg,
      new cmd heading: 341.977946 deg.

2025-08-22T17:18:34.984Z,1755883114.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968641 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:35.207Z,1755883115.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740812
2025-08-22T17:18:35.422Z,1755883115.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:35.425Z,1755883115.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 111.665520 m,
      bearing: 329.268833 deg,
      approach rate: -0.514944 m/s,
      LOS rate: -0.021190 deg/s,
      cmd heading: 341.977955 deg,
      new cmd heading: 341.959255 deg.

2025-08-22T17:18:35.426Z,1755883115.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968315 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:35.459Z,1755883115.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992809
2025-08-22T17:18:35.711Z,1755883115.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245355
2025-08-22T17:18:35.796Z,1755883115.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:35.799Z,1755883115.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 111.472885 m,
      bearing: 329.261042 deg,
      approach rate: -0.515029 m/s,
      LOS rate: -0.020866 deg/s,
      cmd heading: 341.959267 deg,
      new cmd heading: 341.943659 deg.

2025-08-22T17:18:35.800Z,1755883115.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968043 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:35.963Z,1755883115.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496808
2025-08-22T17:18:36.214Z,1755883116.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748754
2025-08-22T17:18:36.326Z,1755883116.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:36.329Z,1755883116.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 111.201950 m,
      bearing: 329.251025 deg,
      approach rate: -0.510528 m/s,
      LOS rate: -0.018922 deg/s,
      cmd heading: 341.943667 deg,
      new cmd heading: 341.923583 deg.

2025-08-22T17:18:36.330Z,1755883116.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967692 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:36.467Z,1755883116.467 [DAT](INFO): DAT read: Rx Time:17:18:37.0412

2025-08-22T17:18:36.467Z,1755883116.467 [DAT](INFO): Rx dataTimestamp_ set to:1755883116.466783
2025-08-22T17:18:36.468Z,1755883116.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001880
2025-08-22T17:18:36.657Z,1755883116.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:36.659Z,1755883116.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.16 m.
2025-08-22T17:18:36.662Z,1755883116.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.163223 m,
      nav range: 111.015938 m,
      bearing: 329.244188 deg,
      approach rate: -0.559541 m/s,
      LOS rate: -0.020601 deg/s,
      cmd heading: 341.923587 deg,
      new cmd heading: 341.909890 deg.

2025-08-22T17:18:36.663Z,1755883116.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967453 target range: 114.163223 and range: 114.90 m.
2025-08-22T17:18:36.719Z,1755883116.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253072
2025-08-22T17:18:36.976Z,1755883116.976 [DAT](INFO): DAT read: 17:18:37.0412 LVL= 29072, 32337, 26802, 32755, AGC= 69, IDX= 418, 0.09,-3.064, 1.657,-2.476,-3.000, PHS= 0.038,-1.581, 0.480, RAW= 161.8,  11.3, CAL= 161.9,  12.6, ROT= 348.1, -12.6

2025-08-22T17:18:36.978Z,1755883116.978 [DAT](INFO): got valid direction response:
 17:18:37.0412 LVL= 29072, 32337, 26802, 32755, AGC= 69, IDX= 418, 0.09,-3.064, 1.657,-2.476,-3.000, PHS= 0.038,-1.581, 0.480, RAW= 161.8,  11.3, CAL= 161.9,  12.6, ROT= 348.1, -12.6

2025-08-22T17:18:36.979Z,1755883116.979 [DAT](INFO): DAT read: Bearing 160.5, -13.4 (Local)

2025-08-22T17:18:36.979Z,1755883116.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5, -13.4 (Local)

2025-08-22T17:18:36.980Z,1755883116.980 [DAT](INFO): DAT read: Range 11 to 50 : 112.8 m  (Round-trip  150.5 ms) speed  0.4 m/s

2025-08-22T17:18:36.981Z,1755883116.981 [DAT](INFO): DAT read: user:593>

2025-08-22T17:18:36.982Z,1755883116.982 [DAT](INFO): DAT read: Tx time:17:18:38.1365

2025-08-22T17:18:36.982Z,1755883116.982 [DAT](INFO): Ping request sent.
2025-08-22T17:18:36.982Z,1755883116.982 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:36.982Z,1755883116.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:36.983Z,1755883116.983 [DAT](INFO): direction in FSK: [0.954943,-0.201238,0.218143]
2025-08-22T17:18:36.984Z,1755883116.984 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:36.984Z,1755883116.984 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:36.993Z,1755883116.993 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:37.007Z,1755883117.007 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:37.199Z,1755883117.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.800003 m,
      deltaT: 3.528215 s,
      deltaX: -2.099998 m,
      approachRate: -0.595201 m/s,
      rangeRepo size: 4

2025-08-22T17:18:37.201Z,1755883117.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.076439 m,
      bearing: 330.390850 deg,
      lat: 36.779485 deg,
      lon: -121.859666 deg,
      deltaT: 3.528215 s,
      deltaX: -2.086784 m,
      approachRate: -0.591456 m/s,
      posRepo size: 4

2025-08-22T17:18:37.206Z,1755883117.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:37.209Z,1755883117.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 110.773056 m,
      bearing: 329.235302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020601 deg/s,
      cmd heading: 341.909899 deg,
      new cmd heading: 341.887667 deg.

2025-08-22T17:18:37.214Z,1755883117.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967065 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:37.584Z,1755883117.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:37.591Z,1755883117.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 110.528648 m,
      bearing: 329.228286 deg,
      approach rate: -0.635421 m/s,
      LOS rate: -0.018281 deg/s,
      cmd heading: 341.887660 deg,
      new cmd heading: 341.873597 deg.

2025-08-22T17:18:37.592Z,1755883117.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966820 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:37.935Z,1755883117.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:37.954Z,1755883117.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 110.343788 m,
      bearing: 329.222994 deg,
      approach rate: -0.525520 m/s,
      LOS rate: -0.015070 deg/s,
      cmd heading: 341.873590 deg,
      new cmd heading: 341.862987 deg.

2025-08-22T17:18:37.955Z,1755883117.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966635 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:38.359Z,1755883118.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:38.362Z,1755883118.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 110.121414 m,
      bearing: 329.218650 deg,
      approach rate: -0.523847 m/s,
      LOS rate: -0.010255 deg/s,
      cmd heading: 341.862989 deg,
      new cmd heading: 341.854283 deg.

2025-08-22T17:18:38.363Z,1755883118.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966483 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:38.770Z,1755883118.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:38.772Z,1755883118.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:38.775Z,1755883118.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 109.912773 m,
      bearing: 329.214558 deg,
      approach rate: -0.505849 m/s,
      LOS rate: -0.009939 deg/s,
      cmd heading: 341.854274 deg,
      new cmd heading: 341.846075 deg.

2025-08-22T17:18:38.776Z,1755883118.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966340 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:38.987Z,1755883118.987 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:38.987Z,1755883118.987 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:38.987Z,1755883118.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:39.153Z,1755883119.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:39.157Z,1755883119.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 109.708290 m,
      bearing: 329.210460 deg,
      approach rate: -0.537172 m/s,
      LOS rate: -0.010786 deg/s,
      cmd heading: 341.846078 deg,
      new cmd heading: 341.837866 deg.

2025-08-22T17:18:39.160Z,1755883119.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966196 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:39.239Z,1755883119.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256374
2025-08-22T17:18:39.491Z,1755883119.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508367
2025-08-22T17:18:39.574Z,1755883119.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:39.576Z,1755883119.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 109.483002 m,
      bearing: 329.208141 deg,
      approach rate: -0.535293 m/s,
      LOS rate: -0.005522 deg/s,
      cmd heading: 341.837854 deg,
      new cmd heading: 341.833206 deg.

2025-08-22T17:18:39.577Z,1755883119.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966115 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:39.743Z,1755883119.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760351
2025-08-22T17:18:39.967Z,1755883119.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:39.970Z,1755883119.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 109.274323 m,
      bearing: 329.205933 deg,
      approach rate: -0.529901 m/s,
      LOS rate: -0.005616 deg/s,
      cmd heading: 341.833209 deg,
      new cmd heading: 341.828786 deg.

2025-08-22T17:18:39.971Z,1755883119.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966038 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:39.995Z,1755883119.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012346
2025-08-22T17:18:40.250Z,1755883120.250 [DAT](INFO): DAT read: Rx Time:17:18:40.6885

2025-08-22T17:18:40.251Z,1755883120.251 [DAT](INFO): Rx dataTimestamp_ set to:1755883120.250129
2025-08-22T17:18:40.253Z,1755883120.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270134
2025-08-22T17:18:40.382Z,1755883120.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.08 m.
2025-08-22T17:18:40.385Z,1755883120.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.076439 m,
      nav range: 109.057487 m,
      bearing: 329.201680 deg,
      approach rate: -0.522504 m/s,
      LOS rate: -0.010268 deg/s,
      cmd heading: 341.828784 deg,
      new cmd heading: 341.820262 deg.

2025-08-22T17:18:40.386Z,1755883120.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965889 target range: 112.076439 and range: 112.80 m.
2025-08-22T17:18:40.499Z,1755883120.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516525
2025-08-22T17:18:40.756Z,1755883120.756 [DAT](INFO): DAT read: 17:18:40.6885 LVL= 32624, 32753, 26226, 32755, AGC= 63, IDX= 407, 0.43, 2.572, 1.029,-3.117, 2.639, PHS= 0.035,-1.565, 0.484, RAW= 162.0,  11.2, CAL= 162.2,  12.5, ROT= 347.8, -12.5

2025-08-22T17:18:40.757Z,1755883120.757 [DAT](INFO): got valid direction response:
 17:18:40.6885 LVL= 32624, 32753, 26226, 32755, AGC= 63, IDX= 407, 0.43, 2.572, 1.029,-3.117, 2.639, PHS= 0.035,-1.565, 0.484, RAW= 162.0,  11.2, CAL= 162.2,  12.5, ROT= 347.8, -12.5

2025-08-22T17:18:40.758Z,1755883120.758 [DAT](INFO): DAT read: Bearing 160.5, -12.9 (Local)

2025-08-22T17:18:40.759Z,1755883120.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5, -12.9 (Local)

2025-08-22T17:18:40.760Z,1755883120.760 [DAT](INFO): DAT read: Range 11 to 50 : 110.9 m  (Round-trip  147.9 ms) speed  0.4 m/s

2025-08-22T17:18:40.761Z,1755883120.761 [DAT](INFO): DAT read: user:594>

2025-08-22T17:18:40.762Z,1755883120.762 [DAT](INFO): DAT read: Tx time:17:18:41.7865

2025-08-22T17:18:40.762Z,1755883120.762 [DAT](INFO): Ping request sent.
2025-08-22T17:18:40.762Z,1755883120.762 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:40.762Z,1755883120.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:40.763Z,1755883120.763 [DAT](INFO): direction in FSK: [0.954247,-0.206316,0.216440]
2025-08-22T17:18:40.763Z,1755883120.763 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:40.764Z,1755883120.764 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:40.775Z,1755883120.775 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:40.775Z,1755883120.775 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:40.818Z,1755883120.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.900002 m,
      deltaT: 3.779735 s,
      deltaX: -1.900002 m,
      approachRate: -0.502681 m/s,
      rangeRepo size: 4

2025-08-22T17:18:40.820Z,1755883120.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.188240 m,
      bearing: 329.887159 deg,
      lat: 36.779487 deg,
      lon: -121.859663 deg,
      deltaT: 3.779735 s,
      deltaX: -1.888199 m,
      approachRate: -0.499559 m/s,
      posRepo size: 4

2025-08-22T17:18:40.821Z,1755883120.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:40.828Z,1755883120.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 108.908913 m,
      bearing: 329.368133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010268 deg/s,
      cmd heading: 341.820259 deg,
      new cmd heading: 341.811979 deg.

2025-08-22T17:18:40.829Z,1755883120.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965744 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:41.184Z,1755883121.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:41.188Z,1755883121.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 108.702652 m,
      bearing: 329.364438 deg,
      approach rate: -0.518036 m/s,
      LOS rate: -0.009296 deg/s,
      cmd heading: 341.811981 deg,
      new cmd heading: 341.804579 deg.

2025-08-22T17:18:41.192Z,1755883121.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965615 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:41.613Z,1755883121.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:41.615Z,1755883121.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:41.619Z,1755883121.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 108.474991 m,
      bearing: 329.358343 deg,
      approach rate: -0.527679 m/s,
      LOS rate: -0.014158 deg/s,
      cmd heading: 341.804577 deg,
      new cmd heading: 341.792361 deg.

2025-08-22T17:18:41.619Z,1755883121.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965402 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:41.758Z,1755883121.758 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:41.758Z,1755883121.758 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:41.759Z,1755883121.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:41.989Z,1755883121.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:41.992Z,1755883121.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 108.281494 m,
      bearing: 329.353142 deg,
      approach rate: -0.516985 m/s,
      LOS rate: -0.013920 deg/s,
      cmd heading: 341.792365 deg,
      new cmd heading: 341.781945 deg.

2025-08-22T17:18:41.993Z,1755883121.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965220 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:42.011Z,1755883122.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248714
2025-08-22T17:18:42.265Z,1755883122.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502531
2025-08-22T17:18:42.399Z,1755883122.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:42.402Z,1755883122.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 108.070541 m,
      bearing: 329.345521 deg,
      approach rate: -0.514608 m/s,
      LOS rate: -0.018627 deg/s,
      cmd heading: 341.781956 deg,
      new cmd heading: 341.766684 deg.

2025-08-22T17:18:42.403Z,1755883122.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964954 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:42.515Z,1755883122.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752684
2025-08-22T17:18:42.767Z,1755883122.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004683
2025-08-22T17:18:42.780Z,1755883122.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:42.783Z,1755883122.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 107.874359 m,
      bearing: 329.338362 deg,
      approach rate: -0.514833 m/s,
      LOS rate: -0.018821 deg/s,
      cmd heading: 341.766683 deg,
      new cmd heading: 341.752340 deg.

2025-08-22T17:18:42.784Z,1755883122.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964704 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:43.022Z,1755883123.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259659
2025-08-22T17:18:43.198Z,1755883123.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:43.200Z,1755883123.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 107.659729 m,
      bearing: 329.330501 deg,
      approach rate: -0.514650 m/s,
      LOS rate: -0.018889 deg/s,
      cmd heading: 341.752340 deg,
      new cmd heading: 341.736585 deg.

2025-08-22T17:18:43.201Z,1755883123.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964428 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:43.274Z,1755883123.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511068
2025-08-22T17:18:43.523Z,1755883123.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760909
2025-08-22T17:18:43.624Z,1755883123.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:43.626Z,1755883123.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:43.629Z,1755883123.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 107.438187 m,
      bearing: 329.321952 deg,
      approach rate: -0.516223 m/s,
      LOS rate: -0.019960 deg/s,
      cmd heading: 341.736576 deg,
      new cmd heading: 341.719444 deg.

2025-08-22T17:18:43.630Z,1755883123.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964129 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:43.774Z,1755883123.774 [DAT](INFO): DAT read: Rx Time:17:18:44.3361

2025-08-22T17:18:43.775Z,1755883123.775 [DAT](INFO): Rx dataTimestamp_ set to:1755883123.774631
2025-08-22T17:18:43.775Z,1755883123.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013505
2025-08-22T17:18:43.996Z,1755883123.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.19 m.
2025-08-22T17:18:43.000Z,1755883124.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.188240 m,
      nav range: 107.246498 m,
      bearing: 329.314551 deg,
      approach rate: -0.518321 m/s,
      LOS rate: -0.020049 deg/s,
      cmd heading: 341.719446 deg,
      new cmd heading: 341.704617 deg.

2025-08-22T17:18:44.000Z,1755883124.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963871 target range: 110.188240 and range: 110.90 m.
2025-08-22T17:18:44.027Z,1755883124.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264542
2025-08-22T17:18:44.308Z,1755883124.308 [DAT](INFO): DAT read: 17:18:44.3361 LVL= 28192, 32753, 22354, 32755, AGC= 62, IDX= 414, 0.49, 0.185,-1.315, 0.724, 0.230, PHS= 0.057,-1.500, 0.449, RAW= 161.0,  11.1, CAL= 161.1,  12.4, ROT= 348.9, -12.4

2025-08-22T17:18:44.316Z,1755883124.316 [DAT](INFO): got valid direction response:
 17:18:44.3361 LVL= 28192, 32753, 22354, 32755, AGC= 62, IDX= 414, 0.49, 0.185,-1.315, 0.724, 0.230, PHS= 0.057,-1.500, 0.449, RAW= 161.0,  11.1, CAL= 161.1,  12.4, ROT= 348.9, -12.4

2025-08-22T17:18:44.317Z,1755883124.317 [DAT](INFO): DAT read: Bearing 160.3, -11.3 (Local)

2025-08-22T17:18:44.339Z,1755883124.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.3, -11.3 (Local)

2025-08-22T17:18:44.340Z,1755883124.340 [DAT](INFO): DAT read: Range 11 to 50 : 109.1 m  (Round-trip  145.5 ms) speed  0.4 m/s

2025-08-22T17:18:44.341Z,1755883124.341 [DAT](INFO): DAT read: user:595>

2025-08-22T17:18:44.346Z,1755883124.346 [DAT](INFO): DAT read: Tx time:17:18:45.4365

2025-08-22T17:18:44.346Z,1755883124.346 [DAT](INFO): Ping request sent.
2025-08-22T17:18:44.346Z,1755883124.346 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:44.346Z,1755883124.346 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:44.347Z,1755883124.347 [DAT](INFO): direction in FSK: [0.958401,-0.188031,0.214735]
2025-08-22T17:18:44.348Z,1755883124.348 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:44.348Z,1755883124.348 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:44.355Z,1755883124.355 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:44.355Z,1755883124.355 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:44.526Z,1755883124.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.099998 m,
      deltaT: 3.529554 s,
      deltaX: -1.800003 m,
      approachRate: -0.509980 m/s,
      rangeRepo size: 4

2025-08-22T17:18:44.528Z,1755883124.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.399803 m,
      bearing: 331.124307 deg,
      lat: 36.779490 deg,
      lon: -121.859651 deg,
      deltaT: 3.529554 s,
      deltaX: -1.788437 m,
      approachRate: -0.506703 m/s,
      posRepo size: 4

2025-08-22T17:18:44.528Z,1755883124.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:44.536Z,1755883124.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 106.676651 m,
      bearing: 329.875084 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020049 deg/s,
      cmd heading: 341.704611 deg,
      new cmd heading: 341.683583 deg.

2025-08-22T17:18:44.537Z,1755883124.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963503 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:44.799Z,1755883124.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:44.802Z,1755883124.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 106.527199 m,
      bearing: 329.870702 deg,
      approach rate: -0.536357 m/s,
      LOS rate: -0.015747 deg/s,
      cmd heading: 341.683574 deg,
      new cmd heading: 341.674798 deg.

2025-08-22T17:18:44.803Z,1755883124.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963350 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:45.346Z,1755883125.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:45.349Z,1755883125.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 106.264595 m,
      bearing: 329.863011 deg,
      approach rate: -0.480672 m/s,
      LOS rate: -0.014112 deg/s,
      cmd heading: 341.674804 deg,
      new cmd heading: 341.659384 deg.

2025-08-22T17:18:45.350Z,1755883125.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963081 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:45.847Z,1755883125.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:45.850Z,1755883125.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:45.852Z,1755883125.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 106.009285 m,
      bearing: 329.859828 deg,
      approach rate: -0.506674 m/s,
      LOS rate: -0.006333 deg/s,
      cmd heading: 341.659395 deg,
      new cmd heading: 341.653013 deg.

2025-08-22T17:18:45.854Z,1755883125.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962970 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:46.043Z,1755883126.043 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:46.043Z,1755883126.043 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:46.043Z,1755883126.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:46.297Z,1755883126.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950652
2025-08-22T17:18:46.415Z,1755883126.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:46.418Z,1755883126.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 105.709023 m,
      bearing: 329.857828 deg,
      approach rate: -0.531226 m/s,
      LOS rate: -0.003549 deg/s,
      cmd heading: 341.653002 deg,
      new cmd heading: 341.648990 deg.

2025-08-22T17:18:46.419Z,1755883126.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962900 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:46.547Z,1755883126.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200438
2025-08-22T17:18:46.753Z,1755883126.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:46.756Z,1755883126.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 105.528793 m,
      bearing: 329.856958 deg,
      approach rate: -0.532614 m/s,
      LOS rate: -0.002575 deg/s,
      cmd heading: 341.648986 deg,
      new cmd heading: 341.647243 deg.

2025-08-22T17:18:46.757Z,1755883126.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962869 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:46.799Z,1755883126.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452692
2025-08-22T17:18:47.051Z,1755883127.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704385
2025-08-22T17:18:47.179Z,1755883127.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:47.183Z,1755883127.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 105.305389 m,
      bearing: 329.856073 deg,
      approach rate: -0.524761 m/s,
      LOS rate: -0.002082 deg/s,
      cmd heading: 341.647237 deg,
      new cmd heading: 341.645465 deg.

2025-08-22T17:18:47.185Z,1755883127.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962838 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:47.306Z,1755883127.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958712
2025-08-22T17:18:47.555Z,1755883127.555 [DAT](INFO): DAT read: Rx Time:17:18:47.9834

2025-08-22T17:18:47.556Z,1755883127.556 [DAT](INFO): Rx dataTimestamp_ set to:1755883127.555320
2025-08-22T17:18:47.556Z,1755883127.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210008
2025-08-22T17:18:47.625Z,1755883127.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:47.636Z,1755883127.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 105.071770 m,
      bearing: 329.858327 deg,
      approach rate: -0.524193 m/s,
      LOS rate: 0.005067 deg/s,
      cmd heading: 341.645461 deg,
      new cmd heading: 341.649978 deg.

2025-08-22T17:18:47.636Z,1755883127.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962917 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:47.806Z,1755883127.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460288
2025-08-22T17:18:47.985Z,1755883127.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:47.987Z,1755883127.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m.
2025-08-22T17:18:47.990Z,1755883127.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.399803 m,
      nav range: 104.884293 m,
      bearing: 329.860249 deg,
      approach rate: -0.517040 m/s,
      LOS rate: 0.005311 deg/s,
      cmd heading: 341.649969 deg,
      new cmd heading: 341.653820 deg.

2025-08-22T17:18:47.991Z,1755883127.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962984 target range: 108.399803 and range: 109.10 m.
2025-08-22T17:18:48.067Z,1755883128.067 [DAT](INFO): DAT read: 17:18:47.9834 LVL= 29680, 31297, 26690, 32755, AGC= 68, IDX= 420,-0.37, 0.242,-1.334, 0.767, 0.258, PHS= 0.086,-1.547, 0.465, RAW= 160.2,  10.8, CAL= 160.3,  11.8, ROT= 349.7, -11.8

2025-08-22T17:18:48.069Z,1755883128.069 [DAT](INFO): got valid direction response:
 17:18:47.9834 LVL= 29680, 31297, 26690, 32755, AGC= 68, IDX= 420,-0.37, 0.242,-1.334, 0.767, 0.258, PHS= 0.086,-1.547, 0.465, RAW= 160.2,  10.8, CAL= 160.3,  11.8, ROT= 349.7, -11.8

2025-08-22T17:18:48.071Z,1755883128.071 [DAT](INFO): DAT read: Bearing 159.4, -10.2 (Local)

2025-08-22T17:18:48.072Z,1755883128.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.4, -10.2 (Local)

2025-08-22T17:18:48.076Z,1755883128.076 [DAT](INFO): DAT read: Range 11 to 50 : 107.1 m  (Round-trip  142.9 ms) speed  0.4 m/s

2025-08-22T17:18:48.078Z,1755883128.078 [DAT](INFO): DAT read: user:596>

2025-08-22T17:18:48.079Z,1755883128.079 [DAT](INFO): DAT read: Tx time:17:18:49.0864

2025-08-22T17:18:48.079Z,1755883128.079 [DAT](INFO): Ping request sent.
2025-08-22T17:18:48.079Z,1755883128.079 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:48.080Z,1755883128.080 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:48.094Z,1755883128.094 [DAT](INFO): direction in FSK: [0.963093,-0.175024,0.204496]
2025-08-22T17:18:48.095Z,1755883128.095 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:48.095Z,1755883128.095 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:48.103Z,1755883128.103 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:48.104Z,1755883128.104 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:48.421Z,1755883128.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.099998 m,
      deltaT: 3.778512 s,
      deltaX: -2.000000 m,
      approachRate: -0.529309 m/s,
      rangeRepo size: 4

2025-08-22T17:18:48.439Z,1755883128.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.411972 m,
      bearing: 331.467821 deg,
      lat: 36.779494 deg,
      lon: -121.859643 deg,
      deltaT: 3.778512 s,
      deltaX: -1.987831 m,
      approachRate: -0.526088 m/s,
      posRepo size: 4

2025-08-22T17:18:48.440Z,1755883128.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:48.447Z,1755883128.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 104.673073 m,
      bearing: 330.326632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005311 deg/s,
      cmd heading: 341.653821 deg,
      new cmd heading: 341.658424 deg.

2025-08-22T17:18:48.448Z,1755883128.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963064 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:48.792Z,1755883128.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:48.795Z,1755883128.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 104.473320 m,
      bearing: 330.330243 deg,
      approach rate: -0.538163 m/s,
      LOS rate: 0.009745 deg/s,
      cmd heading: 341.658411 deg,
      new cmd heading: 341.665645 deg.

2025-08-22T17:18:48.796Z,1755883128.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963191 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:49.204Z,1755883129.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:49.207Z,1755883129.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 104.253708 m,
      bearing: 330.334134 deg,
      approach rate: -0.532002 m/s,
      LOS rate: 0.009446 deg/s,
      cmd heading: 341.665651 deg,
      new cmd heading: 341.673450 deg.

2025-08-22T17:18:49.208Z,1755883129.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963326 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:49.633Z,1755883129.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:49.656Z,1755883129.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 104.025330 m,
      bearing: 330.335878 deg,
      approach rate: -0.533276 m/s,
      LOS rate: 0.004083 deg/s,
      cmd heading: 341.673438 deg,
      new cmd heading: 341.676935 deg.

2025-08-22T17:18:49.657Z,1755883129.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963387 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:50.021Z,1755883130.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:50.023Z,1755883130.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:50.042Z,1755883130.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 103.816605 m,
      bearing: 330.337462 deg,
      approach rate: -0.534582 m/s,
      LOS rate: 0.004065 deg/s,
      cmd heading: 341.676935 deg,
      new cmd heading: 341.680109 deg.

2025-08-22T17:18:50.043Z,1755883130.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963443 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:50.076Z,1755883130.076 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:50.076Z,1755883130.076 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:50.076Z,1755883130.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:50.328Z,1755883130.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248863
2025-08-22T17:18:50.450Z,1755883130.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:50.453Z,1755883130.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 103.586243 m,
      bearing: 330.336306 deg,
      approach rate: -0.539259 m/s,
      LOS rate: -0.002711 deg/s,
      cmd heading: 341.680104 deg,
      new cmd heading: 341.677788 deg.

2025-08-22T17:18:50.477Z,1755883130.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963402 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:50.580Z,1755883130.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499757
2025-08-22T17:18:50.814Z,1755883130.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:50.817Z,1755883130.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 103.389679 m,
      bearing: 330.335333 deg,
      approach rate: -0.540853 m/s,
      LOS rate: -0.002683 deg/s,
      cmd heading: 341.677782 deg,
      new cmd heading: 341.675832 deg.

2025-08-22T17:18:50.818Z,1755883130.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963368 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:50.831Z,1755883130.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751152
2025-08-22T17:18:51.084Z,1755883131.084 [DAT](INFO): DAT read: Rx Time:17:18:51.6308

2025-08-22T17:18:51.085Z,1755883131.085 [DAT](INFO): Rx dataTimestamp_ set to:1755883131.084288
2025-08-22T17:18:51.086Z,1755883131.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006643
2025-08-22T17:18:51.228Z,1755883131.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.41 m.
2025-08-22T17:18:51.231Z,1755883131.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.411972 m,
      nav range: 103.166092 m,
      bearing: 330.334172 deg,
      approach rate: -0.539596 m/s,
      LOS rate: -0.002808 deg/s,
      cmd heading: 341.675842 deg,
      new cmd heading: 341.673514 deg.

2025-08-22T17:18:51.232Z,1755883131.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963328 target range: 106.411972 and range: 107.10 m.
2025-08-22T17:18:51.335Z,1755883131.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255259
2025-08-22T17:18:51.604Z,1755883131.604 [DAT](INFO): DAT read: 17:18:51.6308 LVL= 30944, 32753, 26274, 32755, AGC= 65, IDX= 409, 0.18,-0.217,-1.775, 0.271,-0.222, PHS= 0.106,-1.508, 0.449, RAW= 159.4,  10.5, CAL= 159.5,  11.5, ROT= 350.5, -11.5

2025-08-22T17:18:51.605Z,1755883131.605 [DAT](INFO): got valid direction response:
 17:18:51.6308 LVL= 30944, 32753, 26274, 32755, AGC= 65, IDX= 409, 0.18,-0.217,-1.775, 0.271,-0.222, PHS= 0.106,-1.508, 0.449, RAW= 159.4,  10.5, CAL= 159.5,  11.5, ROT= 350.5, -11.5

2025-08-22T17:18:51.611Z,1755883131.611 [DAT](INFO): DAT read: Bearing 159.5,  -8.1 (Local)

2025-08-22T17:18:51.611Z,1755883131.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5,  -8.1 (Local)

2025-08-22T17:18:51.613Z,1755883131.613 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m  (Round-trip  140.3 ms) speed  0.4 m/s

2025-08-22T17:18:51.613Z,1755883131.613 [DAT](INFO): DAT read: user:597>

2025-08-22T17:18:51.614Z,1755883131.614 [DAT](INFO): DAT read: Tx time:17:18:52.7364

2025-08-22T17:18:51.614Z,1755883131.614 [DAT](INFO): Ping request sent.
2025-08-22T17:18:51.615Z,1755883131.615 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:51.615Z,1755883131.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:51.616Z,1755883131.616 [DAT](INFO): direction in FSK: [0.966486,-0.161734,0.199368]
2025-08-22T17:18:51.616Z,1755883131.616 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:51.616Z,1755883131.616 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:51.648Z,1755883131.648 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:51.648Z,1755883131.648 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:51.743Z,1755883131.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.199997 m,
      deltaT: 3.528225 s,
      deltaX: -1.900002 m,
      approachRate: -0.538515 m/s,
      rangeRepo size: 4

2025-08-22T17:18:51.745Z,1755883131.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.524498 m,
      bearing: 332.205875 deg,
      lat: 36.779499 deg,
      lon: -121.859627 deg,
      deltaT: 3.528225 s,
      deltaX: -1.887474 m,
      approachRate: -0.534964 m/s,
      posRepo size: 4

2025-08-22T17:18:51.754Z,1755883131.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:51.756Z,1755883131.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 102.727394 m,
      bearing: 331.154111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002808 deg/s,
      cmd heading: 341.673520 deg,
      new cmd heading: 341.670659 deg.

2025-08-22T17:18:51.757Z,1755883131.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963278 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:52.120Z,1755883132.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:52.126Z,1755883132.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:52.128Z,1755883132.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 102.526825 m,
      bearing: 331.152258 deg,
      approach rate: -0.522067 m/s,
      LOS rate: -0.004833 deg/s,
      cmd heading: 341.670651 deg,
      new cmd heading: 341.666937 deg.

2025-08-22T17:18:52.134Z,1755883132.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963213 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:52.347Z,1755883132.347 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:52.347Z,1755883132.347 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:52.347Z,1755883132.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:52.549Z,1755883132.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:52.552Z,1755883132.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 102.296997 m,
      bearing: 331.148178 deg,
      approach rate: -0.537997 m/s,
      LOS rate: -0.009571 deg/s,
      cmd heading: 341.666935 deg,
      new cmd heading: 341.658758 deg.

2025-08-22T17:18:52.553Z,1755883132.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963070 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:52.599Z,1755883132.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984059
2025-08-22T17:18:52.851Z,1755883132.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236076
2025-08-22T17:18:52.910Z,1755883132.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:52.913Z,1755883132.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 102.107605 m,
      bearing: 331.144779 deg,
      approach rate: -0.524799 m/s,
      LOS rate: -0.009435 deg/s,
      cmd heading: 341.658766 deg,
      new cmd heading: 341.651956 deg.

2025-08-22T17:18:52.930Z,1755883132.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962952 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:53.103Z,1755883133.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488215
2025-08-22T17:18:53.312Z,1755883133.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:53.315Z,1755883133.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 101.896935 m,
      bearing: 331.140993 deg,
      approach rate: -0.523746 m/s,
      LOS rate: -0.009433 deg/s,
      cmd heading: 341.651964 deg,
      new cmd heading: 341.644375 deg.

2025-08-22T17:18:53.316Z,1755883133.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962819 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:53.358Z,1755883133.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743095
2025-08-22T17:18:53.606Z,1755883133.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991911
2025-08-22T17:18:53.746Z,1755883133.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:53.749Z,1755883133.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 101.673752 m,
      bearing: 331.136890 deg,
      approach rate: -0.514137 m/s,
      LOS rate: -0.009472 deg/s,
      cmd heading: 341.644368 deg,
      new cmd heading: 341.636145 deg.

2025-08-22T17:18:53.750Z,1755883133.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962676 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:53.859Z,1755883133.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244021
2025-08-22T17:18:54.111Z,1755883134.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496115
2025-08-22T17:18:54.120Z,1755883134.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:54.123Z,1755883134.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 101.481049 m,
      bearing: 331.133334 deg,
      approach rate: -0.514803 m/s,
      LOS rate: -0.009518 deg/s,
      cmd heading: 341.636145 deg,
      new cmd heading: 341.629019 deg.

2025-08-22T17:18:54.124Z,1755883134.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962551 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:54.363Z,1755883134.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748167
2025-08-22T17:18:54.590Z,1755883134.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:54.592Z,1755883134.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:54.599Z,1755883134.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 101.244308 m,
      bearing: 331.127928 deg,
      approach rate: -0.501816 m/s,
      LOS rate: -0.011485 deg/s,
      cmd heading: 341.629014 deg,
      new cmd heading: 341.618177 deg.

2025-08-22T17:18:54.600Z,1755883134.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962362 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:54.615Z,1755883134.615 [DAT](INFO): DAT read: Rx Time:17:18:55.2783

2025-08-22T17:18:54.615Z,1755883134.615 [DAT](INFO): Rx dataTimestamp_ set to:1755883134.614843
2025-08-22T17:18:54.616Z,1755883134.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001111
2025-08-22T17:18:54.867Z,1755883134.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251966
2025-08-22T17:18:54.927Z,1755883134.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:54.929Z,1755883134.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 101.057076 m,
      bearing: 331.123597 deg,
      approach rate: -0.559949 m/s,
      LOS rate: -0.012978 deg/s,
      cmd heading: 341.618168 deg,
      new cmd heading: 341.609489 deg.

2025-08-22T17:18:54.930Z,1755883134.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962210 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:55.120Z,1755883135.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505179
2025-08-22T17:18:55.334Z,1755883135.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.52 m.
2025-08-22T17:18:55.337Z,1755883135.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.524498 m,
      nav range: 100.842682 m,
      bearing: 331.118608 deg,
      approach rate: -0.525810 m/s,
      LOS rate: -0.012261 deg/s,
      cmd heading: 341.609480 deg,
      new cmd heading: 341.599481 deg.

2025-08-22T17:18:55.338Z,1755883135.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962036 target range: 104.524498 and range: 105.20 m.
2025-08-22T17:18:55.379Z,1755883135.379 [DAT](INFO): DAT read: 17:18:55.2783 LVL= 25072, 30193, 22258, 32755, AGC= 65, IDX= 415,-0.10,-2.393, 2.329,-1.943,-2.425, PHS= 0.133,-1.484, 0.438, RAW= 158.5,  10.2, CAL= 158.4,  11.1, ROT= 351.6, -11.1

2025-08-22T17:18:55.381Z,1755883135.381 [DAT](INFO): got valid direction response:
 17:18:55.2783 LVL= 25072, 30193, 22258, 32755, AGC= 65, IDX= 415,-0.10,-2.393, 2.329,-1.943,-2.425, PHS= 0.133,-1.484, 0.438, RAW= 158.5,  10.2, CAL= 158.4,  11.1, ROT= 351.6, -11.1

2025-08-22T17:18:55.383Z,1755883135.383 [DAT](INFO): DAT read: Bearing 159.0,  -6.1 (Local)

2025-08-22T17:18:55.384Z,1755883135.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.0,  -6.1 (Local)

2025-08-22T17:18:55.391Z,1755883135.391 [DAT](INFO): DAT read: Range 11 to 50 : 103.2 m  (Round-trip  137.7 ms) speed  0.4 m/s

2025-08-22T17:18:55.392Z,1755883135.392 [DAT](INFO): DAT read: user:598>

2025-08-22T17:18:55.393Z,1755883135.393 [DAT](INFO): DAT read: Tx time:17:18:56.3864

2025-08-22T17:18:55.402Z,1755883135.402 [DAT](INFO): Ping request sent.
2025-08-22T17:18:55.403Z,1755883135.403 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:55.404Z,1755883135.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:55.418Z,1755883135.418 [DAT](INFO): direction in FSK: [0.970766,-0.143350,0.192522]
2025-08-22T17:18:55.419Z,1755883135.419 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:55.420Z,1755883135.420 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:55.455Z,1755883135.455 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:55.456Z,1755883135.456 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:55.766Z,1755883135.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.199997 m,
      deltaT: 3.783945 s,
      deltaX: -2.000000 m,
      approachRate: -0.528549 m/s,
      rangeRepo size: 4

2025-08-22T17:18:55.768Z,1755883135.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.538216 m,
      bearing: 333.277629 deg,
      lat: 36.779501 deg,
      lon: -121.859621 deg,
      deltaT: 3.783945 s,
      deltaX: -1.986282 m,
      approachRate: -0.524924 m/s,
      posRepo size: 4

2025-08-22T17:18:55.769Z,1755883135.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:55.772Z,1755883135.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 100.569534 m,
      bearing: 331.456463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012261 deg/s,
      cmd heading: 341.599480 deg,
      new cmd heading: 341.588909 deg.

2025-08-22T17:18:55.773Z,1755883135.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961851 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:56.141Z,1755883136.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:56.144Z,1755883136.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 100.369766 m,
      bearing: 331.451915 deg,
      approach rate: -0.531884 m/s,
      LOS rate: -0.012131 deg/s,
      cmd heading: 341.588907 deg,
      new cmd heading: 341.579795 deg.

2025-08-22T17:18:56.145Z,1755883136.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961692 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:56.618Z,1755883136.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:56.621Z,1755883136.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:56.624Z,1755883136.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 100.119926 m,
      bearing: 331.447840 deg,
      approach rate: -0.520951 m/s,
      LOS rate: -0.008518 deg/s,
      cmd heading: 341.579782 deg,
      new cmd heading: 341.571612 deg.

2025-08-22T17:18:56.625Z,1755883136.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961549 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:56.630Z,1755883136.630 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:18:56.631Z,1755883136.631 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:18:56.631Z,1755883136.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:18:56.883Z,1755883136.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480506
2025-08-22T17:18:56.960Z,1755883136.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:56.963Z,1755883136.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 99.931923 m,
      bearing: 331.444751 deg,
      approach rate: -0.553937 m/s,
      LOS rate: -0.009119 deg/s,
      cmd heading: 341.571613 deg,
      new cmd heading: 341.565423 deg.

2025-08-22T17:18:56.964Z,1755883136.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961441 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:57.135Z,1755883137.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732569
2025-08-22T17:18:57.352Z,1755883137.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:57.355Z,1755883137.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 99.722099 m,
      bearing: 331.441292 deg,
      approach rate: -0.534563 m/s,
      LOS rate: -0.008831 deg/s,
      cmd heading: 341.565411 deg,
      new cmd heading: 341.558479 deg.

2025-08-22T17:18:57.356Z,1755883137.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961320 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:57.387Z,1755883137.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985164
2025-08-22T17:18:57.638Z,1755883137.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236474
2025-08-22T17:18:57.750Z,1755883137.750 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32:WE,-32768,-32768,
2025-08-22T17:18:57.766Z,1755883137.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:57.768Z,1755883137.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 99.501404 m,
      bearing: 331.437603 deg,
      approach rate: -0.534535 m/s,
      LOS rate: -0.008955 deg/s,
      cmd heading: 341.558472 deg,
      new cmd heading: 341.551077 deg.

2025-08-22T17:18:57.769Z,1755883137.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961191 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:57.891Z,1755883137.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488540
2025-08-22T17:18:58.143Z,1755883138.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740538
2025-08-22T17:18:58.199Z,1755883138.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:58.206Z,1755883138.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 99.285637 m,
      bearing: 331.433920 deg,
      approach rate: -0.497430 m/s,
      LOS rate: -0.008510 deg/s,
      cmd heading: 341.551068 deg,
      new cmd heading: 341.543685 deg.

2025-08-22T17:18:58.207Z,1755883138.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961062 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:58.394Z,1755883138.394 [DAT](INFO): DAT read: Rx Time:17:18:58.9257

2025-08-22T17:18:58.395Z,1755883138.395 [DAT](INFO): Rx dataTimestamp_ set to:1755883138.394657
2025-08-22T17:18:58.395Z,1755883138.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993478
2025-08-22T17:18:58.619Z,1755883138.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:18:58.621Z,1755883138.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.54 m.
2025-08-22T17:18:58.624Z,1755883138.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.538216 m,
      nav range: 99.052719 m,
      bearing: 331.430777 deg,
      approach rate: -0.551848 m/s,
      LOS rate: -0.007463 deg/s,
      cmd heading: 341.543691 deg,
      new cmd heading: 341.537391 deg.

2025-08-22T17:18:58.625Z,1755883138.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960952 target range: 102.538216 and range: 103.20 m.
2025-08-22T17:18:58.647Z,1755883138.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244614
2025-08-22T17:18:58.904Z,1755883138.904 [DAT](INFO): DAT read: 17:18:58.9257 LVL= 31536, 32753, 24274, 32755, AGC= 66, IDX= 421, 0.19, 1.953, 0.336, 2.417, 1.900, PHS= 0.154,-1.519, 0.472, RAW= 158.5,   9.7, CAL= 158.4,  10.4, ROT= 351.6, -10.4

2025-08-22T17:18:58.905Z,1755883138.905 [DAT](INFO): got valid direction response:
 17:18:58.9257 LVL= 31536, 32753, 24274, 32755, AGC= 66, IDX= 421, 0.19, 1.953, 0.336, 2.417, 1.900, PHS= 0.154,-1.519, 0.472, RAW= 158.5,   9.7, CAL= 158.4,  10.4, ROT= 351.6, -10.4

2025-08-22T17:18:58.906Z,1755883138.906 [DAT](INFO): DAT read: Bearing 158.3,  -5.4 (Local)

2025-08-22T17:18:58.906Z,1755883138.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -5.4 (Local)

2025-08-22T17:18:58.908Z,1755883138.908 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m  (Round-trip  135.2 ms) speed  0.5 m/s

2025-08-22T17:18:58.908Z,1755883138.908 [DAT](INFO): DAT read: user:599>

2025-08-22T17:18:58.909Z,1755883138.909 [DAT](INFO): DAT read: Tx time:17:19:00.0364

2025-08-22T17:18:58.909Z,1755883138.909 [DAT](INFO): Ping request sent.
2025-08-22T17:18:58.910Z,1755883138.910 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:18:58.910Z,1755883138.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:18:58.911Z,1755883138.911 [DAT](INFO): direction in FSK: [0.973020,-0.143683,0.180519]
2025-08-22T17:18:58.911Z,1755883138.911 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:58.911Z,1755883138.911 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:58.914Z,1755883138.914 [DAT](INFO): publishing transmit ping time
2025-08-22T17:18:58.915Z,1755883138.915 [DAT](INFO): publishing direction and range info
2025-08-22T17:18:59.075Z,1755883139.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.400002 m,
      deltaT: 3.527614 s,
      deltaX: -1.799995 m,
      approachRate: -0.510259 m/s,
      rangeRepo size: 4

2025-08-22T17:18:59.082Z,1755883139.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.751694 m,
      bearing: 333.231469 deg,
      lat: 36.779504 deg,
      lon: -121.859607 deg,
      deltaT: 3.527614 s,
      deltaX: -1.786522 m,
      approachRate: -0.506439 m/s,
      posRepo size: 4

2025-08-22T17:18:59.083Z,1755883139.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:18:59.090Z,1755883139.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 98.562576 m,
      bearing: 332.170980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007463 deg/s,
      cmd heading: 341.537380 deg,
      new cmd heading: 341.530614 deg.

2025-08-22T17:18:59.091Z,1755883139.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960834 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:18:59.384Z,1755883139.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:18:59.391Z,1755883139.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 98.381584 m,
      bearing: 332.169855 deg,
      approach rate: -0.584475 m/s,
      LOS rate: -0.003640 deg/s,
      cmd heading: 341.530605 deg,
      new cmd heading: 341.528351 deg.

2025-08-22T17:18:59.394Z,1755883139.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960794 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:18:59.811Z,1755883139.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:18:59.814Z,1755883139.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 98.161446 m,
      bearing: 332.169425 deg,
      approach rate: -0.516167 m/s,
      LOS rate: -0.001011 deg/s,
      cmd heading: 341.528337 deg,
      new cmd heading: 341.527475 deg.

2025-08-22T17:18:59.814Z,1755883139.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960779 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:18:59.986Z,1755883139.986 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:19:00.191Z,1755883140.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:00.194Z,1755883140.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 97.970314 m,
      bearing: 332.168926 deg,
      approach rate: -0.501913 m/s,
      LOS rate: -0.001312 deg/s,
      cmd heading: 341.527463 deg,
      new cmd heading: 341.526464 deg.

2025-08-22T17:19:00.195Z,1755883140.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960761 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:00.621Z,1755883140.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:00.644Z,1755883140.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 97.747208 m,
      bearing: 332.168363 deg,
      approach rate: -0.519709 m/s,
      LOS rate: -0.001315 deg/s,
      cmd heading: 341.526452 deg,
      new cmd heading: 341.525323 deg.

2025-08-22T17:19:00.645Z,1755883140.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960742 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:00.980Z,1755883140.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:00.983Z,1755883140.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:00.986Z,1755883140.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 97.560616 m,
      bearing: 332.167950 deg,
      approach rate: -0.515337 m/s,
      LOS rate: -0.001144 deg/s,
      cmd heading: 341.525332 deg,
      new cmd heading: 341.524503 deg.

2025-08-22T17:19:00.987Z,1755883140.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960727 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:00.998Z,1755883140.998 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:19:01.167Z,1755883141.167 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:01.167Z,1755883141.167 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:01.167Z,1755883141.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:01.402Z,1755883141.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:01.405Z,1755883141.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 97.352699 m,
      bearing: 332.167581 deg,
      approach rate: -0.495954 m/s,
      LOS rate: -0.000882 deg/s,
      cmd heading: 341.524512 deg,
      new cmd heading: 341.523773 deg.

2025-08-22T17:19:01.406Z,1755883141.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960714 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:01.419Z,1755883141.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508995
2025-08-22T17:19:01.671Z,1755883141.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761293
2025-08-22T17:19:01.832Z,1755883141.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:01.835Z,1755883141.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 97.113815 m,
      bearing: 332.167702 deg,
      approach rate: -0.555595 m/s,
      LOS rate: 0.000282 deg/s,
      cmd heading: 341.523775 deg,
      new cmd heading: 341.524017 deg.

2025-08-22T17:19:01.836Z,1755883141.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960719 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:01.924Z,1755883141.924 [DAT](INFO): DAT read: Rx Time:17:19:02.5732

2025-08-22T17:19:01.925Z,1755883141.925 [DAT](INFO): Rx dataTimestamp_ set to:1755883141.924471
2025-08-22T17:19:01.926Z,1755883141.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016167
2025-08-22T17:19:02.175Z,1755883142.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265622
2025-08-22T17:19:02.221Z,1755883142.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:02.224Z,1755883142.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 96.913986 m,
      bearing: 332.167948 deg,
      approach rate: -0.513577 m/s,
      LOS rate: 0.000634 deg/s,
      cmd heading: 341.524020 deg,
      new cmd heading: 341.524514 deg.

2025-08-22T17:19:02.225Z,1755883142.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960727 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:02.430Z,1755883142.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519480
2025-08-22T17:19:02.652Z,1755883142.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.75 m.
2025-08-22T17:19:02.655Z,1755883142.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.751694 m,
      nav range: 96.681931 m,
      bearing: 332.172756 deg,
      approach rate: -0.537958 m/s,
      LOS rate: 0.011173 deg/s,
      cmd heading: 341.524512 deg,
      new cmd heading: 341.534151 deg.

2025-08-22T17:19:02.656Z,1755883142.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960896 target range: 100.751694 and range: 101.40 m.
2025-08-22T17:19:02.684Z,1755883142.684 [DAT](INFO): DAT read: 17:19:02.5732 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 412,-0.21,-1.848, 2.873,-1.417,-1.879, PHS= 0.133,-1.486, 0.419, RAW= 158.0,  10.5, CAL= 158.0,  11.5, ROT= 352.0, -11.5

2025-08-22T17:19:02.685Z,1755883142.685 [DAT](INFO): got valid direction response:
 17:19:02.5732 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 412,-0.21,-1.848, 2.873,-1.417,-1.879, PHS= 0.133,-1.486, 0.419, RAW= 158.0,  10.5, CAL= 158.0,  11.5, ROT= 352.0, -11.5

2025-08-22T17:19:02.686Z,1755883142.686 [DAT](INFO): DAT read: Bearing 159.4,  -4.0 (Local)

2025-08-22T17:19:02.687Z,1755883142.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.4,  -4.0 (Local)

2025-08-22T17:19:02.688Z,1755883142.688 [DAT](INFO): DAT read: Range 11 to 50 : 99.6 m  (Round-trip  132.8 ms) speed  0.4 m/s

2025-08-22T17:19:02.689Z,1755883142.689 [DAT](INFO): DAT read: user:600>

2025-08-22T17:19:02.689Z,1755883142.689 [DAT](INFO): DAT read: Tx time:17:19:03.6863

2025-08-22T17:19:02.690Z,1755883142.690 [DAT](INFO): Ping request sent.
2025-08-22T17:19:02.690Z,1755883142.690 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:02.690Z,1755883142.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:02.691Z,1755883142.691 [DAT](INFO): direction in FSK: [0.970388,-0.136379,0.199368]
2025-08-22T17:19:02.691Z,1755883142.691 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:02.692Z,1755883142.692 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:02.703Z,1755883142.703 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:02.703Z,1755883142.703 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:03.049Z,1755883143.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.599998 m,
      deltaT: 3.780081 s,
      deltaX: -1.800003 m,
      approachRate: -0.476181 m/s,
      rangeRepo size: 4

2025-08-22T17:19:03.057Z,1755883143.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.963211 m,
      bearing: 333.436784 deg,
      lat: 36.779507 deg,
      lon: -121.859588 deg,
      deltaT: 3.780081 s,
      deltaX: -1.788483 m,
      approachRate: -0.473133 m/s,
      posRepo size: 4

2025-08-22T17:19:03.059Z,1755883143.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:03.068Z,1755883143.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 96.036293 m,
      bearing: 333.185117 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011173 deg/s,
      cmd heading: 341.534156 deg,
      new cmd heading: 341.542978 deg.

2025-08-22T17:19:03.069Z,1755883143.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961050 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:03.428Z,1755883143.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:03.431Z,1755883143.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:03.434Z,1755883143.434 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:03.434Z,1755883143.434 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:03.435Z,1755883143.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:03.437Z,1755883143.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 95.835609 m,
      bearing: 333.191753 deg,
      approach rate: -0.523179 m/s,
      LOS rate: 0.017338 deg/s,
      cmd heading: 341.542981 deg,
      new cmd heading: 341.556282 deg.

2025-08-22T17:19:03.438Z,1755883143.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961282 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:03.687Z,1755883143.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996635
2025-08-22T17:19:03.851Z,1755883143.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:03.854Z,1755883143.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 95.607277 m,
      bearing: 333.201844 deg,
      approach rate: -0.543619 m/s,
      LOS rate: 0.024081 deg/s,
      cmd heading: 341.556286 deg,
      new cmd heading: 341.576515 deg.

2025-08-22T17:19:03.855Z,1755883143.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961635 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:03.939Z,1755883143.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248752
2025-08-22T17:19:04.191Z,1755883144.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500719
2025-08-22T17:19:04.226Z,1755883144.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:04.228Z,1755883144.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 95.412308 m,
      bearing: 333.210936 deg,
      approach rate: -0.520190 m/s,
      LOS rate: 0.024310 deg/s,
      cmd heading: 341.576504 deg,
      new cmd heading: 341.594726 deg.

2025-08-22T17:19:04.230Z,1755883144.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961953 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:04.443Z,1755883144.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752680
2025-08-22T17:19:04.695Z,1755883144.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004799
2025-08-22T17:19:04.695Z,1755883144.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:04.698Z,1755883144.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 95.177017 m,
      bearing: 333.220725 deg,
      approach rate: -0.503722 m/s,
      LOS rate: 0.021008 deg/s,
      cmd heading: 341.594727 deg,
      new cmd heading: 341.614352 deg.

2025-08-22T17:19:04.699Z,1755883144.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962295 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:04.947Z,1755883144.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257271
2025-08-22T17:19:05.137Z,1755883145.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:05.139Z,1755883145.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 94.937119 m,
      bearing: 333.230879 deg,
      approach rate: -0.540551 m/s,
      LOS rate: 0.022937 deg/s,
      cmd heading: 341.614343 deg,
      new cmd heading: 341.634702 deg.

2025-08-22T17:19:05.140Z,1755883145.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962650 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:05.199Z,1755883145.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508788
2025-08-22T17:19:05.451Z,1755883145.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760666
2025-08-22T17:19:05.520Z,1755883145.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:05.527Z,1755883145.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:05.535Z,1755883145.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 94.736153 m,
      bearing: 333.239438 deg,
      approach rate: -0.514498 m/s,
      LOS rate: 0.021959 deg/s,
      cmd heading: 341.634697 deg,
      new cmd heading: 341.651851 deg.

2025-08-22T17:19:05.556Z,1755883145.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962950 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:05.703Z,1755883145.703 [DAT](INFO): DAT read: Rx Time:17:19:06.2205

2025-08-22T17:19:05.703Z,1755883145.703 [DAT](INFO): Rx dataTimestamp_ set to:1755883145.702786
2025-08-22T17:19:05.704Z,1755883145.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013747
2025-08-22T17:19:05.955Z,1755883145.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264722
2025-08-22T17:19:05.991Z,1755883145.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.96 m.
2025-08-22T17:19:05.995Z,1755883145.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.963211 m,
      nav range: 94.484222 m,
      bearing: 333.249427 deg,
      approach rate: -0.543022 m/s,
      LOS rate: 0.021589 deg/s,
      cmd heading: 341.651854 deg,
      new cmd heading: 341.671887 deg.

2025-08-22T17:19:05.995Z,1755883145.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963299 target range: 98.963211 and range: 99.60 m.
2025-08-22T17:19:06.212Z,1755883146.212 [DAT](INFO): DAT read: 17:19:06.2205 LVL= 30160, 32609, 24418, 32755, AGC= 67, IDX= 416,-0.27,-2.268, 2.392,-1.878,-2.379, PHS= 0.213,-1.468, 0.457, RAW= 156.7,   8.8, CAL= 156.4,   9.4, ROT= 353.6,  -9.4

2025-08-22T17:19:06.213Z,1755883146.213 [DAT](INFO): got valid direction response:
 17:19:06.2205 LVL= 30160, 32609, 24418, 32755, AGC= 67, IDX= 416,-0.27,-2.268, 2.392,-1.878,-2.379, PHS= 0.213,-1.468, 0.457, RAW= 156.7,   8.8, CAL= 156.4,   9.4, ROT= 353.6,  -9.4

2025-08-22T17:19:06.214Z,1755883146.214 [DAT](INFO): DAT read: Bearing 156.6,  -1.9 (Local)

2025-08-22T17:19:06.214Z,1755883146.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6,  -1.9 (Local)

2025-08-22T17:19:06.216Z,1755883146.216 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m  (Round-trip  130.0 ms) speed  0.4 m/s

2025-08-22T17:19:06.216Z,1755883146.216 [DAT](INFO): DAT read: user:601>

2025-08-22T17:19:06.217Z,1755883146.217 [DAT](INFO): DAT read: Tx time:17:19:07.3363

2025-08-22T17:19:06.218Z,1755883146.218 [DAT](INFO): Ping request sent.
2025-08-22T17:19:06.218Z,1755883146.218 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:06.218Z,1755883146.218 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:06.219Z,1755883146.219 [DAT](INFO): direction in FSK: [0.980424,-0.109972,0.163326]
2025-08-22T17:19:06.219Z,1755883146.219 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:06.219Z,1755883146.219 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:06.223Z,1755883146.223 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:06.223Z,1755883146.223 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:06.399Z,1755883146.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.500000 m,
      deltaT: 3.528003 s,
      deltaX: -2.099998 m,
      approachRate: -0.595237 m/s,
      rangeRepo size: 4

2025-08-22T17:19:06.401Z,1755883146.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.874962 m,
      bearing: 334.736203 deg,
      lat: 36.779510 deg,
      lon: -121.859587 deg,
      deltaT: 3.528003 s,
      deltaX: -2.088249 m,
      approachRate: -0.591907 m/s,
      posRepo size: 4

2025-08-22T17:19:06.406Z,1755883146.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:06.409Z,1755883146.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 94.504265 m,
      bearing: 333.362141 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021589 deg/s,
      cmd heading: 341.671880 deg,
      new cmd heading: 341.689465 deg.

2025-08-22T17:19:06.414Z,1755883146.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963606 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:06.782Z,1755883146.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:06.785Z,1755883146.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 94.293404 m,
      bearing: 333.367977 deg,
      approach rate: -0.550139 m/s,
      LOS rate: 0.015263 deg/s,
      cmd heading: 341.689475 deg,
      new cmd heading: 341.701175 deg.

2025-08-22T17:19:06.786Z,1755883146.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963810 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:07.176Z,1755883147.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:07.180Z,1755883147.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 94.091476 m,
      bearing: 333.373494 deg,
      approach rate: -0.512675 m/s,
      LOS rate: 0.014036 deg/s,
      cmd heading: 341.701168 deg,
      new cmd heading: 341.712225 deg.

2025-08-22T17:19:07.202Z,1755883147.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964004 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:07.647Z,1755883147.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:07.649Z,1755883147.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:07.656Z,1755883147.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 93.874054 m,
      bearing: 333.379400 deg,
      approach rate: -0.459108 m/s,
      LOS rate: 0.012501 deg/s,
      cmd heading: 341.712233 deg,
      new cmd heading: 341.724074 deg.

2025-08-22T17:19:07.657Z,1755883147.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964210 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:07.719Z,1755883147.719 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:07.719Z,1755883147.719 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:07.720Z,1755883147.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:07.971Z,1755883147.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752830
2025-08-22T17:19:08.007Z,1755883148.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:08.010Z,1755883148.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 93.650383 m,
      bearing: 333.382491 deg,
      approach rate: -0.624622 m/s,
      LOS rate: 0.008652 deg/s,
      cmd heading: 341.724063 deg,
      new cmd heading: 341.730259 deg.

2025-08-22T17:19:08.011Z,1755883148.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964318 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:08.223Z,1755883148.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004747
2025-08-22T17:19:08.404Z,1755883148.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:08.411Z,1755883148.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 93.448875 m,
      bearing: 333.385201 deg,
      approach rate: -0.508353 m/s,
      LOS rate: 0.006851 deg/s,
      cmd heading: 341.730265 deg,
      new cmd heading: 341.735696 deg.

2025-08-22T17:19:08.412Z,1755883148.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964413 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:08.475Z,1755883148.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257540
2025-08-22T17:19:08.730Z,1755883148.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511569
2025-08-22T17:19:08.819Z,1755883148.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:08.822Z,1755883148.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 93.226189 m,
      bearing: 333.385872 deg,
      approach rate: -0.536182 m/s,
      LOS rate: 0.001619 deg/s,
      cmd heading: 341.735702 deg,
      new cmd heading: 341.737046 deg.

2025-08-22T17:19:08.823Z,1755883148.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964437 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:08.978Z,1755883148.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760735
2025-08-22T17:19:09.226Z,1755883149.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:09.228Z,1755883149.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 93.016182 m,
      bearing: 333.386507 deg,
      approach rate: -0.516412 m/s,
      LOS rate: 0.001566 deg/s,
      cmd heading: 341.737040 deg,
      new cmd heading: 341.738314 deg.

2025-08-22T17:19:09.231Z,1755883149.231 [DAT](INFO): DAT read: Rx Time:17:19:09.8680

2025-08-22T17:19:09.231Z,1755883149.231 [DAT](INFO): Rx dataTimestamp_ set to:1755883149.230907
2025-08-22T17:19:09.232Z,1755883149.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014002
2025-08-22T17:19:09.232Z,1755883149.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964459 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:09.483Z,1755883149.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265152
2025-08-22T17:19:09.609Z,1755883149.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.87 m.
2025-08-22T17:19:09.632Z,1755883149.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.874962 m,
      nav range: 92.818962 m,
      bearing: 333.387163 deg,
      approach rate: -0.515935 m/s,
      LOS rate: 0.001719 deg/s,
      cmd heading: 341.738324 deg,
      new cmd heading: 341.739639 deg.

2025-08-22T17:19:09.672Z,1755883149.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964482 target range: 96.874962 and range: 97.50 m.
2025-08-22T17:19:09.741Z,1755883149.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522424
2025-08-22T17:19:09.993Z,1755883149.993 [DAT](INFO): DAT read: 17:19:09.8680 LVL= 27120, 32753, 23250, 32755, AGC= 65, IDX= 423,-0.18, 2.830, 1.229,-3.050, 2.726, PHS= 0.206,-1.452, 0.463, RAW= 157.1,   8.7, CAL= 156.8,   9.2, ROT= 353.2,  -9.2

2025-08-22T17:19:09.994Z,1755883149.994 [DAT](INFO): got valid direction response:
 17:19:09.8680 LVL= 27120, 32753, 23250, 32755, AGC= 65, IDX= 423,-0.18, 2.830, 1.229,-3.050, 2.726, PHS= 0.206,-1.452, 0.463, RAW= 157.1,   8.7, CAL= 156.8,   9.2, ROT= 353.2,  -9.2

2025-08-22T17:19:09.995Z,1755883149.995 [DAT](INFO): DAT read: Bearing 156.4,  -1.7 (Local)

2025-08-22T17:19:09.995Z,1755883149.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,  -1.7 (Local)

2025-08-22T17:19:09.997Z,1755883149.997 [DAT](INFO): DAT read: Range 11 to 50 : 95.7 m  (Round-trip  127.6 ms) speed  0.4 m/s

2025-08-22T17:19:09.997Z,1755883149.997 [DAT](INFO): DAT read: user:602>

2025-08-22T17:19:10.003Z,1755883150.003 [DAT](INFO): DAT read: Tx time:17:19:10.9863

2025-08-22T17:19:10.003Z,1755883150.003 [DAT](INFO): Ping request sent.
2025-08-22T17:19:10.003Z,1755883150.003 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:10.003Z,1755883150.003 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:10.004Z,1755883150.004 [DAT](INFO): direction in FSK: [0.980192,-0.116881,0.159881]
2025-08-22T17:19:10.004Z,1755883150.004 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:10.005Z,1755883150.005 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:10.008Z,1755883150.008 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:10.008Z,1755883150.008 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:10.146Z,1755883150.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.699997 m,
      deltaT: 3.780077 s,
      deltaX: -1.800003 m,
      approachRate: -0.476182 m/s,
      rangeRepo size: 4

2025-08-22T17:19:10.148Z,1755883150.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.086823 m,
      bearing: 334.359328 deg,
      lat: 36.779511 deg,
      lon: -121.859582 deg,
      deltaT: 3.780077 s,
      deltaX: -1.788139 m,
      approachRate: -0.473043 m/s,
      posRepo size: 4

2025-08-22T17:19:10.149Z,1755883150.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:10.157Z,1755883150.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 92.449478 m,
      bearing: 333.644491 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001719 deg/s,
      cmd heading: 341.739636 deg,
      new cmd heading: 341.741469 deg.

2025-08-22T17:19:10.167Z,1755883150.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964514 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:10.518Z,1755883150.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:10.522Z,1755883150.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:10.529Z,1755883150.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 92.247452 m,
      bearing: 333.645227 deg,
      approach rate: -0.531735 m/s,
      LOS rate: 0.001940 deg/s,
      cmd heading: 341.741466 deg,
      new cmd heading: 341.742940 deg.

2025-08-22T17:19:10.531Z,1755883150.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964540 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:10.742Z,1755883150.742 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:10.742Z,1755883150.742 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:10.743Z,1755883150.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:10.946Z,1755883150.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:10.949Z,1755883150.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 92.031631 m,
      bearing: 333.643657 deg,
      approach rate: -0.527856 m/s,
      LOS rate: -0.003849 deg/s,
      cmd heading: 341.742942 deg,
      new cmd heading: 341.739795 deg.

2025-08-22T17:19:10.954Z,1755883150.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964485 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:10.995Z,1755883150.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991736
2025-08-22T17:19:11.247Z,1755883151.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243784
2025-08-22T17:19:11.428Z,1755883151.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:11.447Z,1755883151.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 91.769409 m,
      bearing: 333.641889 deg,
      approach rate: -0.526479 m/s,
      LOS rate: -0.003559 deg/s,
      cmd heading: 341.739800 deg,
      new cmd heading: 341.736255 deg.

2025-08-22T17:19:11.448Z,1755883151.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964423 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:11.499Z,1755883151.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495830
2025-08-22T17:19:11.751Z,1755883151.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747990
2025-08-22T17:19:11.856Z,1755883151.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:11.875Z,1755883151.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 91.549698 m,
      bearing: 333.641771 deg,
      approach rate: -0.512841 m/s,
      LOS rate: -0.000277 deg/s,
      cmd heading: 341.736248 deg,
      new cmd heading: 341.736011 deg.

2025-08-22T17:19:11.876Z,1755883151.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964418 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:12.003Z,1755883152.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999867
2025-08-22T17:19:12.255Z,1755883152.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251529
2025-08-22T17:19:12.340Z,1755883152.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:12.343Z,1755883152.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 91.303589 m,
      bearing: 333.641617 deg,
      approach rate: -0.508728 m/s,
      LOS rate: -0.000318 deg/s,
      cmd heading: 341.736002 deg,
      new cmd heading: 341.735694 deg.

2025-08-22T17:19:12.344Z,1755883152.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964413 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:12.507Z,1755883152.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504163
2025-08-22T17:19:12.758Z,1755883152.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755455
2025-08-22T17:19:12.827Z,1755883152.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:12.829Z,1755883152.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:12.848Z,1755883152.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 91.038170 m,
      bearing: 333.645118 deg,
      approach rate: -0.542817 m/s,
      LOS rate: 0.007180 deg/s,
      cmd heading: 341.735702 deg,
      new cmd heading: 341.742723 deg.

2025-08-22T17:19:12.849Z,1755883152.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964536 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:13.011Z,1755883153.011 [DAT](INFO): DAT read: Rx Time:17:19:13.5155

2025-08-22T17:19:13.011Z,1755883153.011 [DAT](INFO): Rx dataTimestamp_ set to:1755883153.010740
2025-08-22T17:19:13.012Z,1755883153.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008580
2025-08-22T17:19:13.208Z,1755883153.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.09 m.
2025-08-22T17:19:13.211Z,1755883153.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.086823 m,
      nav range: 90.830170 m,
      bearing: 333.647804 deg,
      approach rate: -0.548167 m/s,
      LOS rate: 0.007097 deg/s,
      cmd heading: 341.742723 deg,
      new cmd heading: 341.748109 deg.

2025-08-22T17:19:13.212Z,1755883153.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964630 target range: 95.086823 and range: 95.70 m.
2025-08-22T17:19:13.263Z,1755883153.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260326
2025-08-22T17:19:13.525Z,1755883153.525 [DAT](INFO): DAT read: 17:19:13.5155 LVL= 29504, 32753, 28210, 32755, AGC= 66, IDX= 413,-0.29, 1.613,-0.025, 2.002, 1.487, PHS= 0.229,-1.466, 0.471, RAW= 156.6,   8.4, CAL= 156.2,   8.9, ROT= 353.8,  -8.9

2025-08-22T17:19:13.527Z,1755883153.527 [DAT](INFO): got valid direction response:
 17:19:13.5155 LVL= 29504, 32753, 28210, 32755, AGC= 66, IDX= 413,-0.29, 1.613,-0.025, 2.002, 1.487, PHS= 0.229,-1.466, 0.471, RAW= 156.6,   8.4, CAL= 156.2,   8.9, ROT= 353.8,  -8.9

2025-08-22T17:19:13.529Z,1755883153.529 [DAT](INFO): DAT read: Bearing 155.8,  -1.2 (Local)

2025-08-22T17:19:13.532Z,1755883153.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8,  -1.2 (Local)

2025-08-22T17:19:13.537Z,1755883153.537 [DAT](INFO): DAT read: Range 11 to 50 : 93.7 m  (Round-trip  125.0 ms) speed  0.4 m/s

2025-08-22T17:19:13.538Z,1755883153.538 [DAT](INFO): DAT read: user:603>

2025-08-22T17:19:13.539Z,1755883153.539 [DAT](INFO): DAT read: Tx time:17:19:14.6363

2025-08-22T17:19:13.540Z,1755883153.540 [DAT](INFO): Ping request sent.
2025-08-22T17:19:13.540Z,1755883153.540 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:13.540Z,1755883153.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:13.543Z,1755883153.543 [DAT](INFO): direction in FSK: [0.982181,-0.106699,0.154710]
2025-08-22T17:19:13.543Z,1755883153.543 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:13.544Z,1755883153.544 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:13.580Z,1755883153.580 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:13.580Z,1755883153.580 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:13.735Z,1755883153.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.699997 m,
      deltaT: 3.528264 s,
      deltaX: -2.000000 m,
      approachRate: -0.566851 m/s,
      rangeRepo size: 4

2025-08-22T17:19:13.745Z,1755883153.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.099159 m,
      bearing: 334.884640 deg,
      lat: 36.779516 deg,
      lon: -121.859571 deg,
      deltaT: 3.528264 s,
      deltaX: -1.987663 m,
      approachRate: -0.563354 m/s,
      posRepo size: 4

2025-08-22T17:19:13.746Z,1755883153.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:13.749Z,1755883153.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 90.684669 m,
      bearing: 334.380590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007097 deg/s,
      cmd heading: 341.748105 deg,
      new cmd heading: 341.755416 deg.

2025-08-22T17:19:13.758Z,1755883153.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964757 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:14.079Z,1755883154.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:14.082Z,1755883154.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 90.459610 m,
      bearing: 334.388810 deg,
      approach rate: -0.633120 m/s,
      LOS rate: 0.023180 deg/s,
      cmd heading: 341.755427 deg,
      new cmd heading: 341.771907 deg.

2025-08-22T17:19:14.083Z,1755883154.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965045 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:14.422Z,1755883154.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:14.425Z,1755883154.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 90.283798 m,
      bearing: 334.395377 deg,
      approach rate: -0.512738 m/s,
      LOS rate: 0.019190 deg/s,
      cmd heading: 341.771902 deg,
      new cmd heading: 341.785061 deg.

2025-08-22T17:19:14.426Z,1755883154.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965275 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:14.865Z,1755883154.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:14.867Z,1755883154.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:14.870Z,1755883154.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 90.052101 m,
      bearing: 334.407321 deg,
      approach rate: -0.520559 m/s,
      LOS rate: 0.026903 deg/s,
      cmd heading: 341.785070 deg,
      new cmd heading: 341.809019 deg.

2025-08-22T17:19:14.871Z,1755883154.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965693 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:15.027Z,1755883155.027 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:15.027Z,1755883155.027 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:15.028Z,1755883155.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:15.231Z,1755883155.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:15.234Z,1755883155.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 89.862061 m,
      bearing: 334.417280 deg,
      approach rate: -0.521801 m/s,
      LOS rate: 0.027403 deg/s,
      cmd heading: 341.809031 deg,
      new cmd heading: 341.828991 deg.

2025-08-22T17:19:15.235Z,1755883155.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966042 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:15.279Z,1755883155.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738758
2025-08-22T17:19:15.534Z,1755883155.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993411
2025-08-22T17:19:15.642Z,1755883155.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:15.645Z,1755883155.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 89.649864 m,
      bearing: 334.428369 deg,
      approach rate: -0.516136 m/s,
      LOS rate: 0.027036 deg/s,
      cmd heading: 341.829002 deg,
      new cmd heading: 341.851233 deg.

2025-08-22T17:19:15.646Z,1755883155.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966430 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:15.783Z,1755883155.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242832
2025-08-22T17:19:16.036Z,1755883156.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495898
2025-08-22T17:19:16.087Z,1755883156.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:16.090Z,1755883156.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 89.413986 m,
      bearing: 334.441315 deg,
      approach rate: -0.530251 m/s,
      LOS rate: 0.029180 deg/s,
      cmd heading: 341.851241 deg,
      new cmd heading: 341.877202 deg.

2025-08-22T17:19:16.091Z,1755883156.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966883 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:16.287Z,1755883156.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747087
2025-08-22T17:19:16.443Z,1755883156.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:16.445Z,1755883156.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 89.227043 m,
      bearing: 334.451587 deg,
      approach rate: -0.525898 m/s,
      LOS rate: 0.028958 deg/s,
      cmd heading: 341.877196 deg,
      new cmd heading: 341.897783 deg.

2025-08-22T17:19:16.446Z,1755883156.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967242 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:16.540Z,1755883156.540 [DAT](INFO): DAT read: Rx Time:17:19:17.1626

2025-08-22T17:19:16.541Z,1755883156.541 [DAT](INFO): Rx dataTimestamp_ set to:1755883156.540103
2025-08-22T17:19:16.542Z,1755883156.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001795
2025-08-22T17:19:16.793Z,1755883156.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252432
2025-08-22T17:19:16.872Z,1755883156.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:16.876Z,1755883156.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:16.879Z,1755883156.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 88.999458 m,
      bearing: 334.461719 deg,
      approach rate: -0.525184 m/s,
      LOS rate: 0.023440 deg/s,
      cmd heading: 341.897796 deg,
      new cmd heading: 341.918111 deg.

2025-08-22T17:19:16.880Z,1755883156.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967597 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:17.046Z,1755883157.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505081
2025-08-22T17:19:17.257Z,1755883157.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.10 m.
2025-08-22T17:19:17.260Z,1755883157.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.099159 m,
      nav range: 88.797386 m,
      bearing: 334.470677 deg,
      approach rate: -0.530521 m/s,
      LOS rate: 0.023571 deg/s,
      cmd heading: 341.918122 deg,
      new cmd heading: 341.936079 deg.

2025-08-22T17:19:17.261Z,1755883157.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967910 target range: 93.099159 and range: 93.70 m.
2025-08-22T17:19:17.303Z,1755883157.303 [DAT](INFO): DAT read: 17:19:17.1626 LVL= 26064, 32753, 20962, 32755, AGC= 64, IDX= 418,-0.46,-2.587, 2.085,-2.196,-2.698, PHS= 0.213,-1.455, 0.458, RAW= 156.7,   8.7, CAL= 156.4,   9.3, ROT= 353.6,  -9.3

2025-08-22T17:19:17.304Z,1755883157.304 [DAT](INFO): got valid direction response:
 17:19:17.1626 LVL= 26064, 32753, 20962, 32755, AGC= 64, IDX= 418,-0.46,-2.587, 2.085,-2.196,-2.698, PHS= 0.213,-1.455, 0.458, RAW= 156.7,   8.7, CAL= 156.4,   9.3, ROT= 353.6,  -9.3

2025-08-22T17:19:17.306Z,1755883157.306 [DAT](INFO): DAT read: Bearing 156.1,  -1.6 (Local)

2025-08-22T17:19:17.306Z,1755883157.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.1,  -1.6 (Local)

2025-08-22T17:19:17.308Z,1755883157.308 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  0.4 m/s

2025-08-22T17:19:17.309Z,1755883157.309 [DAT](INFO): DAT read: user:604>

2025-08-22T17:19:17.310Z,1755883157.310 [DAT](INFO): DAT read: Tx time:17:19:18.2862

2025-08-22T17:19:17.311Z,1755883157.311 [DAT](INFO): Ping request sent.
2025-08-22T17:19:17.311Z,1755883157.311 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:17.311Z,1755883157.311 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:17.313Z,1755883157.313 [DAT](INFO): direction in FSK: [0.980706,-0.110004,0.161604]
2025-08-22T17:19:17.313Z,1755883157.313 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:17.313Z,1755883157.313 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:17.332Z,1755883157.332 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:17.332Z,1755883157.332 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:17.666Z,1755883157.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 3.780286 s,
      deltaX: -2.000000 m,
      approachRate: -0.529060 m/s,
      rangeRepo size: 4

2025-08-22T17:19:17.668Z,1755883157.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.113701 m,
      bearing: 334.672417 deg,
      lat: 36.779518 deg,
      lon: -121.859569 deg,
      deltaT: 3.780286 s,
      deltaX: -1.985458 m,
      approachRate: -0.525214 m/s,
      posRepo size: 4

2025-08-22T17:19:17.669Z,1755883157.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:17.672Z,1755883157.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 88.647659 m,
      bearing: 334.651954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023571 deg/s,
      cmd heading: 341.936072 deg,
      new cmd heading: 341.955341 deg.

2025-08-22T17:19:17.673Z,1755883157.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968246 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:18.092Z,1755883158.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:18.095Z,1755883158.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 88.427292 m,
      bearing: 334.663326 deg,
      approach rate: -0.516723 m/s,
      LOS rate: 0.026734 deg/s,
      cmd heading: 341.955333 deg,
      new cmd heading: 341.978136 deg.

2025-08-22T17:19:18.096Z,1755883158.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968645 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:18.468Z,1755883158.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:18.470Z,1755883158.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 88.234596 m,
      bearing: 334.673329 deg,
      approach rate: -0.512970 m/s,
      LOS rate: 0.026684 deg/s,
      cmd heading: 341.978146 deg,
      new cmd heading: 341.998194 deg.

2025-08-22T17:19:18.471Z,1755883158.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968995 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:18.890Z,1755883158.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:18.892Z,1755883158.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:18.896Z,1755883158.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 88.008568 m,
      bearing: 334.684474 deg,
      approach rate: -0.532102 m/s,
      LOS rate: 0.026305 deg/s,
      cmd heading: 341.998200 deg,
      new cmd heading: 342.020547 deg.

2025-08-22T17:19:18.897Z,1755883158.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969385 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:19.058Z,1755883159.058 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:19.058Z,1755883159.058 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:19.059Z,1755883159.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:19.284Z,1755883159.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:19.287Z,1755883159.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 87.799896 m,
      bearing: 334.694838 deg,
      approach rate: -0.532308 m/s,
      LOS rate: 0.026502 deg/s,
      cmd heading: 342.020548 deg,
      new cmd heading: 342.041326 deg.

2025-08-22T17:19:19.288Z,1755883159.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969748 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:19.324Z,1755883159.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012496
2025-08-22T17:19:19.576Z,1755883159.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265587
2025-08-22T17:19:19.700Z,1755883159.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:19.704Z,1755883159.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 87.586319 m,
      bearing: 334.705519 deg,
      approach rate: -0.513371 m/s,
      LOS rate: 0.025737 deg/s,
      cmd heading: 342.041339 deg,
      new cmd heading: 342.062754 deg.

2025-08-22T17:19:19.705Z,1755883159.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970121 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:19.827Z,1755883159.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515858
2025-08-22T17:19:20.079Z,1755883160.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767663
2025-08-22T17:19:20.127Z,1755883160.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:20.131Z,1755883160.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 87.355133 m,
      bearing: 334.714341 deg,
      approach rate: -0.543991 m/s,
      LOS rate: 0.020812 deg/s,
      cmd heading: 342.062758 deg,
      new cmd heading: 342.080448 deg.

2025-08-22T17:19:20.132Z,1755883160.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970430 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:20.331Z,1755883160.331 [DAT](INFO): DAT read: Rx Time:17:19:20.8102

2025-08-22T17:19:20.331Z,1755883160.331 [DAT](INFO): Rx dataTimestamp_ set to:1755883160.330699
2025-08-22T17:19:20.332Z,1755883160.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020672
2025-08-22T17:19:20.494Z,1755883160.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.11 m.
2025-08-22T17:19:20.496Z,1755883160.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.113701 m,
      nav range: 87.160797 m,
      bearing: 334.721736 deg,
      approach rate: -0.528130 m/s,
      LOS rate: 0.020141 deg/s,
      cmd heading: 342.080435 deg,
      new cmd heading: 342.095258 deg.

2025-08-22T17:19:20.497Z,1755883160.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970689 target range: 91.113701 and range: 91.70 m.
2025-08-22T17:19:20.583Z,1755883160.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272456
2025-08-22T17:19:20.853Z,1755883160.853 [DAT](INFO): DAT read: 17:19:20.8102 LVL= 29392, 32753, 26850, 32755, AGC= 64, IDX= 424, 0.17, 2.128, 0.514, 2.522, 2.027, PHS= 0.202,-1.468, 0.451, RAW= 156.8,   9.1, CAL= 156.6,   9.6, ROT= 353.4,  -9.6

2025-08-22T17:19:20.875Z,1755883160.875 [DAT](INFO): got valid direction response:
 17:19:20.8102 LVL= 29392, 32753, 26850, 32755, AGC= 64, IDX= 424, 0.17, 2.128, 0.514, 2.522, 2.027, PHS= 0.202,-1.468, 0.451, RAW= 156.8,   9.1, CAL= 156.6,   9.6, ROT= 353.4,  -9.6

2025-08-22T17:19:20.876Z,1755883160.876 [DAT](INFO): DAT read: Bearing 156.5,  -2.2 (Local)

2025-08-22T17:19:20.876Z,1755883160.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.5,  -2.2 (Local)

2025-08-22T17:19:20.886Z,1755883160.886 [DAT](INFO): DAT read: Range 11 to 50 : 89.9 m  (Round-trip  119.9 ms) speed  0.4 m/s

2025-08-22T17:19:20.887Z,1755883160.887 [DAT](INFO): DAT read: user:605>

2025-08-22T17:19:20.887Z,1755883160.887 [DAT](INFO): DAT read: Tx time:17:19:21.9362

2025-08-22T17:19:20.888Z,1755883160.888 [DAT](INFO): Ping request sent.
2025-08-22T17:19:20.888Z,1755883160.888 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:20.888Z,1755883160.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:20.889Z,1755883160.889 [DAT](INFO): direction in FSK: [0.979462,-0.113328,0.166769]
2025-08-22T17:19:20.889Z,1755883160.889 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:20.902Z,1755883160.902 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:20.905Z,1755883160.905 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:20.910Z,1755883160.910 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:20.996Z,1755883160.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.900002 m,
      deltaT: 3.540645 s,
      deltaX: -1.799995 m,
      approachRate: -0.508381 m/s,
      rangeRepo size: 4

2025-08-22T17:19:21.003Z,1755883161.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.324875 m,
      bearing: 334.519661 deg,
      lat: 36.779518 deg,
      lon: -121.859569 deg,
      deltaT: 3.540645 s,
      deltaX: -1.788826 m,
      approachRate: -0.505226 m/s,
      posRepo size: 4

2025-08-22T17:19:21.004Z,1755883161.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:21.018Z,1755883161.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 86.905495 m,
      bearing: 334.728563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020141 deg/s,
      cmd heading: 342.095270 deg,
      new cmd heading: 342.115090 deg.

2025-08-22T17:19:21.020Z,1755883161.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971035 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:21.300Z,1755883161.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:21.302Z,1755883161.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:21.305Z,1755883161.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 86.730171 m,
      bearing: 334.733246 deg,
      approach rate: -0.553029 m/s,
      LOS rate: 0.014803 deg/s,
      cmd heading: 342.115078 deg,
      new cmd heading: 342.124463 deg.

2025-08-22T17:19:21.306Z,1755883161.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971199 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:21.339Z,1755883161.339 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:21.339Z,1755883161.339 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:21.339Z,1755883161.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:21.591Z,1755883161.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.702926
2025-08-22T17:19:21.711Z,1755883161.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:21.730Z,1755883161.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 86.512314 m,
      bearing: 334.739090 deg,
      approach rate: -0.533444 m/s,
      LOS rate: 0.014345 deg/s,
      cmd heading: 342.124476 deg,
      new cmd heading: 342.136193 deg.

2025-08-22T17:19:21.731Z,1755883161.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971403 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:21.846Z,1755883161.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957228
2025-08-22T17:19:22.095Z,1755883162.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206971
2025-08-22T17:19:22.137Z,1755883162.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:22.140Z,1755883162.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 86.287643 m,
      bearing: 334.746676 deg,
      approach rate: -0.526950 m/s,
      LOS rate: 0.017839 deg/s,
      cmd heading: 342.136197 deg,
      new cmd heading: 342.151408 deg.

2025-08-22T17:19:22.141Z,1755883162.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971669 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:22.347Z,1755883162.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458849
2025-08-22T17:19:22.555Z,1755883162.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:22.558Z,1755883162.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 86.067413 m,
      bearing: 334.754162 deg,
      approach rate: -0.527096 m/s,
      LOS rate: 0.017963 deg/s,
      cmd heading: 342.151414 deg,
      new cmd heading: 342.166425 deg.

2025-08-22T17:19:22.559Z,1755883162.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971931 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:22.599Z,1755883162.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710892
2025-08-22T17:19:22.853Z,1755883162.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965106
2025-08-22T17:19:23.079Z,1755883163.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:23.082Z,1755883163.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 85.792755 m,
      bearing: 334.762724 deg,
      approach rate: -0.524481 m/s,
      LOS rate: 0.016401 deg/s,
      cmd heading: 342.166413 deg,
      new cmd heading: 342.183591 deg.

2025-08-22T17:19:23.083Z,1755883163.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972230 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:23.103Z,1755883163.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214839
2025-08-22T17:19:23.356Z,1755883163.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467777
2025-08-22T17:19:23.434Z,1755883163.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:23.436Z,1755883163.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:23.439Z,1755883163.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 85.605858 m,
      bearing: 334.768562 deg,
      approach rate: -0.523071 m/s,
      LOS rate: 0.016375 deg/s,
      cmd heading: 342.183598 deg,
      new cmd heading: 342.195300 deg.

2025-08-22T17:19:23.440Z,1755883163.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972435 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:23.607Z,1755883163.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719359
2025-08-22T17:19:23.861Z,1755883163.861 [DAT](INFO): DAT read: Rx Time:17:19:24.4577

2025-08-22T17:19:23.863Z,1755883163.863 [DAT](INFO): Rx dataTimestamp_ set to:1755883163.862145
2025-08-22T17:19:23.865Z,1755883163.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976746
2025-08-22T17:19:23.965Z,1755883163.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m.
2025-08-22T17:19:23.968Z,1755883163.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.324875 m,
      nav range: 85.329163 m,
      bearing: 334.774365 deg,
      approach rate: -0.522842 m/s,
      LOS rate: 0.011001 deg/s,
      cmd heading: 342.195291 deg,
      new cmd heading: 342.206935 deg.

2025-08-22T17:19:23.969Z,1755883163.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972638 target range: 89.324875 and range: 89.90 m.
2025-08-22T17:19:24.110Z,1755883164.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222788
2025-08-22T17:19:24.368Z,1755883164.368 [DAT](INFO): DAT read: 17:19:24.4577 LVL= 25328, 28561, 22610, 32755, AGC= 64, IDX= 414,-0.19, 2.024, 0.393, 2.434, 1.924, PHS= 0.202,-1.486, 0.466, RAW= 157.2,   9.0, CAL= 156.9,   9.5, ROT= 353.1,  -9.5

2025-08-22T17:19:24.369Z,1755883164.369 [DAT](INFO): got valid direction response:
 17:19:24.4577 LVL= 25328, 28561, 22610, 32755, AGC= 64, IDX= 414,-0.19, 2.024, 0.393, 2.434, 1.924, PHS= 0.202,-1.486, 0.466, RAW= 157.2,   9.0, CAL= 156.9,   9.5, ROT= 353.1,  -9.5

2025-08-22T17:19:24.371Z,1755883164.371 [DAT](INFO): DAT read: Bearing 156.4,  -2.9 (Local)

2025-08-22T17:19:24.371Z,1755883164.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,  -2.9 (Local)

2025-08-22T17:19:24.372Z,1755883164.372 [DAT](INFO): DAT read: Range 11 to 50 : 87.9 m  (Round-trip  117.3 ms) speed  0.4 m/s

2025-08-22T17:19:24.373Z,1755883164.373 [DAT](INFO): DAT read: user:606>

2025-08-22T17:19:24.374Z,1755883164.374 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:24.374Z,1755883164.374 [DAT](INFO): direction in FSK: [0.979142,-0.118489,0.165048]
2025-08-22T17:19:24.375Z,1755883164.375 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:24.382Z,1755883164.382 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:24.382Z,1755883164.382 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:24.383Z,1755883164.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:24.434Z,1755883164.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.900002 m,
      deltaT: 3.526817 s,
      deltaX: -2.000000 m,
      approachRate: -0.567084 m/s,
      rangeRepo size: 4

2025-08-22T17:19:24.436Z,1755883164.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.338188 m,
      bearing: 334.311023 deg,
      lat: 36.779517 deg,
      lon: -121.859571 deg,
      deltaT: 3.526817 s,
      deltaX: -1.986687 m,
      approachRate: -0.563309 m/s,
      posRepo size: 4

2025-08-22T17:19:24.437Z,1755883164.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:24.444Z,1755883164.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 85.111382 m,
      bearing: 334.623653 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011001 deg/s,
      cmd heading: 342.206930 deg,
      new cmd heading: 342.217135 deg.

2025-08-22T17:19:24.445Z,1755883164.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972816 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:24.615Z,1755883164.615 [DAT](INFO): DAT read: Tx time:17:19:25.5862

2025-08-22T17:19:24.615Z,1755883164.615 [DAT](INFO): Ping request sent.
2025-08-22T17:19:24.615Z,1755883164.615 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:24.615Z,1755883164.615 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:24.616Z,1755883164.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-22T17:19:24.804Z,1755883164.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:24.807Z,1755883164.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 84.900986 m,
      bearing: 334.627088 deg,
      approach rate: -0.560655 m/s,
      LOS rate: 0.009174 deg/s,
      cmd heading: 342.217148 deg,
      new cmd heading: 342.224033 deg.

2025-08-22T17:19:24.808Z,1755883164.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972936 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:24.871Z,1755883164.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255320
2025-08-22T17:19:25.119Z,1755883165.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503321
2025-08-22T17:19:25.229Z,1755883165.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:25.248Z,1755883165.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 84.677490 m,
      bearing: 334.630258 deg,
      approach rate: -0.526424 m/s,
      LOS rate: 0.007489 deg/s,
      cmd heading: 342.224033 deg,
      new cmd heading: 342.230392 deg.

2025-08-22T17:19:25.249Z,1755883165.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973047 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:25.371Z,1755883165.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755298
2025-08-22T17:19:25.594Z,1755883165.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:25.596Z,1755883165.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:25.599Z,1755883165.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 84.484512 m,
      bearing: 334.632617 deg,
      approach rate: -0.525512 m/s,
      LOS rate: 0.006436 deg/s,
      cmd heading: 342.230399 deg,
      new cmd heading: 342.235126 deg.

2025-08-22T17:19:25.600Z,1755883165.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973130 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:25.623Z,1755883165.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397
2025-08-22T17:19:25.877Z,1755883165.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261331
2025-08-22T17:19:26.066Z,1755883166.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:26.068Z,1755883166.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 84.245537 m,
      bearing: 334.637448 deg,
      approach rate: -0.509115 m/s,
      LOS rate: 0.010323 deg/s,
      cmd heading: 342.235125 deg,
      new cmd heading: 342.244816 deg.

2025-08-22T17:19:26.070Z,1755883166.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973299 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:26.128Z,1755883166.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512386
2025-08-22T17:19:26.379Z,1755883166.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763828
2025-08-22T17:19:26.405Z,1755883166.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:26.427Z,1755883166.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 84.055695 m,
      bearing: 334.640917 deg,
      approach rate: -0.559709 m/s,
      LOS rate: 0.010250 deg/s,
      cmd heading: 342.244824 deg,
      new cmd heading: 342.251777 deg.

2025-08-22T17:19:26.428Z,1755883166.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973421 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:26.631Z,1755883166.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015266
2025-08-22T17:19:26.818Z,1755883166.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:26.820Z,1755883166.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 83.836807 m,
      bearing: 334.644862 deg,
      approach rate: -0.530153 m/s,
      LOS rate: 0.009578 deg/s,
      cmd heading: 342.251791 deg,
      new cmd heading: 342.259700 deg.

2025-08-22T17:19:26.821Z,1755883166.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973558 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:26.886Z,1755883166.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269832
2025-08-22T17:19:27.134Z,1755883167.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519252
2025-08-22T17:19:27.238Z,1755883167.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:27.240Z,1755883167.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 83.623535 m,
      bearing: 334.650994 deg,
      approach rate: -0.507653 m/s,
      LOS rate: 0.014635 deg/s,
      cmd heading: 342.259686 deg,
      new cmd heading: 342.271983 deg.

2025-08-22T17:19:27.242Z,1755883167.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973773 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:27.387Z,1755883167.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771340
2025-08-22T17:19:27.614Z,1755883167.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:27.616Z,1755883167.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:27.619Z,1755883167.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 83.431541 m,
      bearing: 334.656641 deg,
      approach rate: -0.507427 m/s,
      LOS rate: 0.014959 deg/s,
      cmd heading: 342.271981 deg,
      new cmd heading: 342.283300 deg.

2025-08-22T17:19:27.620Z,1755883167.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973970 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:27.639Z,1755883167.639 [DAT](INFO): DAT read: Rx Time:17:19:28.1051

2025-08-22T17:19:27.639Z,1755883167.639 [DAT](INFO): Rx dataTimestamp_ set to:1755883167.638770
2025-08-22T17:19:27.640Z,1755883167.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024378
2025-08-22T17:19:27.893Z,1755883167.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277512
2025-08-22T17:19:28.086Z,1755883168.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.34 m.
2025-08-22T17:19:28.089Z,1755883168.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.338188 m,
      nav range: 83.188187 m,
      bearing: 334.665596 deg,
      approach rate: -0.517642 m/s,
      LOS rate: 0.019103 deg/s,
      cmd heading: 342.283292 deg,
      new cmd heading: 342.301253 deg.

2025-08-22T17:19:28.090Z,1755883168.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974284 target range: 87.338188 and range: 87.90 m.
2025-08-22T17:19:28.151Z,1755883168.151 [DAT](INFO): DAT read: 17:19:28.1051 LVL= 25312, 29809, 21938, 32755, AGC= 63, IDX= 420,-0.02,-1.745, 2.946,-1.305,-1.814, PHS= 0.171,-1.478, 0.465, RAW= 158.1,   9.3, CAL= 157.8,   9.9, ROT= 352.2,  -9.9

2025-08-22T17:19:28.152Z,1755883168.152 [DAT](INFO): got valid direction response:
 17:19:28.1051 LVL= 25312, 29809, 21938, 32755, AGC= 63, IDX= 420,-0.02,-1.745, 2.946,-1.305,-1.814, PHS= 0.171,-1.478, 0.465, RAW= 158.1,   9.3, CAL= 157.8,   9.9, ROT= 352.2,  -9.9

2025-08-22T17:19:28.154Z,1755883168.154 [DAT](INFO): DAT read: Bearing 157.6,  -4.5 (Local)

2025-08-22T17:19:28.154Z,1755883168.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6,  -4.5 (Local)

2025-08-22T17:19:28.156Z,1755883168.156 [DAT](INFO): DAT read: Range 11 to 50 : 86.1 m  (Round-trip  114.8 ms) speed  0.2 m/s

2025-08-22T17:19:28.157Z,1755883168.157 [DAT](INFO): DAT read: user:607>

2025-08-22T17:19:28.158Z,1755883168.158 [DAT](INFO): DAT read: Tx time:17:19:29.2362

2025-08-22T17:19:28.158Z,1755883168.158 [DAT](INFO): Ping request sent.
2025-08-22T17:19:28.158Z,1755883168.158 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:28.159Z,1755883168.159 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:28.160Z,1755883168.160 [DAT](INFO): direction in FSK: [0.975995,-0.133694,0.171929]
2025-08-22T17:19:28.161Z,1755883168.161 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:28.161Z,1755883168.161 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:28.180Z,1755883168.180 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:28.180Z,1755883168.180 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:28.456Z,1755883168.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.099998 m,
      deltaT: 3.780347 s,
      deltaX: -1.800003 m,
      approachRate: -0.476148 m/s,
      rangeRepo size: 4

2025-08-22T17:19:28.462Z,1755883168.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.550140 m,
      bearing: 333.845329 deg,
      lat: 36.779518 deg,
      lon: -121.859572 deg,
      deltaT: 3.780347 s,
      deltaX: -1.788048 m,
      approachRate: -0.472985 m/s,
      posRepo size: 4

2025-08-22T17:19:28.463Z,1755883168.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:28.465Z,1755883168.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 83.150887 m,
      bearing: 334.647441 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019103 deg/s,
      cmd heading: 342.301241 deg,
      new cmd heading: 342.315337 deg.

2025-08-22T17:19:28.470Z,1755883168.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974530 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:28.855Z,1755883168.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:28.862Z,1755883168.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 82.946037 m,
      bearing: 334.655382 deg,
      approach rate: -0.512140 m/s,
      LOS rate: 0.019903 deg/s,
      cmd heading: 342.315339 deg,
      new cmd heading: 342.331260 deg.

2025-08-22T17:19:28.863Z,1755883168.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974808 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:29.262Z,1755883169.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:29.264Z,1755883169.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 82.723473 m,
      bearing: 334.666919 deg,
      approach rate: -0.547446 m/s,
      LOS rate: 0.028455 deg/s,
      cmd heading: 342.331267 deg,
      new cmd heading: 342.354404 deg.

2025-08-22T17:19:29.266Z,1755883169.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975212 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:29.640Z,1755883169.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:29.642Z,1755883169.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:29.644Z,1755883169.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 82.525352 m,
      bearing: 334.677359 deg,
      approach rate: -0.521222 m/s,
      LOS rate: 0.027530 deg/s,
      cmd heading: 342.354408 deg,
      new cmd heading: 342.375336 deg.

2025-08-22T17:19:29.646Z,1755883169.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975577 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:29.654Z,1755883169.654 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:29.654Z,1755883169.654 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:29.655Z,1755883169.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:29.906Z,1755883169.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747886
2025-08-22T17:19:30.086Z,1755883170.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:30.088Z,1755883170.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 82.306122 m,
      bearing: 334.688201 deg,
      approach rate: -0.498697 m/s,
      LOS rate: 0.024728 deg/s,
      cmd heading: 342.375335 deg,
      new cmd heading: 342.397077 deg.

2025-08-22T17:19:30.089Z,1755883170.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975956 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:30.159Z,1755883170.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000791
2025-08-22T17:19:30.411Z,1755883170.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251967
2025-08-22T17:19:30.452Z,1755883170.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:30.455Z,1755883170.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 82.102150 m,
      bearing: 334.698368 deg,
      approach rate: -0.550456 m/s,
      LOS rate: 0.027507 deg/s,
      cmd heading: 342.397083 deg,
      new cmd heading: 342.417468 deg.

2025-08-22T17:19:30.456Z,1755883170.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976312 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:30.664Z,1755883170.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505039
2025-08-22T17:19:30.853Z,1755883170.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:30.856Z,1755883170.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 81.892609 m,
      bearing: 334.708776 deg,
      approach rate: -0.522168 m/s,
      LOS rate: 0.026004 deg/s,
      cmd heading: 342.417464 deg,
      new cmd heading: 342.438334 deg.

2025-08-22T17:19:30.857Z,1755883170.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976676 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:30.916Z,1755883170.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757329
2025-08-22T17:19:31.122Z,1755883171.122 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:19:31.167Z,1755883171.167 [DAT](INFO): DAT read: Rx Time:17:19:31.7526

2025-08-22T17:19:31.168Z,1755883171.168 [DAT](INFO): Rx dataTimestamp_ set to:1755883171.167519
2025-08-22T17:19:31.169Z,1755883171.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010124
2025-08-22T17:19:31.271Z,1755883171.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.55 m.
2025-08-22T17:19:31.273Z,1755883171.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.550140 m,
      nav range: 81.677864 m,
      bearing: 334.718442 deg,
      approach rate: -0.514330 m/s,
      LOS rate: 0.023210 deg/s,
      cmd heading: 342.438337 deg,
      new cmd heading: 342.457718 deg.

2025-08-22T17:19:31.274Z,1755883171.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977015 target range: 85.550140 and range: 86.10 m.
2025-08-22T17:19:31.418Z,1755883171.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259885
2025-08-22T17:19:31.676Z,1755883171.676 [DAT](INFO): DAT read: 17:19:31.7525 LVL= 27776, 32753, 25186, 32755, AGC= 64, IDX= 410, 0.20,-1.619, 3.093,-1.173,-1.652, PHS= 0.135,-1.493, 0.435, RAW= 158.3,  10.3, CAL= 158.3,  11.2, ROT= 351.7, -11.2

2025-08-22T17:19:31.677Z,1755883171.677 [DAT](INFO): got valid direction response:
 17:19:31.7525 LVL= 27776, 32753, 25186, 32755, AGC= 64, IDX= 410, 0.20,-1.619, 3.093,-1.173,-1.652, PHS= 0.135,-1.493, 0.435, RAW= 158.3,  10.3, CAL= 158.3,  11.2, ROT= 351.7, -11.2

2025-08-22T17:19:31.678Z,1755883171.678 [DAT](INFO): DAT read: Bearing 158.9,  -5.9 (Local)

2025-08-22T17:19:31.678Z,1755883171.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.9,  -5.9 (Local)

2025-08-22T17:19:31.680Z,1755883171.680 [DAT](INFO): DAT read: Range 11 to 50 : 84.2 m  (Round-trip  112.3 ms) speed  0.4 m/s

2025-08-22T17:19:31.680Z,1755883171.680 [DAT](INFO): DAT read: user:608>

2025-08-22T17:19:31.681Z,1755883171.681 [DAT](INFO): DAT read: Tx time:17:19:32.8361

2025-08-22T17:19:31.682Z,1755883171.682 [DAT](INFO): Ping request sent.
2025-08-22T17:19:31.682Z,1755883171.682 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:31.682Z,1755883171.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:31.683Z,1755883171.683 [DAT](INFO): direction in FSK: [0.970680,-0.141607,0.194234]
2025-08-22T17:19:31.683Z,1755883171.683 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:31.683Z,1755883171.683 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:31.687Z,1755883171.687 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:31.687Z,1755883171.687 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:31.778Z,1755883171.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.199997 m,
      deltaT: 3.527532 s,
      deltaX: -1.900002 m,
      approachRate: -0.538621 m/s,
      rangeRepo size: 4

2025-08-22T17:19:31.780Z,1755883171.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.660751 m,
      bearing: 333.244363 deg,
      lat: 36.779517 deg,
      lon: -121.859576 deg,
      deltaT: 3.527532 s,
      deltaX: -1.889389 m,
      approachRate: -0.535612 m/s,
      posRepo size: 4

2025-08-22T17:19:31.781Z,1755883171.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:31.796Z,1755883171.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 81.490425 m,
      bearing: 334.459827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023210 deg/s,
      cmd heading: 342.457707 deg,
      new cmd heading: 342.481041 deg.

2025-08-22T17:19:31.797Z,1755883171.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977422 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:32.126Z,1755883172.126 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:19:32.161Z,1755883172.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:32.165Z,1755883172.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:32.169Z,1755883172.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 81.268890 m,
      bearing: 334.466057 deg,
      approach rate: -0.566707 m/s,
      LOS rate: 0.015982 deg/s,
      cmd heading: 342.481039 deg,
      new cmd heading: 342.493534 deg.

2025-08-22T17:19:32.171Z,1755883172.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977640 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:32.175Z,1755883172.175 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:32.175Z,1755883172.175 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:32.176Z,1755883172.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:32.427Z,1755883172.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744824
2025-08-22T17:19:32.549Z,1755883172.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:32.552Z,1755883172.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 81.063316 m,
      bearing: 334.471657 deg,
      approach rate: -0.534108 m/s,
      LOS rate: 0.014586 deg/s,
      cmd heading: 342.493525 deg,
      new cmd heading: 342.504753 deg.

2025-08-22T17:19:32.553Z,1755883172.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977836 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:32.679Z,1755883172.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996807
2025-08-22T17:19:32.916Z,1755883172.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:32.919Z,1755883172.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 80.869820 m,
      bearing: 334.476742 deg,
      approach rate: -0.527374 m/s,
      LOS rate: 0.013891 deg/s,
      cmd heading: 342.504754 deg,
      new cmd heading: 342.514947 deg.

2025-08-22T17:19:32.920Z,1755883172.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978014 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:32.931Z,1755883172.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248910
2025-08-22T17:19:33.183Z,1755883173.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501477
2025-08-22T17:19:33.345Z,1755883173.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:33.348Z,1755883173.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 80.649200 m,
      bearing: 334.480965 deg,
      approach rate: -0.514309 m/s,
      LOS rate: 0.009872 deg/s,
      cmd heading: 342.514944 deg,
      new cmd heading: 342.523413 deg.

2025-08-22T17:19:33.349Z,1755883173.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978161 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:33.436Z,1755883173.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754008
2025-08-22T17:19:33.686Z,1755883173.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004774
2025-08-22T17:19:33.835Z,1755883173.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:33.838Z,1755883173.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 80.400612 m,
      bearing: 334.485751 deg,
      approach rate: -0.507506 m/s,
      LOS rate: 0.009801 deg/s,
      cmd heading: 342.523414 deg,
      new cmd heading: 342.533016 deg.

2025-08-22T17:19:33.839Z,1755883173.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978329 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:33.939Z,1755883173.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256925
2025-08-22T17:19:34.191Z,1755883174.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508822
2025-08-22T17:19:34.199Z,1755883174.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:34.201Z,1755883174.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:34.207Z,1755883174.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 80.219124 m,
      bearing: 334.489522 deg,
      approach rate: -0.496116 m/s,
      LOS rate: 0.010331 deg/s,
      cmd heading: 342.533003 deg,
      new cmd heading: 342.540562 deg.

2025-08-22T17:19:34.208Z,1755883174.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978461 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:34.443Z,1755883174.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760843
2025-08-22T17:19:34.554Z,1755883174.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:34.556Z,1755883174.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 80.027046 m,
      bearing: 334.493504 deg,
      approach rate: -0.544120 m/s,
      LOS rate: 0.011309 deg/s,
      cmd heading: 342.540571 deg,
      new cmd heading: 342.548555 deg.

2025-08-22T17:19:34.574Z,1755883174.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978600 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:34.694Z,1755883174.694 [DAT](INFO): DAT read: Rx Time:17:19:35.3499

2025-08-22T17:19:34.695Z,1755883174.695 [DAT](INFO): Rx dataTimestamp_ set to:1755883174.694652
2025-08-22T17:19:34.695Z,1755883174.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013789
2025-08-22T17:19:34.947Z,1755883174.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264943
2025-08-22T17:19:34.971Z,1755883174.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:34.975Z,1755883174.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 79.812057 m,
      bearing: 334.498050 deg,
      approach rate: -0.515343 m/s,
      LOS rate: 0.010925 deg/s,
      cmd heading: 342.548549 deg,
      new cmd heading: 342.557664 deg.

2025-08-22T17:19:34.977Z,1755883174.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978759 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:35.202Z,1755883175.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519590
2025-08-22T17:19:35.417Z,1755883175.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.66 m.
2025-08-22T17:19:35.420Z,1755883175.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.660751 m,
      nav range: 79.576965 m,
      bearing: 334.502218 deg,
      approach rate: -0.526738 m/s,
      LOS rate: 0.009367 deg/s,
      cmd heading: 342.557674 deg,
      new cmd heading: 342.566035 deg.

2025-08-22T17:19:35.421Z,1755883175.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978905 target range: 83.660751 and range: 84.20 m.
2025-08-22T17:19:35.456Z,1755883175.456 [DAT](INFO): DAT read: 17:19:35.3499 LVL= 32720, 32753, 28434, 32755, AGC= 65, IDX= 415, 0.04,-2.995, 1.723,-2.523,-3.005, PHS= 0.112,-1.510, 0.438, RAW= 159.0,  10.6, CAL= 159.0,  11.7, ROT= 351.0, -11.7

2025-08-22T17:19:35.458Z,1755883175.458 [DAT](INFO): got valid direction response:
 17:19:35.3499 LVL= 32720, 32753, 28434, 32755, AGC= 65, IDX= 415, 0.04,-2.995, 1.723,-2.523,-3.005, PHS= 0.112,-1.510, 0.438, RAW= 159.0,  10.6, CAL= 159.0,  11.7, ROT= 351.0, -11.7

2025-08-22T17:19:35.459Z,1755883175.459 [DAT](INFO): DAT read: Bearing 160.2,  -7.1 (Local)

2025-08-22T17:19:35.459Z,1755883175.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.2,  -7.1 (Local)

2025-08-22T17:19:35.461Z,1755883175.461 [DAT](INFO): DAT read: Range 11 to 50 : 82.2 m  (Round-trip  109.6 ms) speed  0.4 m/s

2025-08-22T17:19:35.462Z,1755883175.462 [DAT](INFO): DAT read: user:609>

2025-08-22T17:19:35.462Z,1755883175.462 [DAT](INFO): DAT read: Tx time:17:19:36.4361

2025-08-22T17:19:35.463Z,1755883175.463 [DAT](INFO): Ping request sent.
2025-08-22T17:19:35.463Z,1755883175.463 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:35.463Z,1755883175.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:35.464Z,1755883175.464 [DAT](INFO): direction in FSK: [0.967167,-0.153184,0.202787]
2025-08-22T17:19:35.464Z,1755883175.464 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:35.464Z,1755883175.464 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:35.468Z,1755883175.468 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:35.468Z,1755883175.468 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:35.816Z,1755883175.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.199997 m,
      deltaT: 3.780114 s,
      deltaX: -2.000000 m,
      approachRate: -0.529085 m/s,
      rangeRepo size: 4

2025-08-22T17:19:35.823Z,1755883175.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.673119 m,
      bearing: 332.840734 deg,
      lat: 36.779516 deg,
      lon: -121.859587 deg,
      deltaT: 3.780114 s,
      deltaX: -1.987633 m,
      approachRate: -0.525813 m/s,
      posRepo size: 4

2025-08-22T17:19:35.823Z,1755883175.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:35.830Z,1755883175.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 79.683571 m,
      bearing: 333.871423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009367 deg/s,
      cmd heading: 342.566034 deg,
      new cmd heading: 342.573493 deg.

2025-08-22T17:19:35.831Z,1755883175.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979035 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:36.231Z,1755883176.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:36.233Z,1755883176.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:36.252Z,1755883176.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 79.454193 m,
      bearing: 333.873648 deg,
      approach rate: -0.549157 m/s,
      LOS rate: 0.005342 deg/s,
      cmd heading: 342.573493 deg,
      new cmd heading: 342.577955 deg.

2025-08-22T17:19:36.253Z,1755883176.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979113 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:36.463Z,1755883176.463 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:36.463Z,1755883176.463 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:36.463Z,1755883176.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:36.616Z,1755883176.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:36.619Z,1755883176.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 79.250404 m,
      bearing: 333.875662 deg,
      approach rate: -0.531498 m/s,
      LOS rate: 0.005267 deg/s,
      cmd heading: 342.577946 deg,
      new cmd heading: 342.581985 deg.

2025-08-22T17:19:36.620Z,1755883176.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979184 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:36.715Z,1755883176.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252149
2025-08-22T17:19:36.966Z,1755883176.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503681
2025-08-22T17:19:37.060Z,1755883177.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:37.069Z,1755883177.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 79.034195 m,
      bearing: 333.877871 deg,
      approach rate: -0.488088 m/s,
      LOS rate: 0.005000 deg/s,
      cmd heading: 342.581989 deg,
      new cmd heading: 342.586419 deg.

2025-08-22T17:19:37.093Z,1755883177.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979261 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:37.219Z,1755883177.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755800
2025-08-22T17:19:37.440Z,1755883177.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:37.443Z,1755883177.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 78.816658 m,
      bearing: 333.881693 deg,
      approach rate: -0.570815 m/s,
      LOS rate: 0.010057 deg/s,
      cmd heading: 342.586415 deg,
      new cmd heading: 342.594081 deg.

2025-08-22T17:19:37.444Z,1755883177.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979395 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:37.472Z,1755883177.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008784
2025-08-22T17:19:37.723Z,1755883177.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259752
2025-08-22T17:19:37.819Z,1755883177.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:37.822Z,1755883177.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 78.618744 m,
      bearing: 333.885187 deg,
      approach rate: -0.523123 m/s,
      LOS rate: 0.009258 deg/s,
      cmd heading: 342.594093 deg,
      new cmd heading: 342.601098 deg.

2025-08-22T17:19:37.823Z,1755883177.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979517 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:37.976Z,1755883177.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513341
2025-08-22T17:19:38.227Z,1755883178.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763807
2025-08-22T17:19:38.246Z,1755883178.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:38.248Z,1755883178.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:38.251Z,1755883178.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 78.395714 m,
      bearing: 333.888043 deg,
      approach rate: -0.519674 m/s,
      LOS rate: 0.006673 deg/s,
      cmd heading: 342.601087 deg,
      new cmd heading: 342.606814 deg.

2025-08-22T17:19:38.252Z,1755883178.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979617 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:38.480Z,1755883178.480 [DAT](INFO): DAT read: Rx Time:17:19:38.9473

2025-08-22T17:19:38.481Z,1755883178.481 [DAT](INFO): Rx dataTimestamp_ set to:1755883178.479923
2025-08-22T17:19:38.482Z,1755883178.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018971
2025-08-22T17:19:38.628Z,1755883178.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m.
2025-08-22T17:19:38.631Z,1755883178.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.673119 m,
      nav range: 78.197784 m,
      bearing: 333.890603 deg,
      approach rate: -0.520860 m/s,
      LOS rate: 0.006754 deg/s,
      cmd heading: 342.606824 deg,
      new cmd heading: 342.611957 deg.

2025-08-22T17:19:38.632Z,1755883178.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979707 target range: 81.673119 and range: 82.20 m.
2025-08-22T17:19:38.731Z,1755883178.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267946
2025-08-22T17:19:38.992Z,1755883178.992 [DAT](INFO): DAT read: 17:19:38.9473 LVL= 28368, 27553, 22066, 32755, AGC= 64, IDX= 421, 0.47,-1.192,-2.760,-0.709,-1.221, PHS= 0.131,-1.494, 0.468, RAW= 159.2,   9.9, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-22T17:19:38.995Z,1755883178.995 [DAT](INFO): got valid direction response:
 17:19:38.9473 LVL= 28368, 27553, 22066, 32755, AGC= 64, IDX= 421, 0.47,-1.192,-2.760,-0.709,-1.221, PHS= 0.131,-1.494, 0.468, RAW= 159.2,   9.9, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-22T17:19:38.996Z,1755883178.996 [DAT](INFO): DAT read: Bearing 159.3,  -8.1 (Local)

2025-08-22T17:19:38.996Z,1755883178.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.3,  -8.1 (Local)

2025-08-22T17:19:39.035Z,1755883179.035 [DAT](INFO): DAT read: Range 11 to 50 : 80.3 m  (Round-trip  107.1 ms) speed  0.4 m/s

2025-08-22T17:19:39.036Z,1755883179.036 [DAT](INFO): DAT read: user:610>

2025-08-22T17:19:39.036Z,1755883179.036 [DAT](INFO): DAT read: Tx time:17:19:40.0361

2025-08-22T17:19:39.037Z,1755883179.037 [DAT](INFO): Ping request sent.
2025-08-22T17:19:39.037Z,1755883179.037 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:39.037Z,1755883179.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:39.050Z,1755883179.050 [DAT](INFO): direction in FSK: [0.969973,-0.157101,0.185667]
2025-08-22T17:19:39.051Z,1755883179.051 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:39.051Z,1755883179.051 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:39.060Z,1755883179.060 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:39.061Z,1755883179.061 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:39.228Z,1755883179.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.300003 m,
      deltaT: 3.532302 s,
      deltaX: -1.899994 m,
      approachRate: -0.537891 m/s,
      rangeRepo size: 4

2025-08-22T17:19:39.235Z,1755883179.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.784698 m,
      bearing: 332.682657 deg,
      lat: 36.779513 deg,
      lon: -121.859595 deg,
      deltaT: 3.532302 s,
      deltaX: -1.888420 m,
      approachRate: -0.534615 m/s,
      posRepo size: 4

2025-08-22T17:19:39.236Z,1755883179.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:39.247Z,1755883179.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 77.960480 m,
      bearing: 333.346685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006754 deg/s,
      cmd heading: 342.611960 deg,
      new cmd heading: 342.620057 deg.

2025-08-22T17:19:39.250Z,1755883179.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979848 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:39.587Z,1755883179.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:39.589Z,1755883179.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 77.770950 m,
      bearing: 333.350248 deg,
      approach rate: -0.527684 m/s,
      LOS rate: 0.009945 deg/s,
      cmd heading: 342.620047 deg,
      new cmd heading: 342.627191 deg.

2025-08-22T17:19:39.590Z,1755883179.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979972 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:40.008Z,1755883180.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:40.011Z,1755883180.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 77.555748 m,
      bearing: 333.354446 deg,
      approach rate: -0.510321 m/s,
      LOS rate: 0.009983 deg/s,
      cmd heading: 342.627178 deg,
      new cmd heading: 342.635598 deg.

2025-08-22T17:19:40.012Z,1755883180.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980119 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:40.413Z,1755883180.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:40.415Z,1755883180.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:40.434Z,1755883180.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 77.340866 m,
      bearing: 333.359331 deg,
      approach rate: -0.528411 m/s,
      LOS rate: 0.012046 deg/s,
      cmd heading: 342.635593 deg,
      new cmd heading: 342.645390 deg.

2025-08-22T17:19:40.435Z,1755883180.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980290 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:40.496Z,1755883180.496 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:40.496Z,1755883180.496 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:40.496Z,1755883180.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:40.747Z,1755883180.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709741
2025-08-22T17:19:40.811Z,1755883180.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:40.818Z,1755883180.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 77.140846 m,
      bearing: 333.363875 deg,
      approach rate: -0.505170 m/s,
      LOS rate: 0.011505 deg/s,
      cmd heading: 342.645401 deg,
      new cmd heading: 342.654511 deg.

2025-08-22T17:19:40.819Z,1755883180.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980449 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:40.999Z,1755883180.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961999
2025-08-22T17:19:41.230Z,1755883181.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:41.233Z,1755883181.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 76.917679 m,
      bearing: 333.369902 deg,
      approach rate: -0.532772 m/s,
      LOS rate: 0.014432 deg/s,
      cmd heading: 342.654499 deg,
      new cmd heading: 342.666589 deg.

2025-08-22T17:19:41.234Z,1755883181.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980660 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:41.253Z,1755883181.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215751
2025-08-22T17:19:41.503Z,1755883181.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465719
2025-08-22T17:19:41.598Z,1755883181.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:41.600Z,1755883181.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 76.731552 m,
      bearing: 333.374961 deg,
      approach rate: -0.506076 m/s,
      LOS rate: 0.013788 deg/s,
      cmd heading: 342.666602 deg,
      new cmd heading: 342.676744 deg.

2025-08-22T17:19:41.601Z,1755883181.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980837 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:41.755Z,1755883181.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717878
2025-08-22T17:19:42.007Z,1755883182.007 [DAT](INFO): DAT read: Rx Time:17:19:42.5449

2025-08-22T17:19:42.007Z,1755883182.007 [DAT](INFO): Rx dataTimestamp_ set to:1755883182.006947
2025-08-22T17:19:42.008Z,1755883182.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971002
2025-08-22T17:19:42.041Z,1755883182.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.78 m.
2025-08-22T17:19:42.052Z,1755883182.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.784698 m,
      nav range: 76.513130 m,
      bearing: 333.380996 deg,
      approach rate: -0.495447 m/s,
      LOS rate: 0.013728 deg/s,
      cmd heading: 342.676738 deg,
      new cmd heading: 342.688842 deg.

2025-08-22T17:19:42.053Z,1755883182.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981049 target range: 79.784698 and range: 80.30 m.
2025-08-22T17:19:42.258Z,1755883182.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221700
2025-08-22T17:19:42.517Z,1755883182.517 [DAT](INFO): DAT read: 17:19:42.5449 LVL= 24048, 32433, 21554, 32755, AGC= 63, IDX= 412, 0.23,-2.738, 2.015,-2.240,-2.733, PHS= 0.097,-1.491, 0.449, RAW= 159.8,  10.6, CAL= 159.9,  11.6, ROT= 350.1, -11.6

2025-08-22T17:19:42.518Z,1755883182.518 [DAT](INFO): got valid direction response:
 17:19:42.5449 LVL= 24048, 32433, 21554, 32755, AGC= 63, IDX= 412, 0.23,-2.738, 2.015,-2.240,-2.733, PHS= 0.097,-1.491, 0.449, RAW= 159.8,  10.6, CAL= 159.9,  11.6, ROT= 350.1, -11.6

2025-08-22T17:19:42.519Z,1755883182.519 [DAT](INFO): DAT read: Bearing 160.6,  -9.2 (Local)

2025-08-22T17:19:42.519Z,1755883182.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6,  -9.2 (Local)

2025-08-22T17:19:42.521Z,1755883182.521 [DAT](INFO): DAT read: Range 11 to 50 : 78.4 m  (Round-trip  104.6 ms) speed  0.4 m/s

2025-08-22T17:19:42.522Z,1755883182.522 [DAT](INFO): DAT read: user:611>

2025-08-22T17:19:42.522Z,1755883182.522 [DAT](INFO): DAT read: Tx time:17:19:43.6361

2025-08-22T17:19:42.523Z,1755883182.523 [DAT](INFO): Ping request sent.
2025-08-22T17:19:42.523Z,1755883182.523 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:42.523Z,1755883182.523 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:42.524Z,1755883182.524 [DAT](INFO): direction in FSK: [0.964989,-0.168417,0.201078]
2025-08-22T17:19:42.524Z,1755883182.524 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:42.525Z,1755883182.525 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:42.528Z,1755883182.528 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:42.528Z,1755883182.528 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:42.648Z,1755883182.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.400002 m,
      deltaT: 3.528221 s,
      deltaX: -1.900002 m,
      approachRate: -0.538515 m/s,
      rangeRepo size: 4

2025-08-22T17:19:42.653Z,1755883182.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.896721 m,
      bearing: 332.017961 deg,
      lat: 36.779512 deg,
      lon: -121.859602 deg,
      deltaT: 3.528221 s,
      deltaX: -1.887978 m,
      approachRate: -0.535107 m/s,
      posRepo size: 4

2025-08-22T17:19:42.662Z,1755883182.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:42.665Z,1755883182.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 76.354691 m,
      bearing: 332.872644 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013728 deg/s,
      cmd heading: 342.688841 deg,
      new cmd heading: 342.704961 deg.

2025-08-22T17:19:42.670Z,1755883182.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981330 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:43.003Z,1755883183.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:43.010Z,1755883183.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:43.013Z,1755883183.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 76.144638 m,
      bearing: 332.875163 deg,
      approach rate: -0.552847 m/s,
      LOS rate: 0.006648 deg/s,
      cmd heading: 342.704960 deg,
      new cmd heading: 342.710012 deg.

2025-08-22T17:19:43.014Z,1755883183.014 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:43.014Z,1755883183.014 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:43.015Z,1755883183.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:43.018Z,1755883183.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981418 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:43.267Z,1755883183.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743685
2025-08-22T17:19:43.414Z,1755883183.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:43.416Z,1755883183.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 75.931633 m,
      bearing: 332.879047 deg,
      approach rate: -0.521847 m/s,
      LOS rate: 0.009542 deg/s,
      cmd heading: 342.710015 deg,
      new cmd heading: 342.717804 deg.

2025-08-22T17:19:43.418Z,1755883183.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981554 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:43.519Z,1755883183.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995906
2025-08-22T17:19:43.770Z,1755883183.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247574
2025-08-22T17:19:43.801Z,1755883183.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:43.804Z,1755883183.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 75.731102 m,
      bearing: 332.882590 deg,
      approach rate: -0.518069 m/s,
      LOS rate: 0.009177 deg/s,
      cmd heading: 342.717801 deg,
      new cmd heading: 342.724906 deg.

2025-08-22T17:19:43.805Z,1755883183.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981678 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:44.023Z,1755883184.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499783
2025-08-22T17:19:44.260Z,1755883184.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:44.263Z,1755883184.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 75.497101 m,
      bearing: 332.886095 deg,
      approach rate: -0.509226 m/s,
      LOS rate: 0.007651 deg/s,
      cmd heading: 342.724904 deg,
      new cmd heading: 342.731936 deg.

2025-08-22T17:19:44.264Z,1755883184.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981801 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:44.275Z,1755883184.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751758
2025-08-22T17:19:44.527Z,1755883184.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003907
2025-08-22T17:19:44.599Z,1755883184.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:44.602Z,1755883184.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 75.324196 m,
      bearing: 332.888645 deg,
      approach rate: -0.510128 m/s,
      LOS rate: 0.007543 deg/s,
      cmd heading: 342.731926 deg,
      new cmd heading: 342.737039 deg.

2025-08-22T17:19:44.603Z,1755883184.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981890 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:44.779Z,1755883184.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255639
2025-08-22T17:19:45.011Z,1755883185.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:45.014Z,1755883185.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:45.016Z,1755883185.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 75.113243 m,
      bearing: 332.891812 deg,
      approach rate: -0.509357 m/s,
      LOS rate: 0.007666 deg/s,
      cmd heading: 342.737035 deg,
      new cmd heading: 342.743385 deg.

2025-08-22T17:19:45.017Z,1755883185.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982000 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:45.031Z,1755883185.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507719
2025-08-22T17:19:45.283Z,1755883185.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759741
2025-08-22T17:19:45.465Z,1755883185.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:45.478Z,1755883185.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 74.887787 m,
      bearing: 332.893104 deg,
      approach rate: -0.500054 m/s,
      LOS rate: 0.002876 deg/s,
      cmd heading: 342.743373 deg,
      new cmd heading: 342.745966 deg.

2025-08-22T17:19:45.480Z,1755883185.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982046 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:45.537Z,1755883185.537 [DAT](INFO): DAT read: Rx Time:17:19:46.1422

2025-08-22T17:19:45.537Z,1755883185.537 [DAT](INFO): Rx dataTimestamp_ set to:1755883185.536895
2025-08-22T17:19:45.538Z,1755883185.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015005
2025-08-22T17:19:45.787Z,1755883185.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263752
2025-08-22T17:19:45.821Z,1755883185.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.90 m.
2025-08-22T17:19:45.824Z,1755883185.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.896721 m,
      nav range: 74.695671 m,
      bearing: 332.894177 deg,
      approach rate: -0.538456 m/s,
      LOS rate: 0.003016 deg/s,
      cmd heading: 342.745969 deg,
      new cmd heading: 342.748121 deg.

2025-08-22T17:19:45.825Z,1755883185.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982083 target range: 77.896721 and range: 78.40 m.
2025-08-22T17:19:46.057Z,1755883186.057 [DAT](INFO): DAT read: 17:19:46.1422 LVL= 29840, 32753, 22674, 32755, AGC= 64, IDX= 417, 0.43,-1.337,-2.917,-0.806,-1.352, PHS= 0.117,-1.521, 0.502, RAW= 160.3,   9.7, CAL= 160.2,  10.4, ROT= 349.8, -10.4

2025-08-22T17:19:46.074Z,1755883186.074 [DAT](INFO): got valid direction response:
 17:19:46.1422 LVL= 29840, 32753, 22674, 32755, AGC= 64, IDX= 417, 0.43,-1.337,-2.917,-0.806,-1.352, PHS= 0.117,-1.521, 0.502, RAW= 160.3,   9.7, CAL= 160.2,  10.4, ROT= 349.8, -10.4

2025-08-22T17:19:46.075Z,1755883186.075 [DAT](INFO): DAT read: Bearing 160.0, -10.0 (Local)

2025-08-22T17:19:46.075Z,1755883186.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.0, -10.0 (Local)

2025-08-22T17:19:46.077Z,1755883186.077 [DAT](INFO): DAT read: Range 11 to 50 : 76.5 m  (Round-trip  102.0 ms) speed  0.4 m/s

2025-08-22T17:19:46.077Z,1755883186.077 [DAT](INFO): DAT read: user:612>

2025-08-22T17:19:46.078Z,1755883186.078 [DAT](INFO): DAT read: Tx time:17:19:47.2361

2025-08-22T17:19:46.078Z,1755883186.078 [DAT](INFO): Ping request sent.
2025-08-22T17:19:46.078Z,1755883186.078 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:46.079Z,1755883186.079 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:46.080Z,1755883186.080 [DAT](INFO): direction in FSK: [0.968027,-0.174176,0.180519]
2025-08-22T17:19:46.080Z,1755883186.080 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:46.080Z,1755883186.080 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:46.091Z,1755883186.091 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:46.092Z,1755883186.092 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:46.316Z,1755883186.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.500000 m,
      deltaT: 3.529917 s,
      deltaX: -1.900002 m,
      approachRate: -0.538257 m/s,
      rangeRepo size: 4

2025-08-22T17:19:46.322Z,1755883186.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.009300 m,
      bearing: 331.920600 deg,
      lat: 36.779511 deg,
      lon: -121.859606 deg,
      deltaT: 3.529917 s,
      deltaX: -1.887421 m,
      approachRate: -0.534693 m/s,
      posRepo size: 4

2025-08-22T17:19:46.323Z,1755883186.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:46.332Z,1755883186.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 74.571419 m,
      bearing: 332.647891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003016 deg/s,
      cmd heading: 342.748127 deg,
      new cmd heading: 342.751109 deg.

2025-08-22T17:19:46.333Z,1755883186.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982135 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:46.637Z,1755883186.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:46.640Z,1755883186.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 74.395378 m,
      bearing: 332.649865 deg,
      approach rate: -0.547012 m/s,
      LOS rate: 0.006146 deg/s,
      cmd heading: 342.751105 deg,
      new cmd heading: 342.755061 deg.

2025-08-22T17:19:46.641Z,1755883186.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982204 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:47.026Z,1755883187.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:47.028Z,1755883187.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:47.031Z,1755883187.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 74.189529 m,
      bearing: 332.652164 deg,
      approach rate: -0.526571 m/s,
      LOS rate: 0.005898 deg/s,
      cmd heading: 342.755066 deg,
      new cmd heading: 342.759677 deg.

2025-08-22T17:19:47.032Z,1755883187.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982285 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:47.046Z,1755883187.046 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:47.046Z,1755883187.046 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:47.047Z,1755883187.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:47.299Z,1755883187.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220062
2025-08-22T17:19:47.458Z,1755883187.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:47.463Z,1755883187.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 73.956757 m,
      bearing: 332.651056 deg,
      approach rate: -0.542198 m/s,
      LOS rate: -0.002588 deg/s,
      cmd heading: 342.759684 deg,
      new cmd heading: 342.757462 deg.

2025-08-22T17:19:47.486Z,1755883187.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982246 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:47.551Z,1755883187.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472407
2025-08-22T17:19:47.803Z,1755883187.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724153
2025-08-22T17:19:47.838Z,1755883187.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:47.840Z,1755883187.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 73.746193 m,
      bearing: 332.650064 deg,
      approach rate: -0.554119 m/s,
      LOS rate: -0.002618 deg/s,
      cmd heading: 342.757471 deg,
      new cmd heading: 342.755481 deg.

2025-08-22T17:19:47.865Z,1755883187.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982212 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:48.055Z,1755883188.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976109
2025-08-22T17:19:48.307Z,1755883188.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228193
2025-08-22T17:19:48.310Z,1755883188.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:48.313Z,1755883188.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 73.509445 m,
      bearing: 332.645247 deg,
      approach rate: -0.500725 m/s,
      LOS rate: -0.010222 deg/s,
      cmd heading: 342.755476 deg,
      new cmd heading: 342.745810 deg.

2025-08-22T17:19:48.318Z,1755883188.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982043 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:48.559Z,1755883188.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480720
2025-08-22T17:19:48.691Z,1755883188.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:48.694Z,1755883188.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 73.305115 m,
      bearing: 332.641030 deg,
      approach rate: -0.537059 m/s,
      LOS rate: -0.011113 deg/s,
      cmd heading: 342.745805 deg,
      new cmd heading: 342.737348 deg.

2025-08-22T17:19:48.695Z,1755883188.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981895 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:48.810Z,1755883188.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732067
2025-08-22T17:19:49.063Z,1755883189.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984131
2025-08-22T17:19:49.079Z,1755883189.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:49.081Z,1755883189.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:49.096Z,1755883189.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 73.091400 m,
      bearing: 332.636583 deg,
      approach rate: -0.548059 m/s,
      LOS rate: -0.011439 deg/s,
      cmd heading: 342.737335 deg,
      new cmd heading: 342.728414 deg.

2025-08-22T17:19:49.097Z,1755883189.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981739 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:49.316Z,1755883189.316 [DAT](INFO): DAT read: Rx Time:17:19:49.7397

2025-08-22T17:19:49.316Z,1755883189.316 [DAT](INFO): Rx dataTimestamp_ set to:1755883189.315722
2025-08-22T17:19:49.317Z,1755883189.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238459
2025-08-22T17:19:49.524Z,1755883189.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.01 m.
2025-08-22T17:19:49.527Z,1755883189.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.009300 m,
      nav range: 72.859879 m,
      bearing: 332.633702 deg,
      approach rate: -0.522099 m/s,
      LOS rate: -0.006517 deg/s,
      cmd heading: 342.728401 deg,
      new cmd heading: 342.722622 deg.

2025-08-22T17:19:49.528Z,1755883189.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981638 target range: 76.009300 and range: 76.50 m.
2025-08-22T17:19:49.569Z,1755883189.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490435
2025-08-22T17:19:49.824Z,1755883189.824 [DAT](INFO): DAT read: 17:19:49.7397 LVL= 29152, 32753, 24146, 32755, AGC= 63, IDX= 424,-0.06,-2.180, 2.584,-1.647,-2.143, PHS= 0.065,-1.511, 0.452, RAW= 160.7,  11.0, CAL= 160.8,  12.2, ROT= 349.2, -12.2

2025-08-22T17:19:49.825Z,1755883189.825 [DAT](INFO): got valid direction response:
 17:19:49.7397 LVL= 29152, 32753, 24146, 32755, AGC= 63, IDX= 424,-0.06,-2.180, 2.584,-1.647,-2.143, PHS= 0.065,-1.511, 0.452, RAW= 160.7,  11.0, CAL= 160.8,  12.2, ROT= 349.2, -12.2

2025-08-22T17:19:49.826Z,1755883189.826 [DAT](INFO): DAT read: Bearing 162.3, -10.9 (Local)

2025-08-22T17:19:49.826Z,1755883189.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.3, -10.9 (Local)

2025-08-22T17:19:49.828Z,1755883189.828 [DAT](INFO): DAT read: Range 11 to 50 : 74.7 m  (Round-trip  99.6 ms) speed  0.4 m/s

2025-08-22T17:19:49.829Z,1755883189.829 [DAT](INFO): DAT read: user:613>

2025-08-22T17:19:49.829Z,1755883189.829 [DAT](INFO): DAT read: Tx time:17:19:50.8360

2025-08-22T17:19:49.830Z,1755883189.830 [DAT](INFO): Ping request sent.
2025-08-22T17:19:49.830Z,1755883189.830 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:49.830Z,1755883189.830 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:49.831Z,1755883189.831 [DAT](INFO): direction in FSK: [0.960103,-0.183149,0.211325]
2025-08-22T17:19:49.831Z,1755883189.831 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:49.831Z,1755883189.831 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:49.835Z,1755883189.835 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:49.835Z,1755883189.835 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:49.944Z,1755883189.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 3.777459 s,
      deltaX: -1.800003 m,
      approachRate: -0.476512 m/s,
      rangeRepo size: 4

2025-08-22T17:19:49.952Z,1755883189.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.221008 m,
      bearing: 331.329331 deg,
      lat: 36.779511 deg,
      lon: -121.859614 deg,
      deltaT: 3.777459 s,
      deltaX: -1.788292 m,
      approachRate: -0.473411 m/s,
      posRepo size: 4

2025-08-22T17:19:49.953Z,1755883189.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:49.976Z,1755883189.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 72.967621 m,
      bearing: 332.114908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006517 deg/s,
      cmd heading: 342.722609 deg,
      new cmd heading: 342.717148 deg.

2025-08-22T17:19:49.982Z,1755883189.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981543 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:50.396Z,1755883190.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:50.404Z,1755883190.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 72.734039 m,
      bearing: 332.107831 deg,
      approach rate: -0.515647 m/s,
      LOS rate: -0.015673 deg/s,
      cmd heading: 342.717145 deg,
      new cmd heading: 342.702946 deg.

2025-08-22T17:19:50.405Z,1755883190.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981295 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:50.690Z,1755883190.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:50.692Z,1755883190.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 72.567261 m,
      bearing: 332.102733 deg,
      approach rate: -0.568390 m/s,
      LOS rate: -0.017414 deg/s,
      cmd heading: 342.702938 deg,
      new cmd heading: 342.692719 deg.

2025-08-22T17:19:50.694Z,1755883190.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981116 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:51.100Z,1755883191.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:51.102Z,1755883191.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:51.105Z,1755883191.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 72.350998 m,
      bearing: 332.095965 deg,
      approach rate: -0.524148 m/s,
      LOS rate: -0.016454 deg/s,
      cmd heading: 342.692720 deg,
      new cmd heading: 342.679143 deg.

2025-08-22T17:19:51.106Z,1755883191.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980879 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:51.331Z,1755883191.331 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:51.331Z,1755883191.331 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:51.331Z,1755883191.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:51.535Z,1755883191.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:51.538Z,1755883191.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 72.124367 m,
      bearing: 332.087364 deg,
      approach rate: -0.523914 m/s,
      LOS rate: -0.019946 deg/s,
      cmd heading: 342.679142 deg,
      new cmd heading: 342.661886 deg.

2025-08-22T17:19:51.539Z,1755883191.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980578 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:51.583Z,1755883191.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753681
2025-08-22T17:19:51.834Z,1755883191.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004782
2025-08-22T17:19:51.917Z,1755883191.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:51.920Z,1755883191.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 71.924202 m,
      bearing: 332.079722 deg,
      approach rate: -0.523537 m/s,
      LOS rate: -0.020043 deg/s,
      cmd heading: 342.661875 deg,
      new cmd heading: 342.646549 deg.

2025-08-22T17:19:51.921Z,1755883191.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980310 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:52.087Z,1755883192.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257054
2025-08-22T17:19:52.339Z,1755883192.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508927
2025-08-22T17:19:52.367Z,1755883192.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:52.373Z,1755883192.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 71.689362 m,
      bearing: 332.075627 deg,
      approach rate: -0.523914 m/s,
      LOS rate: -0.009166 deg/s,
      cmd heading: 342.646548 deg,
      new cmd heading: 342.638332 deg.

2025-08-22T17:19:52.374Z,1755883192.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980167 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:52.592Z,1755883192.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762335
2025-08-22T17:19:52.711Z,1755883192.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:52.730Z,1755883192.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 71.507545 m,
      bearing: 332.072494 deg,
      approach rate: -0.525798 m/s,
      LOS rate: -0.009082 deg/s,
      cmd heading: 342.638325 deg,
      new cmd heading: 342.632044 deg.

2025-08-22T17:19:52.731Z,1755883192.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980057 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:52.843Z,1755883192.843 [DAT](INFO): DAT read: Rx Time:17:19:53.3373

2025-08-22T17:19:52.843Z,1755883192.843 [DAT](INFO): Rx dataTimestamp_ set to:1755883192.842710
2025-08-22T17:19:52.844Z,1755883192.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013842
2025-08-22T17:19:53.095Z,1755883193.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264827
2025-08-22T17:19:53.136Z,1755883193.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:53.138Z,1755883193.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.22 m.
2025-08-22T17:19:53.140Z,1755883193.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.221008 m,
      nav range: 71.283966 m,
      bearing: 332.068621 deg,
      approach rate: -0.524144 m/s,
      LOS rate: -0.009110 deg/s,
      cmd heading: 342.632041 deg,
      new cmd heading: 342.624269 deg.

2025-08-22T17:19:53.142Z,1755883193.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979922 target range: 74.221008 and range: 74.70 m.
2025-08-22T17:19:53.353Z,1755883193.353 [DAT](INFO): DAT read: 17:19:53.3373 LVL= 32752, 32753, 29474, 32755, AGC= 62, IDX= 415,-0.42, 3.052, 1.582,-2.679,-3.135, PHS= 0.006,-1.522, 0.412, RAW= 161.5,  12.5, CAL= 161.8,  14.2, ROT= 348.2, -14.2

2025-08-22T17:19:53.355Z,1755883193.355 [DAT](INFO): got valid direction response:
 17:19:53.3373 LVL= 32752, 32753, 29474, 32755, AGC= 62, IDX= 415,-0.42, 3.052, 1.582,-2.679,-3.135, PHS= 0.006,-1.522, 0.412, RAW= 161.5,  12.5, CAL= 161.8,  14.2, ROT= 348.2, -14.2

2025-08-22T17:19:53.356Z,1755883193.356 [DAT](INFO): DAT read: Bearing 164.5, -11.8 (Local)

2025-08-22T17:19:53.357Z,1755883193.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.5, -11.8 (Local)

2025-08-22T17:19:53.359Z,1755883193.359 [DAT](INFO): DAT read: Range 11 to 50 : 72.8 m  (Round-trip  97.1 ms) speed  0.6 m/s

2025-08-22T17:19:53.359Z,1755883193.359 [DAT](INFO): DAT read: user:614>

2025-08-22T17:19:53.360Z,1755883193.360 [DAT](INFO): DAT read: Tx time:17:19:54.4360

2025-08-22T17:19:53.360Z,1755883193.360 [DAT](INFO): Ping request sent.
2025-08-22T17:19:53.360Z,1755883193.360 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:53.361Z,1755883193.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:53.365Z,1755883193.365 [DAT](INFO): direction in FSK: [0.948958,-0.198248,0.245307]
2025-08-22T17:19:53.370Z,1755883193.370 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:53.370Z,1755883193.370 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:53.376Z,1755883193.376 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:53.376Z,1755883193.376 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:53.603Z,1755883193.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.800003 m,
      deltaT: 3.528077 s,
      deltaX: -1.899994 m,
      approachRate: -0.538535 m/s,
      rangeRepo size: 4

2025-08-22T17:19:53.605Z,1755883193.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.333305 m,
      bearing: 330.458250 deg,
      lat: 36.779508 deg,
      lon: -121.859618 deg,
      deltaT: 3.528077 s,
      deltaX: -1.887703 m,
      approachRate: -0.535052 m/s,
      posRepo size: 4

2025-08-22T17:19:53.609Z,1755883193.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:53.612Z,1755883193.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 70.905342 m,
      bearing: 331.698272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009110 deg/s,
      cmd heading: 342.624282 deg,
      new cmd heading: 342.615901 deg.

2025-08-22T17:19:53.613Z,1755883193.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979775 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:53.936Z,1755883193.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:53.942Z,1755883193.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 70.720161 m,
      bearing: 331.694787 deg,
      approach rate: -0.547929 m/s,
      LOS rate: -0.010339 deg/s,
      cmd heading: 342.615895 deg,
      new cmd heading: 342.608906 deg.

2025-08-22T17:19:53.945Z,1755883193.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979653 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:54.397Z,1755883194.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:54.400Z,1755883194.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 70.464645 m,
      bearing: 331.695506 deg,
      approach rate: -0.554070 m/s,
      LOS rate: 0.001566 deg/s,
      cmd heading: 342.608900 deg,
      new cmd heading: 342.610344 deg.

2025-08-22T17:19:54.401Z,1755883194.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979679 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:54.742Z,1755883194.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:54.745Z,1755883194.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 70.273430 m,
      bearing: 331.696098 deg,
      approach rate: -0.554433 m/s,
      LOS rate: 0.001722 deg/s,
      cmd heading: 342.610348 deg,
      new cmd heading: 342.611536 deg.

2025-08-22T17:19:54.746Z,1755883194.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979699 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:55.148Z,1755883195.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:55.150Z,1755883195.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:55.154Z,1755883195.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 70.047562 m,
      bearing: 331.696774 deg,
      approach rate: -0.553653 m/s,
      LOS rate: 0.001661 deg/s,
      cmd heading: 342.611523 deg,
      new cmd heading: 342.612878 deg.

2025-08-22T17:19:55.155Z,1755883195.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979723 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:55.365Z,1755883195.365 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:55.365Z,1755883195.365 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:55.366Z,1755883195.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:55.588Z,1755883195.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:55.595Z,1755883195.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 69.829781 m,
      bearing: 331.698494 deg,
      approach rate: -0.496946 m/s,
      LOS rate: 0.003937 deg/s,
      cmd heading: 342.612889 deg,
      new cmd heading: 342.616340 deg.

2025-08-22T17:19:55.596Z,1755883195.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979783 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:55.615Z,1755883195.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254182
2025-08-22T17:19:55.867Z,1755883195.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506160
2025-08-22T17:19:55.977Z,1755883195.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:55.980Z,1755883195.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 69.621330 m,
      bearing: 331.700008 deg,
      approach rate: -0.535952 m/s,
      LOS rate: 0.003905 deg/s,
      cmd heading: 342.616332 deg,
      new cmd heading: 342.619370 deg.

2025-08-22T17:19:55.981Z,1755883195.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979836 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:56.119Z,1755883196.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758813
2025-08-22T17:19:56.375Z,1755883196.375 [DAT](INFO): DAT read: Rx Time:17:19:56.9346

2025-08-22T17:19:56.375Z,1755883196.375 [DAT](INFO): Rx dataTimestamp_ set to:1755883196.374917
2025-08-22T17:19:56.376Z,1755883196.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015348
2025-08-22T17:19:56.431Z,1755883196.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:56.436Z,1755883196.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 69.382835 m,
      bearing: 331.700407 deg,
      approach rate: -0.525395 m/s,
      LOS rate: 0.000882 deg/s,
      cmd heading: 342.619364 deg,
      new cmd heading: 342.620165 deg.

2025-08-22T17:19:56.440Z,1755883196.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979850 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:56.623Z,1755883196.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262112
2025-08-22T17:19:56.769Z,1755883196.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-22T17:19:56.776Z,1755883196.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.333305 m,
      nav range: 69.208572 m,
      bearing: 331.700567 deg,
      approach rate: -0.515833 m/s,
      LOS rate: 0.000474 deg/s,
      cmd heading: 342.620157 deg,
      new cmd heading: 342.620477 deg.

2025-08-22T17:19:56.778Z,1755883196.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979856 target range: 72.333305 and range: 72.80 m.
2025-08-22T17:19:56.884Z,1755883196.884 [DAT](INFO): DAT read: 17:19:56.9346 LVL= 29424, 32753, 21634, 32755, AGC= 63, IDX= 420, 0.07,-1.806, 2.951,-1.216,-1.739, PHS= 0.035,-1.548, 0.479, RAW= 162.0,  11.2, CAL= 162.2,  12.5, ROT= 347.8, -12.5

2025-08-22T17:19:56.886Z,1755883196.886 [DAT](INFO): got valid direction response:
 17:19:56.9346 LVL= 29424, 32753, 21634, 32755, AGC= 63, IDX= 420, 0.07,-1.806, 2.951,-1.216,-1.739, PHS= 0.035,-1.548, 0.479, RAW= 162.0,  11.2, CAL= 162.2,  12.5, ROT= 347.8, -12.5

2025-08-22T17:19:56.887Z,1755883196.887 [DAT](INFO): DAT read: Bearing 163.0, -12.4 (Local)

2025-08-22T17:19:56.888Z,1755883196.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.0, -12.4 (Local)

2025-08-22T17:19:56.890Z,1755883196.890 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m  (Round-trip  94.5 ms) speed  0.4 m/s

2025-08-22T17:19:56.891Z,1755883196.891 [DAT](INFO): DAT read: user:615>

2025-08-22T17:19:56.892Z,1755883196.892 [DAT](INFO): DAT read: Tx time:17:19:58.0360

2025-08-22T17:19:56.893Z,1755883196.893 [DAT](INFO): Ping request sent.
2025-08-22T17:19:56.893Z,1755883196.893 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:19:56.893Z,1755883196.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:19:56.895Z,1755883196.895 [DAT](INFO): direction in FSK: [0.954247,-0.206316,0.216440]
2025-08-22T17:19:56.895Z,1755883196.895 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:56.896Z,1755883196.896 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:56.924Z,1755883196.924 [DAT](INFO): publishing transmit ping time
2025-08-22T17:19:56.925Z,1755883196.925 [DAT](INFO): publishing direction and range info
2025-08-22T17:19:57.216Z,1755883197.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.529433 s,
      deltaX: -2.000000 m,
      approachRate: -0.566663 m/s,
      rangeRepo size: 4

2025-08-22T17:19:57.222Z,1755883197.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.346329 m,
      bearing: 330.251381 deg,
      lat: 36.779507 deg,
      lon: -121.859624 deg,
      deltaT: 3.529433 s,
      deltaX: -1.986977 m,
      approachRate: -0.562973 m/s,
      posRepo size: 4

2025-08-22T17:19:57.223Z,1755883197.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:57.238Z,1755883197.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 69.125160 m,
      bearing: 331.249263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000474 deg/s,
      cmd heading: 342.620484 deg,
      new cmd heading: 342.620908 deg.

2025-08-22T17:19:57.239Z,1755883197.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979863 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:57.626Z,1755883197.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:57.628Z,1755883197.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:57.631Z,1755883197.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 68.900505 m,
      bearing: 331.246994 deg,
      approach rate: -0.543784 m/s,
      LOS rate: -0.005510 deg/s,
      cmd heading: 342.620922 deg,
      new cmd heading: 342.616369 deg.

2025-08-22T17:19:57.632Z,1755883197.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979784 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:57.634Z,1755883197.634 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:19:57.635Z,1755883197.635 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:19:57.635Z,1755883197.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:19:57.887Z,1755883197.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993460
2025-08-22T17:19:58.006Z,1755883198.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:58.009Z,1755883198.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 68.705017 m,
      bearing: 331.245004 deg,
      approach rate: -0.518562 m/s,
      LOS rate: -0.005295 deg/s,
      cmd heading: 342.616359 deg,
      new cmd heading: 342.612366 deg.

2025-08-22T17:19:58.010Z,1755883198.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979714 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:58.139Z,1755883198.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245496
2025-08-22T17:19:58.394Z,1755883198.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500201
2025-08-22T17:19:58.485Z,1755883198.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:58.488Z,1755883198.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 68.461632 m,
      bearing: 331.238938 deg,
      approach rate: -0.510964 m/s,
      LOS rate: -0.012778 deg/s,
      cmd heading: 342.612370 deg,
      new cmd heading: 342.600197 deg.

2025-08-22T17:19:58.489Z,1755883198.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979501 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:58.643Z,1755883198.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749393
2025-08-22T17:19:58.807Z,1755883198.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:58.810Z,1755883198.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 68.277122 m,
      bearing: 331.234445 deg,
      approach rate: -0.566765 m/s,
      LOS rate: -0.013839 deg/s,
      cmd heading: 342.600185 deg,
      new cmd heading: 342.591174 deg.

2025-08-22T17:19:58.811Z,1755883198.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979344 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:58.895Z,1755883198.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001941
2025-08-22T17:19:59.147Z,1755883199.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253442
2025-08-22T17:19:59.226Z,1755883199.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:59.229Z,1755883199.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 68.061630 m,
      bearing: 331.229274 deg,
      approach rate: -0.514846 m/s,
      LOS rate: -0.012394 deg/s,
      cmd heading: 342.591169 deg,
      new cmd heading: 342.580794 deg.

2025-08-22T17:19:59.230Z,1755883199.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979163 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:59.401Z,1755883199.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507115
2025-08-22T17:19:59.644Z,1755883199.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:19:59.646Z,1755883199.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:19:59.649Z,1755883199.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 67.828896 m,
      bearing: 331.224328 deg,
      approach rate: -0.553474 m/s,
      LOS rate: -0.011802 deg/s,
      cmd heading: 342.580787 deg,
      new cmd heading: 342.570862 deg.

2025-08-22T17:19:59.651Z,1755883199.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757811
2025-08-22T17:19:59.652Z,1755883199.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978990 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:19:59.903Z,1755883199.903 [DAT](INFO): DAT read: Rx Time:17:20:00.5321

2025-08-22T17:19:59.903Z,1755883199.903 [DAT](INFO): Rx dataTimestamp_ set to:1755883199.902754
2025-08-22T17:19:59.904Z,1755883199.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010511
2025-08-22T17:20:00.022Z,1755883200.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:20:00.024Z,1755883200.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 67.627457 m,
      bearing: 331.219993 deg,
      approach rate: -0.536770 m/s,
      LOS rate: -0.011587 deg/s,
      cmd heading: 342.570870 deg,
      new cmd heading: 342.562174 deg.

2025-08-22T17:20:00.025Z,1755883200.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978838 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:20:00.155Z,1755883200.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262083
2025-08-22T17:20:00.411Z,1755883200.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517067
2025-08-22T17:20:00.503Z,1755883200.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.35 m.
2025-08-22T17:20:00.507Z,1755883200.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.346329 m,
      nav range: 67.374451 m,
      bearing: 331.213387 deg,
      approach rate: -0.525302 m/s,
      LOS rate: -0.013767 deg/s,
      cmd heading: 342.562182 deg,
      new cmd heading: 342.548921 deg.

2025-08-22T17:20:00.508Z,1755883200.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978607 target range: 70.346329 and range: 70.80 m.
2025-08-22T17:20:00.664Z,1755883200.664 [DAT](INFO): DAT read: 17:20:00.5321 LVL= 24160, 29489, 19650, 32755, AGC= 63, IDX= 410,-0.23, 2.291, 0.788, 2.887, 2.385, PHS= 0.008,-1.552, 0.458, RAW= 162.3,  11.9, CAL= 162.6,  13.4, ROT= 347.4, -13.4

2025-08-22T17:20:00.665Z,1755883200.665 [DAT](INFO): got valid direction response:
 17:20:00.5321 LVL= 24160, 29489, 19650, 32755, AGC= 63, IDX= 410,-0.23, 2.291, 0.788, 2.887, 2.385, PHS= 0.008,-1.552, 0.458, RAW= 162.3,  11.9, CAL= 162.6,  13.4, ROT= 347.4, -13.4

2025-08-22T17:20:00.666Z,1755883200.666 [DAT](INFO): DAT read: Bearing 164.0, -12.9 (Local)

2025-08-22T17:20:00.667Z,1755883200.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.0, -12.9 (Local)

2025-08-22T17:20:00.668Z,1755883200.668 [DAT](INFO): DAT read: Range 11 to 50 : 68.9 m  (Round-trip  91.9 ms) speed  0.4 m/s

2025-08-22T17:20:00.669Z,1755883200.669 [DAT](INFO): DAT read: user:616>

2025-08-22T17:20:00.669Z,1755883200.669 [DAT](INFO): DAT read: Tx time:17:20:01.6360

2025-08-22T17:20:00.670Z,1755883200.670 [DAT](INFO): Ping request sent.
2025-08-22T17:20:00.670Z,1755883200.670 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:00.670Z,1755883200.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:00.671Z,1755883200.671 [DAT](INFO): direction in FSK: [0.949348,-0.212204,0.231748]
2025-08-22T17:20:00.671Z,1755883200.671 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:00.672Z,1755883200.672 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:00.675Z,1755883200.675 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:00.675Z,1755883200.675 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:00.847Z,1755883200.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.900002 m,
      deltaT: 3.782551 s,
      deltaX: -1.900002 m,
      approachRate: -0.502307 m/s,
      rangeRepo size: 4

2025-08-22T17:20:00.854Z,1755883200.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.457985 m,
      bearing: 329.762967 deg,
      lat: 36.779502 deg,
      lon: -121.859632 deg,
      deltaT: 3.782551 s,
      deltaX: -1.888344 m,
      approachRate: -0.499225 m/s,
      posRepo size: 4

2025-08-22T17:20:00.854Z,1755883200.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:00.857Z,1755883200.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 67.112656 m,
      bearing: 330.481622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013767 deg/s,
      cmd heading: 342.548931 deg,
      new cmd heading: 342.539474 deg.

2025-08-22T17:20:00.862Z,1755883200.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978442 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:01.235Z,1755883201.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:01.261Z,1755883201.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 66.900078 m,
      bearing: 330.473884 deg,
      approach rate: -0.546700 m/s,
      LOS rate: -0.019964 deg/s,
      cmd heading: 342.539478 deg,
      new cmd heading: 342.523953 deg.

2025-08-22T17:20:01.262Z,1755883201.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978171 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:01.652Z,1755883201.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:01.655Z,1755883201.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:01.673Z,1755883201.673 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:01.674Z,1755883201.674 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:01.674Z,1755883201.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:01.675Z,1755883201.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 66.678383 m,
      bearing: 330.467101 deg,
      approach rate: -0.528895 m/s,
      LOS rate: -0.016235 deg/s,
      cmd heading: 342.523960 deg,
      new cmd heading: 342.510350 deg.

2025-08-22T17:20:01.677Z,1755883201.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977933 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:01.921Z,1755883201.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250972
2025-08-22T17:20:02.171Z,1755883202.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:02.176Z,1755883202.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505575
2025-08-22T17:20:02.190Z,1755883202.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 66.407806 m,
      bearing: 330.458734 deg,
      approach rate: -0.526007 m/s,
      LOS rate: -0.016332 deg/s,
      cmd heading: 342.510354 deg,
      new cmd heading: 342.493553 deg.

2025-08-22T17:20:02.191Z,1755883202.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977640 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:02.246Z,1755883202.246 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:20:02.431Z,1755883202.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760143
2025-08-22T17:20:02.679Z,1755883202.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008728
2025-08-22T17:20:02.693Z,1755883202.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:02.696Z,1755883202.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 66.124519 m,
      bearing: 330.447492 deg,
      approach rate: -0.540756 m/s,
      LOS rate: -0.021552 deg/s,
      cmd heading: 342.493552 deg,
      new cmd heading: 342.470972 deg.

2025-08-22T17:20:02.698Z,1755883202.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977246 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:02.931Z,1755883202.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261214
2025-08-22T17:20:03.183Z,1755883203.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513577
2025-08-22T17:20:03.212Z,1755883203.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:03.215Z,1755883203.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 65.854134 m,
      bearing: 330.436804 deg,
      approach rate: -0.520990 m/s,
      LOS rate: -0.020679 deg/s,
      cmd heading: 342.470985 deg,
      new cmd heading: 342.449521 deg.

2025-08-22T17:20:03.216Z,1755883203.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976871 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:03.250Z,1755883203.250 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:20:03.439Z,1755883203.439 [DAT](INFO): DAT read: Rx Time:17:20:04.1296

2025-08-22T17:20:03.441Z,1755883203.441 [DAT](INFO): Rx dataTimestamp_ set to:1755883203.439573
2025-08-22T17:20:03.443Z,1755883203.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772914
2025-08-22T17:20:03.622Z,1755883203.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:03.624Z,1755883203.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 65.639153 m,
      bearing: 330.427426 deg,
      approach rate: -0.546043 m/s,
      LOS rate: -0.023898 deg/s,
      cmd heading: 342.449511 deg,
      new cmd heading: 342.430693 deg.

2025-08-22T17:20:03.630Z,1755883203.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976543 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:03.688Z,1755883203.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017787
2025-08-22T17:20:03.939Z,1755883203.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269164
2025-08-22T17:20:04.049Z,1755883204.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:04.051Z,1755883204.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.46 m.
2025-08-22T17:20:04.054Z,1755883204.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.457985 m,
      nav range: 65.407372 m,
      bearing: 330.417125 deg,
      approach rate: -0.520399 m/s,
      LOS rate: -0.023211 deg/s,
      cmd heading: 342.430687 deg,
      new cmd heading: 342.410012 deg.

2025-08-22T17:20:04.055Z,1755883204.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976182 target range: 68.457985 and range: 68.90 m.
2025-08-22T17:20:04.196Z,1755883204.196 [DAT](INFO): DAT read: 17:20:04.1296 LVL= 32128, 32753, 27458, 32755, AGC= 62, IDX= 417,-0.21, 0.749,-0.732, 1.325, 0.851, PHS= 0.000,-1.538, 0.430, RAW= 162.0,  12.3, CAL= 162.3,  14.1, ROT= 347.7, -14.1

2025-08-22T17:20:04.197Z,1755883204.197 [DAT](INFO): got valid direction response:
 17:20:04.1296 LVL= 32128, 32753, 27458, 32755, AGC= 62, IDX= 417,-0.21, 0.749,-0.732, 1.325, 0.851, PHS= 0.000,-1.538, 0.430, RAW= 162.0,  12.3, CAL= 162.3,  14.1, ROT= 347.7, -14.1

2025-08-22T17:20:04.198Z,1755883204.198 [DAT](INFO): DAT read: Bearing 164.8, -12.8 (Local)

2025-08-22T17:20:04.199Z,1755883204.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.8, -12.8 (Local)

2025-08-22T17:20:04.200Z,1755883204.200 [DAT](INFO): DAT read: Range 11 to 50 : 67.1 m  (Round-trip  89.5 ms) speed  0.4 m/s

2025-08-22T17:20:04.201Z,1755883204.201 [DAT](INFO): DAT read: user:617>

2025-08-22T17:20:04.201Z,1755883204.201 [DAT](INFO): DAT read: Tx time:17:20:05.2360

2025-08-22T17:20:04.202Z,1755883204.202 [DAT](INFO): Ping request sent.
2025-08-22T17:20:04.202Z,1755883204.202 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:04.202Z,1755883204.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:04.203Z,1755883204.203 [DAT](INFO): direction in FSK: [0.947609,-0.206612,0.243615]
2025-08-22T17:20:04.203Z,1755883204.203 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:04.204Z,1755883204.204 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:04.207Z,1755883204.207 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:04.207Z,1755883204.207 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:04.411Z,1755883204.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.099998 m,
      deltaT: 3.532167 s,
      deltaX: -1.800003 m,
      approachRate: -0.509603 m/s,
      rangeRepo size: 4

2025-08-22T17:20:04.414Z,1755883204.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.670013 m,
      bearing: 330.001686 deg,
      lat: 36.779501 deg,
      lon: -121.859636 deg,
      deltaT: 3.532167 s,
      deltaX: -1.787971 m,
      approachRate: -0.506197 m/s,
      posRepo size: 4

2025-08-22T17:20:04.414Z,1755883204.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:04.418Z,1755883204.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 65.291351 m,
      bearing: 330.037108 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023211 deg/s,
      cmd heading: 342.410005 deg,
      new cmd heading: 342.393303 deg.

2025-08-22T17:20:04.440Z,1755883204.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975891 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:04.838Z,1755883204.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:04.840Z,1755883204.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 65.067169 m,
      bearing: 330.018908 deg,
      approach rate: -0.530226 m/s,
      LOS rate: -0.043195 deg/s,
      cmd heading: 342.393312 deg,
      new cmd heading: 342.356786 deg.

2025-08-22T17:20:04.841Z,1755883204.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975253 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:05.209Z,1755883205.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:05.212Z,1755883205.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 64.851265 m,
      bearing: 330.001481 deg,
      approach rate: -0.575309 m/s,
      LOS rate: -0.046590 deg/s,
      cmd heading: 342.356784 deg,
      new cmd heading: 342.321816 deg.

2025-08-22T17:20:05.213Z,1755883205.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974643 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:05.630Z,1755883205.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:05.632Z,1755883205.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 64.632454 m,
      bearing: 329.988033 deg,
      approach rate: -0.520258 m/s,
      LOS rate: -0.032082 deg/s,
      cmd heading: 342.321814 deg,
      new cmd heading: 342.294827 deg.

2025-08-22T17:20:05.633Z,1755883205.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974172 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:06.011Z,1755883206.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:06.014Z,1755883206.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 64.433960 m,
      bearing: 329.975768 deg,
      approach rate: -0.519995 m/s,
      LOS rate: -0.032232 deg/s,
      cmd heading: 342.294821 deg,
      new cmd heading: 342.270214 deg.

2025-08-22T17:20:06.015Z,1755883206.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973742 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:06.549Z,1755883206.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:06.551Z,1755883206.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:06.554Z,1755883206.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 64.147652 m,
      bearing: 329.955699 deg,
      approach rate: -0.530085 m/s,
      LOS rate: -0.037321 deg/s,
      cmd heading: 342.270205 deg,
      new cmd heading: 342.229890 deg.

2025-08-22T17:20:06.555Z,1755883206.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973038 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:06.711Z,1755883206.711 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:06.711Z,1755883206.711 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:06.711Z,1755883206.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:06.963Z,1755883206.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760743
2025-08-22T17:20:07.037Z,1755883207.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:07.040Z,1755883207.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 63.891579 m,
      bearing: 329.937484 deg,
      approach rate: -0.526992 m/s,
      LOS rate: -0.037638 deg/s,
      cmd heading: 342.229880 deg,
      new cmd heading: 342.193302 deg.

2025-08-22T17:20:07.041Z,1755883207.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972400 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:07.215Z,1755883207.215 [DAT](INFO): DAT read: Rx Time:17:20:07.7269

2025-08-22T17:20:07.215Z,1755883207.215 [DAT](INFO): Rx dataTimestamp_ set to:1755883207.214740
2025-08-22T17:20:07.216Z,1755883207.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013755
2025-08-22T17:20:07.468Z,1755883207.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266135
2025-08-22T17:20:07.637Z,1755883207.637 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,     ,1

2025-08-22T17:20:07.653Z,1755883207.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.67 m.
2025-08-22T17:20:07.656Z,1755883207.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.670013 m,
      nav range: 63.563206 m,
      bearing: 329.913801 deg,
      approach rate: -0.533156 m/s,
      LOS rate: -0.038650 deg/s,
      cmd heading: 342.193297 deg,
      new cmd heading: 342.145687 deg.

2025-08-22T17:20:07.657Z,1755883207.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971569 target range: 66.670013 and range: 67.10 m.
2025-08-22T17:20:07.724Z,1755883207.724 [DAT](INFO): DAT read: 17:20:07.7269 LVL= 28976, 26737, 21746, 32755, AGC= 63, IDX= 422, 0.05,-2.163, 2.614,-1.583,-2.083, PHS= 0.022,-1.542, 0.455, RAW= 161.9,  11.7, CAL= 162.1,  13.2, ROT= 347.9, -13.2

2025-08-22T17:20:07.725Z,1755883207.725 [DAT](INFO): got valid direction response:
 17:20:07.7269 LVL= 28976, 26737, 21746, 32755, AGC= 63, IDX= 422, 0.05,-2.163, 2.614,-1.583,-2.083, PHS= 0.022,-1.542, 0.455, RAW= 161.9,  11.7, CAL= 162.1,  13.2, ROT= 347.9, -13.2

2025-08-22T17:20:07.731Z,1755883207.731 [DAT](INFO): DAT read: Bearing 164.1, -12.5 (Local)

2025-08-22T17:20:07.732Z,1755883207.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.1, -12.5 (Local)

2025-08-22T17:20:07.733Z,1755883207.733 [DAT](INFO): DAT read: Range 11 to 50 : 65.1 m  (Round-trip  86.9 ms) speed  0.4 m/s

2025-08-22T17:20:07.746Z,1755883207.746 [DAT](INFO): DAT read: user:618>

2025-08-22T17:20:07.747Z,1755883207.747 [DAT](INFO): DAT read: Tx time:17:20:08.8359

2025-08-22T17:20:07.748Z,1755883207.748 [DAT](INFO): Ping request sent.
2025-08-22T17:20:07.748Z,1755883207.748 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:07.748Z,1755883207.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:07.758Z,1755883207.758 [DAT](INFO): direction in FSK: [0.951949,-0.204080,0.228351]
2025-08-22T17:20:07.759Z,1755883207.759 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:07.759Z,1755883207.759 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:07.762Z,1755883207.762 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:07.762Z,1755883207.762 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:08.022Z,1755883208.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.099998 m,
      deltaT: 3.527862 s,
      deltaX: -2.000000 m,
      approachRate: -0.566916 m/s,
      rangeRepo size: 4

2025-08-22T17:20:08.024Z,1755883208.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.682304 m,
      bearing: 330.147841 deg,
      lat: 36.779501 deg,
      lon: -121.859636 deg,
      deltaT: 3.527862 s,
      deltaX: -1.987709 m,
      approachRate: -0.563432 m/s,
      posRepo size: 4

2025-08-22T17:20:08.025Z,1755883208.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:08.031Z,1755883208.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 63.378563 m,
      bearing: 329.900441 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038650 deg/s,
      cmd heading: 342.145677 deg,
      new cmd heading: 342.117858 deg.

2025-08-22T17:20:08.032Z,1755883208.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971083 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:08.379Z,1755883208.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:08.386Z,1755883208.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 63.179005 m,
      bearing: 329.886009 deg,
      approach rate: -0.545845 m/s,
      LOS rate: -0.039600 deg/s,
      cmd heading: 342.117864 deg,
      new cmd heading: 342.088909 deg.

2025-08-22T17:20:08.387Z,1755883208.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970578 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:08.819Z,1755883208.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:08.826Z,1755883208.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:08.828Z,1755883208.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 62.953621 m,
      bearing: 329.877704 deg,
      approach rate: -0.508877 m/s,
      LOS rate: -0.018820 deg/s,
      cmd heading: 342.088904 deg,
      new cmd heading: 342.072234 deg.

2025-08-22T17:20:08.833Z,1755883208.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970287 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:08.978Z,1755883208.978 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:08.979Z,1755883208.979 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:08.979Z,1755883208.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:09.226Z,1755883209.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:09.229Z,1755883209.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 62.727795 m,
      bearing: 329.869322 deg,
      approach rate: -0.558135 m/s,
      LOS rate: -0.020791 deg/s,
      cmd heading: 342.072239 deg,
      new cmd heading: 342.055415 deg.

2025-08-22T17:20:09.231Z,1755883209.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482756
2025-08-22T17:20:09.231Z,1755883209.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969993 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:09.483Z,1755883209.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735290
2025-08-22T17:20:09.626Z,1755883209.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:09.629Z,1755883209.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 62.516941 m,
      bearing: 329.861402 deg,
      approach rate: -0.527662 m/s,
      LOS rate: -0.019886 deg/s,
      cmd heading: 342.055409 deg,
      new cmd heading: 342.039516 deg.

2025-08-22T17:20:09.646Z,1755883209.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969716 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:09.735Z,1755883209.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986811
2025-08-22T17:20:09.988Z,1755883209.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240647
2025-08-22T17:20:10.014Z,1755883210.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:10.016Z,1755883210.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 62.312134 m,
      bearing: 329.853658 deg,
      approach rate: -0.528069 m/s,
      LOS rate: -0.020032 deg/s,
      cmd heading: 342.039509 deg,
      new cmd heading: 342.023970 deg.

2025-08-22T17:20:10.030Z,1755883210.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969444 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:10.238Z,1755883210.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490603
2025-08-22T17:20:10.426Z,1755883210.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:10.430Z,1755883210.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 62.108402 m,
      bearing: 329.845869 deg,
      approach rate: -0.495581 m/s,
      LOS rate: -0.019010 deg/s,
      cmd heading: 342.023963 deg,
      new cmd heading: 342.008333 deg.

2025-08-22T17:20:10.432Z,1755883210.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969172 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:10.492Z,1755883210.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743561
2025-08-22T17:20:10.742Z,1755883210.742 [DAT](INFO): DAT read: Rx Time:17:20:11.3245

2025-08-22T17:20:10.743Z,1755883210.743 [DAT](INFO): Rx dataTimestamp_ set to:1755883210.742676
2025-08-22T17:20:10.743Z,1755883210.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995662
2025-08-22T17:20:10.840Z,1755883210.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:10.843Z,1755883210.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.68 m.
2025-08-22T17:20:10.845Z,1755883210.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.682304 m,
      nav range: 61.883694 m,
      bearing: 329.841712 deg,
      approach rate: -0.537760 m/s,
      LOS rate: -0.009983 deg/s,
      cmd heading: 342.008336 deg,
      new cmd heading: 341.999992 deg.

2025-08-22T17:20:10.846Z,1755883210.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969026 target range: 64.682304 and range: 65.10 m.
2025-08-22T17:20:10.995Z,1755883210.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246660
2025-08-22T17:20:11.252Z,1755883211.252 [DAT](INFO): DAT read: 17:20:11.3245 LVL= 28592, 32369, 22882, 32755, AGC= 64, IDX= 413,-0.38,-2.075, 2.696,-1.455,-1.987, PHS= 0.014,-1.555, 0.487, RAW= 162.8,  11.4, CAL= 162.9,  12.8, ROT= 347.1, -12.8

2025-08-22T17:20:11.253Z,1755883211.253 [DAT](INFO): got valid direction response:
 17:20:11.3245 LVL= 28592, 32369, 22882, 32755, AGC= 64, IDX= 413,-0.38,-2.075, 2.696,-1.455,-1.987, PHS= 0.014,-1.555, 0.487, RAW= 162.8,  11.4, CAL= 162.9,  12.8, ROT= 347.1, -12.8

2025-08-22T17:20:11.254Z,1755883211.254 [DAT](INFO): DAT read: Bearing 164.1, -13.3 (Local)

2025-08-22T17:20:11.255Z,1755883211.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.1, -13.3 (Local)

2025-08-22T17:20:11.256Z,1755883211.256 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.4 ms) speed  0.5 m/s

2025-08-22T17:20:11.257Z,1755883211.257 [DAT](INFO): DAT read: user:619>

2025-08-22T17:20:11.258Z,1755883211.258 [DAT](INFO): DAT read: Tx time:17:20:12.4375

2025-08-22T17:20:11.258Z,1755883211.258 [DAT](INFO): Ping request sent.
2025-08-22T17:20:11.258Z,1755883211.258 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:11.258Z,1755883211.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:11.259Z,1755883211.259 [DAT](INFO): direction in FSK: [0.950538,-0.217702,0.221548]
2025-08-22T17:20:11.259Z,1755883211.259 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:11.260Z,1755883211.260 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:11.267Z,1755883211.267 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:11.267Z,1755883211.267 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:11.328Z,1755883211.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.528016 s,
      deltaX: -1.799999 m,
      approachRate: -0.510202 m/s,
      rangeRepo size: 4

2025-08-22T17:20:11.339Z,1755883211.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.894257 m,
      bearing: 329.378400 deg,
      lat: 36.779501 deg,
      lon: -121.859637 deg,
      deltaT: 3.528016 s,
      deltaX: -1.788048 m,
      approachRate: -0.506814 m/s,
      posRepo size: 4

2025-08-22T17:20:11.339Z,1755883211.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:11.343Z,1755883211.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 61.672596 m,
      bearing: 329.800253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009983 deg/s,
      cmd heading: 342.000003 deg,
      new cmd heading: 341.990326 deg.

2025-08-22T17:20:11.344Z,1755883211.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968857 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:11.724Z,1755883211.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:11.742Z,1755883211.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 61.449806 m,
      bearing: 329.793000 deg,
      approach rate: -0.562089 m/s,
      LOS rate: -0.018365 deg/s,
      cmd heading: 341.990331 deg,
      new cmd heading: 341.975772 deg.

2025-08-22T17:20:11.743Z,1755883211.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968603 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:12.084Z,1755883212.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:12.086Z,1755883212.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 61.259048 m,
      bearing: 329.787046 deg,
      approach rate: -0.529927 m/s,
      LOS rate: -0.016591 deg/s,
      cmd heading: 341.975769 deg,
      new cmd heading: 341.963825 deg.

2025-08-22T17:20:12.087Z,1755883212.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968395 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:12.494Z,1755883212.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:12.497Z,1755883212.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 61.041546 m,
      bearing: 329.780271 deg,
      approach rate: -0.530148 m/s,
      LOS rate: -0.016573 deg/s,
      cmd heading: 341.963830 deg,
      new cmd heading: 341.950232 deg.

2025-08-22T17:20:12.527Z,1755883212.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968157 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:12.976Z,1755883212.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:12.978Z,1755883212.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:12.981Z,1755883212.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 60.786213 m,
      bearing: 329.774487 deg,
      approach rate: -0.526845 m/s,
      LOS rate: -0.011986 deg/s,
      cmd heading: 341.950224 deg,
      new cmd heading: 341.938607 deg.

2025-08-22T17:20:12.982Z,1755883212.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967955 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:13.011Z,1755883213.011 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:13.011Z,1755883213.011 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:13.011Z,1755883213.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:13.262Z,1755883213.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004497
2025-08-22T17:20:13.314Z,1755883213.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:13.317Z,1755883213.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 60.609013 m,
      bearing: 329.770444 deg,
      approach rate: -0.529043 m/s,
      LOS rate: -0.012106 deg/s,
      cmd heading: 341.938613 deg,
      new cmd heading: 341.930503 deg.

2025-08-22T17:20:13.318Z,1755883213.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967813 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:13.515Z,1755883213.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256587
2025-08-22T17:20:13.736Z,1755883213.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:13.739Z,1755883213.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 60.386848 m,
      bearing: 329.764411 deg,
      approach rate: -0.525684 m/s,
      LOS rate: -0.014327 deg/s,
      cmd heading: 341.930499 deg,
      new cmd heading: 341.918389 deg.

2025-08-22T17:20:13.740Z,1755883213.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967602 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:13.766Z,1755883213.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508449
2025-08-22T17:20:14.019Z,1755883214.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760924
2025-08-22T17:20:14.104Z,1755883214.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:14.107Z,1755883214.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 60.192692 m,
      bearing: 329.759118 deg,
      approach rate: -0.527420 m/s,
      LOS rate: -0.014425 deg/s,
      cmd heading: 341.918396 deg,
      new cmd heading: 341.907775 deg.

2025-08-22T17:20:14.108Z,1755883214.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967416 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:14.272Z,1755883214.272 [DAT](INFO): DAT read: Rx Time:17:20:14.9234

2025-08-22T17:20:14.272Z,1755883214.272 [DAT](INFO): Rx dataTimestamp_ set to:1755883214.271841
2025-08-22T17:20:14.273Z,1755883214.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014727
2025-08-22T17:20:14.506Z,1755883214.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:14.508Z,1755883214.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 59.981419 m,
      bearing: 329.753317 deg,
      approach rate: -0.526467 m/s,
      LOS rate: -0.014505 deg/s,
      cmd heading: 341.907768 deg,
      new cmd heading: 341.896126 deg.

2025-08-22T17:20:14.509Z,1755883214.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967213 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:14.527Z,1755883214.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268583
2025-08-22T17:20:14.782Z,1755883214.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523790
2025-08-22T17:20:14.965Z,1755883214.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.89 m.
2025-08-22T17:20:14.968Z,1755883214.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.894257 m,
      nav range: 59.739170 m,
      bearing: 329.745303 deg,
      approach rate: -0.526854 m/s,
      LOS rate: -0.017502 deg/s,
      cmd heading: 341.896129 deg,
      new cmd heading: 341.880035 deg.

2025-08-22T17:20:14.969Z,1755883214.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966932 target range: 62.894257 and range: 63.30 m.
2025-08-22T17:20:15.036Z,1755883215.036 [DAT](INFO): DAT read: 17:20:14.9234 LVL= 29424, 32753, 21042, 32755, AGC= 62, IDX= 419,-0.41,-0.651,-2.131,-0.044,-0.545, PHS=-0.004,-1.542, 0.457, RAW= 162.7,  12.0, CAL= 163.0,  13.6, ROT= 347.0, -13.6

2025-08-22T17:20:15.038Z,1755883215.038 [DAT](INFO): got valid direction response:
 17:20:14.9234 LVL= 29424, 32753, 21042, 32755, AGC= 62, IDX= 419,-0.41,-0.651,-2.131,-0.044,-0.545, PHS=-0.004,-1.542, 0.457, RAW= 162.7,  12.0, CAL= 163.0,  13.6, ROT= 347.0, -13.6

2025-08-22T17:20:15.038Z,1755883215.038 [DAT](INFO): DAT read: Bearing 164.8, -13.3 (Local)

2025-08-22T17:20:15.039Z,1755883215.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.8, -13.3 (Local)

2025-08-22T17:20:15.040Z,1755883215.040 [DAT](INFO): DAT read: Range 11 to 50 : 61.3 m  (Round-trip  81.8 ms) speed  0.4 m/s

2025-08-22T17:20:15.041Z,1755883215.041 [DAT](INFO): DAT read: user:620>

2025-08-22T17:20:15.042Z,1755883215.042 [DAT](INFO): DAT read: Tx time:17:20:16.0375

2025-08-22T17:20:15.042Z,1755883215.042 [DAT](INFO): Ping request sent.
2025-08-22T17:20:15.042Z,1755883215.042 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:15.042Z,1755883215.042 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:15.043Z,1755883215.043 [DAT](INFO): direction in FSK: [0.947050,-0.218644,0.235142]
2025-08-22T17:20:15.044Z,1755883215.044 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:15.044Z,1755883215.044 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:15.053Z,1755883215.053 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:15.053Z,1755883215.053 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:15.331Z,1755883215.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.299999 m,
      deltaT: 3.784116 s,
      deltaX: -2.000000 m,
      approachRate: -0.528525 m/s,
      rangeRepo size: 4

2025-08-22T17:20:15.333Z,1755883215.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.907223 m,
      bearing: 329.084086 deg,
      lat: 36.779500 deg,
      lon: -121.859641 deg,
      deltaT: 3.784116 s,
      deltaX: -1.987034 m,
      approachRate: -0.525099 m/s,
      posRepo size: 4

2025-08-22T17:20:15.333Z,1755883215.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:15.336Z,1755883215.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 59.679790 m,
      bearing: 329.429193 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017502 deg/s,
      cmd heading: 341.880037 deg,
      new cmd heading: 341.867281 deg.

2025-08-22T17:20:15.337Z,1755883215.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966710 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:15.754Z,1755883215.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:15.756Z,1755883215.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:15.763Z,1755883215.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 59.458393 m,
      bearing: 329.415725 deg,
      approach rate: -0.519273 m/s,
      LOS rate: -0.031704 deg/s,
      cmd heading: 341.867278 deg,
      new cmd heading: 341.840244 deg.

2025-08-22T17:20:15.764Z,1755883215.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966238 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:15.786Z,1755883215.786 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:15.787Z,1755883215.787 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:15.787Z,1755883215.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:16.038Z,1755883216.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996421
2025-08-22T17:20:16.124Z,1755883216.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:16.127Z,1755883216.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 59.252945 m,
      bearing: 329.403153 deg,
      approach rate: -0.557892 m/s,
      LOS rate: -0.034258 deg/s,
      cmd heading: 341.840231 deg,
      new cmd heading: 341.814999 deg.

2025-08-22T17:20:16.128Z,1755883216.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965797 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:16.291Z,1755883216.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248448
2025-08-22T17:20:16.535Z,1755883216.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:16.537Z,1755883216.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 59.032978 m,
      bearing: 329.389689 deg,
      approach rate: -0.536017 m/s,
      LOS rate: -0.032932 deg/s,
      cmd heading: 341.814987 deg,
      new cmd heading: 341.787958 deg.

2025-08-22T17:20:16.539Z,1755883216.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965325 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:16.543Z,1755883216.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500628
2025-08-22T17:20:16.795Z,1755883216.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753419
2025-08-22T17:20:16.976Z,1755883216.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:16.979Z,1755883216.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 58.796486 m,
      bearing: 329.374586 deg,
      approach rate: -0.535515 m/s,
      LOS rate: -0.034336 deg/s,
      cmd heading: 341.787966 deg,
      new cmd heading: 341.757640 deg.

2025-08-22T17:20:16.980Z,1755883216.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964796 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:17.047Z,1755883217.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005414
2025-08-22T17:20:17.299Z,1755883217.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256498
2025-08-22T17:20:17.347Z,1755883217.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:17.350Z,1755883217.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 58.597607 m,
      bearing: 329.361781 deg,
      approach rate: -0.535901 m/s,
      LOS rate: -0.034624 deg/s,
      cmd heading: 341.757640 deg,
      new cmd heading: 341.731942 deg.

2025-08-22T17:20:17.351Z,1755883217.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964347 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:17.551Z,1755883217.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508871
2025-08-22T17:20:17.759Z,1755883217.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:17.761Z,1755883217.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:17.780Z,1755883217.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 58.376778 m,
      bearing: 329.343520 deg,
      approach rate: -0.533644 m/s,
      LOS rate: -0.044294 deg/s,
      cmd heading: 341.731931 deg,
      new cmd heading: 341.695272 deg.

2025-08-22T17:20:17.781Z,1755883217.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963707 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:17.803Z,1755883217.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760744
2025-08-22T17:20:18.055Z,1755883218.055 [DAT](INFO): DAT read: Rx Time:17:20:18.5208

2025-08-22T17:20:18.056Z,1755883218.056 [DAT](INFO): Rx dataTimestamp_ set to:1755883218.055475
2025-08-22T17:20:18.057Z,1755883218.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014308
2025-08-22T17:20:18.155Z,1755883218.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.91 m.
2025-08-22T17:20:18.159Z,1755883218.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.907223 m,
      nav range: 58.166985 m,
      bearing: 329.325875 deg,
      approach rate: -0.532759 m/s,
      LOS rate: -0.044970 deg/s,
      cmd heading: 341.695267 deg,
      new cmd heading: 341.659850 deg.

2025-08-22T17:20:18.161Z,1755883218.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963089 target range: 60.907223 and range: 61.30 m.
2025-08-22T17:20:18.306Z,1755883218.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264364
2025-08-22T17:20:18.564Z,1755883218.564 [DAT](INFO): DAT read: 17:20:18.5208 LVL= 31024, 31585, 22242, 32755, AGC= 63, IDX= 409,-0.01, 3.020, 1.511,-2.664, 3.113, PHS= 0.009,-1.556, 0.463, RAW= 162.4,  11.8, CAL= 162.6,  13.4, ROT= 347.4, -13.4

2025-08-22T17:20:18.570Z,1755883218.570 [DAT](INFO): got valid direction response:
 17:20:18.5208 LVL= 31024, 31585, 22242, 32755, AGC= 63, IDX= 409,-0.01, 3.020, 1.511,-2.664, 3.113, PHS= 0.009,-1.556, 0.463, RAW= 162.4,  11.8, CAL= 162.6,  13.4, ROT= 347.4, -13.4

2025-08-22T17:20:18.571Z,1755883218.571 [DAT](INFO): DAT read: Bearing 164.1, -12.8 (Local)

2025-08-22T17:20:18.572Z,1755883218.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.1, -12.8 (Local)

2025-08-22T17:20:18.573Z,1755883218.573 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m  (Round-trip  79.3 ms) speed  0.6 m/s

2025-08-22T17:20:18.574Z,1755883218.574 [DAT](INFO): DAT read: user:621>

2025-08-22T17:20:18.575Z,1755883218.575 [DAT](INFO): DAT read: Tx time:17:20:19.6358

2025-08-22T17:20:18.575Z,1755883218.575 [DAT](INFO): Ping request sent.
2025-08-22T17:20:18.575Z,1755883218.575 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:18.575Z,1755883218.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:18.576Z,1755883218.576 [DAT](INFO): direction in FSK: [0.949348,-0.212204,0.231748]
2025-08-22T17:20:18.576Z,1755883218.576 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:18.577Z,1755883218.577 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:18.600Z,1755883218.600 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:18.600Z,1755883218.600 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:18.698Z,1755883218.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.527922 s,
      deltaX: -1.899998 m,
      approachRate: -0.538560 m/s,
      rangeRepo size: 4

2025-08-22T17:20:18.700Z,1755883218.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.019772 m,
      bearing: 329.494364 deg,
      lat: 36.779501 deg,
      lon: -121.859639 deg,
      deltaT: 3.527922 s,
      deltaX: -1.887451 m,
      approachRate: -0.535004 m/s,
      posRepo size: 4

2025-08-22T17:20:18.701Z,1755883218.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:18.701Z,1755883218.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:18.708Z,1755883218.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 57.897060 m,
      bearing: 329.488718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044970 deg/s,
      cmd heading: 341.659859 deg,
      new cmd heading: 341.613083 deg.

2025-08-22T17:20:18.709Z,1755883218.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962273 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:18.759Z,1755883218.759 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T17:20:19.124Z,1755883219.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:19.124Z,1755883219.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:19.132Z,1755883219.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 57.601566 m,
      bearing: 329.462848 deg,
      approach rate: -0.658189 m/s,
      LOS rate: -0.057919 deg/s,
      cmd heading: 341.613086 deg,
      new cmd heading: 341.561080 deg.

2025-08-22T17:20:19.133Z,1755883219.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961365 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:19.492Z,1755883219.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:19.493Z,1755883219.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:19.496Z,1755883219.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 57.388359 m,
      bearing: 329.443646 deg,
      approach rate: -0.578899 m/s,
      LOS rate: -0.052332 deg/s,
      cmd heading: 341.561067 deg,
      new cmd heading: 341.522520 deg.

2025-08-22T17:20:19.498Z,1755883219.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960692 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:19.943Z,1755883219.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:19.945Z,1755883219.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:19.948Z,1755883219.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:19.959Z,1755883219.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 57.160625 m,
      bearing: 329.422642 deg,
      approach rate: -0.503010 m/s,
      LOS rate: -0.046577 deg/s,
      cmd heading: 341.522518 deg,
      new cmd heading: 341.480343 deg.

2025-08-22T17:20:19.960Z,1755883219.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959956 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:20.074Z,1755883220.074 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:20.074Z,1755883220.074 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:20.075Z,1755883220.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:20.295Z,1755883220.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:20.295Z,1755883220.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:20.310Z,1755883220.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 56.964451 m,
      bearing: 329.404166 deg,
      approach rate: -0.560864 m/s,
      LOS rate: -0.053005 deg/s,
      cmd heading: 341.480335 deg,
      new cmd heading: 341.443255 deg.

2025-08-22T17:20:20.311Z,1755883220.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959309 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:20.327Z,1755883220.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751902
2025-08-22T17:20:20.578Z,1755883220.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003571
2025-08-22T17:20:20.773Z,1755883220.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:20.773Z,1755883220.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:20.776Z,1755883220.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 56.707447 m,
      bearing: 329.382886 deg,
      approach rate: -0.537893 m/s,
      LOS rate: -0.044740 deg/s,
      cmd heading: 341.443260 deg,
      new cmd heading: 341.400507 deg.

2025-08-22T17:20:20.777Z,1755883220.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958563 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:20.831Z,1755883220.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256354
2025-08-22T17:20:21.083Z,1755883221.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507659
2025-08-22T17:20:21.116Z,1755883221.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:21.117Z,1755883221.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:21.120Z,1755883221.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 56.523003 m,
      bearing: 329.367437 deg,
      approach rate: -0.536469 m/s,
      LOS rate: -0.045080 deg/s,
      cmd heading: 341.400503 deg,
      new cmd heading: 341.369505 deg.

2025-08-22T17:20:21.121Z,1755883221.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958022 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:21.335Z,1755883221.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760053
2025-08-22T17:20:21.530Z,1755883221.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:21.531Z,1755883221.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:21.533Z,1755883221.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 56.300510 m,
      bearing: 329.348666 deg,
      approach rate: -0.537905 m/s,
      LOS rate: -0.045559 deg/s,
      cmd heading: 341.369494 deg,
      new cmd heading: 341.331805 deg.

2025-08-22T17:20:21.534Z,1755883221.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957364 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:21.587Z,1755883221.587 [DAT](INFO): DAT read: Rx Time:17:20:22.1167

2025-08-22T17:20:21.587Z,1755883221.587 [DAT](INFO): Rx dataTimestamp_ set to:1755883221.586938
2025-08-22T17:20:21.588Z,1755883221.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012841
2025-08-22T17:20:21.839Z,1755883221.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263653
2025-08-22T17:20:21.955Z,1755883221.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:21.957Z,1755883221.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.02 m.
2025-08-22T17:20:21.974Z,1755883221.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-22T17:20:21.991Z,1755883221.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.019772 m,
      nav range: 56.074814 m,
      bearing: 329.330492 deg,
      approach rate: -0.528801 m/s,
      LOS rate: -0.042755 deg/s,
      cmd heading: 341.331792 deg,
      new cmd heading: 341.295296 deg.

2025-08-22T17:20:22.009Z,1755883222.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956727 target range: 59.019772 and range: 59.40 m.
2025-08-22T17:20:22.099Z,1755883222.099 [DAT](INFO): DAT read: 17:20:22.1167 LVL= 27184, 32753, 23074, 32755, AGC= 59, IDX= 415, 0.29, 0.350,-1.175, 0.882, 0.419, PHS= 0.033,-1.549, 0.419, RAW= 160.7,  12.1, CAL= 161.0,  13.7, ROT= 349.0, -13.7

2025-08-22T17:20:22.100Z,1755883222.100 [DAT](INFO): got valid direction response:
 17:20:22.1167 LVL= 27184, 32753, 23074, 32755, AGC= 59, IDX= 415, 0.29, 0.350,-1.175, 0.882, 0.419, PHS= 0.033,-1.549, 0.419, RAW= 160.7,  12.1, CAL= 161.0,  13.7, ROT= 349.0, -13.7

2025-08-22T17:20:22.101Z,1755883222.101 [DAT](INFO): DAT read: Bearing 163.9, -11.2 (Local)

2025-08-22T17:20:22.102Z,1755883222.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.9, -11.2 (Local)

2025-08-22T17:20:22.103Z,1755883222.103 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m  (Round-trip  76.8 ms) speed  0.4 m/s

2025-08-22T17:20:22.104Z,1755883222.104 [DAT](INFO): DAT read: user:622>

2025-08-22T17:20:22.104Z,1755883222.104 [DAT](INFO): DAT read: Tx time:17:20:23.2358

2025-08-22T17:20:22.105Z,1755883222.105 [DAT](INFO): Ping request sent.
2025-08-22T17:20:22.105Z,1755883222.105 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:22.105Z,1755883222.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:22.106Z,1755883222.106 [DAT](INFO): direction in FSK: [0.953699,-0.185380,0.236838]
2025-08-22T17:20:22.107Z,1755883222.107 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:22.107Z,1755883222.107 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:22.110Z,1755883222.110 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:22.110Z,1755883222.110 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:22.374Z,1755883222.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 3.532729 s,
      deltaX: -1.800003 m,
      approachRate: -0.509522 m/s,
      rangeRepo size: 4

2025-08-22T17:20:22.376Z,1755883222.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.231342 m,
      bearing: 331.433346 deg,
      lat: 36.779501 deg,
      lon: -121.859639 deg,
      deltaT: 3.532729 s,
      deltaX: -1.788429 m,
      approachRate: -0.506246 m/s,
      posRepo size: 4

2025-08-22T17:20:22.376Z,1755883222.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:22.377Z,1755883222.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:22.381Z,1755883222.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 55.866356 m,
      bearing: 329.318861 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042755 deg/s,
      cmd heading: 341.295291 deg,
      new cmd heading: 341.259732 deg.

2025-08-22T17:20:22.382Z,1755883222.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956106 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:22.924Z,1755883222.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:22.924Z,1755883222.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:22.931Z,1755883222.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 55.595753 m,
      bearing: 329.299691 deg,
      approach rate: -0.491201 m/s,
      LOS rate: -0.034968 deg/s,
      cmd heading: 341.259719 deg,
      new cmd heading: 341.221192 deg.

2025-08-22T17:20:22.932Z,1755883222.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955433 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:23.422Z,1755883223.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:23.422Z,1755883223.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:23.425Z,1755883223.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 55.333183 m,
      bearing: 329.280995 deg,
      approach rate: -0.527613 m/s,
      LOS rate: -0.037747 deg/s,
      cmd heading: 341.221197 deg,
      new cmd heading: 341.183628 deg.

2025-08-22T17:20:23.442Z,1755883223.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954778 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:23.936Z,1755883223.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:23.936Z,1755883223.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:23.940Z,1755883223.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 55.073128 m,
      bearing: 329.265371 deg,
      approach rate: -0.505534 m/s,
      LOS rate: -0.030515 deg/s,
      cmd heading: 341.183631 deg,
      new cmd heading: 341.152236 deg.

2025-08-22T17:20:23.946Z,1755883223.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954230 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:24.316Z,1755883224.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:24.319Z,1755883224.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:24.319Z,1755883224.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:24.322Z,1755883224.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 54.881428 m,
      bearing: 329.253926 deg,
      approach rate: -0.500547 m/s,
      LOS rate: -0.029988 deg/s,
      cmd heading: 341.152240 deg,
      new cmd heading: 341.129270 deg.

2025-08-22T17:20:24.323Z,1755883224.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953829 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:24.359Z,1755883224.359 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:24.359Z,1755883224.359 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:24.360Z,1755883224.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:24.610Z,1755883224.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505717
2025-08-22T17:20:24.705Z,1755883224.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:24.723Z,1755883224.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-22T17:20:24.724Z,1755883224.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.60 m.
2025-08-22T17:20:24.725Z,1755883224.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T17:20:24.747Z,1755883224.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 54.689007 m,
      bearing: 329.242775 deg,
      approach rate: -0.500710 m/s,
      LOS rate: -0.029120 deg/s,
      cmd heading: 341.129263 deg,
      new cmd heading: 341.106882 deg.

2025-08-22T17:20:24.755Z,1755883224.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953438 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:24.823Z,1755883224.823 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T17:20:24.824Z,1755883224.824 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T17:20:24.864Z,1755883224.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758677
2025-08-22T17:20:25.115Z,1755883225.115 [DAT](INFO): DAT read: Rx Time:17:20:25.7143

2025-08-22T17:20:25.115Z,1755883225.115 [DAT](INFO): Rx dataTimestamp_ set to:1755883225.114742
2025-08-22T17:20:25.116Z,1755883225.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010790
2025-08-22T17:20:25.177Z,1755883225.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.23 m.
2025-08-22T17:20:25.207Z,1755883225.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.231342 m,
      nav range: 54.453468 m,
      bearing: 329.229385 deg,
      approach rate: -0.497539 m/s,
      LOS rate: -0.028407 deg/s,
      cmd heading: 341.106887 deg,
      new cmd heading: 341.079991 deg.

2025-08-22T17:20:25.208Z,1755883225.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952969 target range: 57.231342 and range: 57.60 m.
2025-08-22T17:20:25.367Z,1755883225.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261803
2025-08-22T17:20:25.624Z,1755883225.624 [DAT](INFO): DAT read: 17:20:25.7143 LVL= 28576, 32753, 22818, 32755, AGC= 60, IDX= 422, 0.15, 0.033,-1.472, 0.634, 0.147, PHS=-0.013,-1.574, 0.442, RAW= 162.4,  12.5, CAL= 162.8,  14.3, ROT= 347.2, -14.3

2025-08-22T17:20:25.625Z,1755883225.625 [DAT](INFO): got valid direction response:
 17:20:25.7143 LVL= 28576, 32753, 22818, 32755, AGC= 60, IDX= 422, 0.15, 0.033,-1.472, 0.634, 0.147, PHS=-0.013,-1.574, 0.442, RAW= 162.4,  12.5, CAL= 162.8,  14.3, ROT= 347.2, -14.3

2025-08-22T17:20:25.626Z,1755883225.626 [DAT](INFO): DAT read: Bearing 163.8, -12.7 (Local)

2025-08-22T17:20:25.626Z,1755883225.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.8, -12.7 (Local)

2025-08-22T17:20:25.628Z,1755883225.628 [DAT](INFO): DAT read: Range 11 to 50 : 55.8 m  (Round-trip  74.4 ms) speed  0.4 m/s

2025-08-22T17:20:25.628Z,1755883225.628 [DAT](INFO): DAT read: user:623>

2025-08-22T17:20:25.629Z,1755883225.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:25.630Z,1755883225.630 [DAT](INFO): direction in FSK: [0.944935,-0.214684,0.246999]
2025-08-22T17:20:25.631Z,1755883225.631 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:25.638Z,1755883225.638 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:25.638Z,1755883225.638 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:25.638Z,1755883225.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:25.727Z,1755883225.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 3.527266 s,
      deltaX: -1.799999 m,
      approachRate: -0.510310 m/s,
      rangeRepo size: 4

2025-08-22T17:20:25.729Z,1755883225.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.442986 m,
      bearing: 329.310084 deg,
      lat: 36.779501 deg,
      lon: -121.859639 deg,
      deltaT: 3.527266 s,
      deltaX: -1.788357 m,
      approachRate: -0.507009 m/s,
      posRepo size: 4

2025-08-22T17:20:25.736Z,1755883225.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:25.767Z,1755883225.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 54.180996 m,
      bearing: 329.197235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028407 deg/s,
      cmd heading: 341.080004 deg,
      new cmd heading: 341.048748 deg.

2025-08-22T17:20:25.791Z,1755883225.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952424 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:25.871Z,1755883225.871 [DAT](INFO): DAT read: Tx time:17:20:26.8358

2025-08-22T17:20:25.872Z,1755883225.872 [DAT](INFO): Ping request sent.
2025-08-22T17:20:25.872Z,1755883225.872 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:25.872Z,1755883225.872 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:25.873Z,1755883225.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001176
2025-08-22T17:20:26.123Z,1755883226.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250642
2025-08-22T17:20:26.172Z,1755883226.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:26.176Z,1755883226.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 53.921764 m,
      bearing: 329.180167 deg,
      approach rate: -0.582984 m/s,
      LOS rate: -0.038567 deg/s,
      cmd heading: 341.048749 deg,
      new cmd heading: 341.014450 deg.

2025-08-22T17:20:26.177Z,1755883226.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951825 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:26.375Z,1755883226.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502593
2025-08-22T17:20:26.552Z,1755883226.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:26.554Z,1755883226.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:26.557Z,1755883226.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 53.725422 m,
      bearing: 329.167131 deg,
      approach rate: -0.512272 m/s,
      LOS rate: -0.034138 deg/s,
      cmd heading: 341.014461 deg,
      new cmd heading: 340.988292 deg.

2025-08-22T17:20:26.558Z,1755883226.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951368 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:26.627Z,1755883226.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755401
2025-08-22T17:20:26.880Z,1755883226.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007927
2025-08-22T17:20:26.970Z,1755883226.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:26.972Z,1755883226.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 53.513210 m,
      bearing: 329.154905 deg,
      approach rate: -0.511356 m/s,
      LOS rate: -0.029578 deg/s,
      cmd heading: 340.988288 deg,
      new cmd heading: 340.963738 deg.

2025-08-22T17:20:26.974Z,1755883226.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950940 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:27.131Z,1755883227.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259083
2025-08-22T17:20:27.358Z,1755883227.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:27.360Z,1755883227.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 53.315319 m,
      bearing: 329.143351 deg,
      approach rate: -0.510209 m/s,
      LOS rate: -0.029897 deg/s,
      cmd heading: 340.963726 deg,
      new cmd heading: 340.940535 deg.

2025-08-22T17:20:27.361Z,1755883227.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950535 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:27.384Z,1755883227.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768
2025-08-22T17:20:27.635Z,1755883227.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762654
2025-08-22T17:20:27.746Z,1755883227.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:27.749Z,1755883227.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 53.116478 m,
      bearing: 329.131503 deg,
      approach rate: -0.511918 m/s,
      LOS rate: -0.030617 deg/s,
      cmd heading: 340.940531 deg,
      new cmd heading: 340.916746 deg.

2025-08-22T17:20:27.750Z,1755883227.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950119 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:27.889Z,1755883227.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017162
2025-08-22T17:20:28.139Z,1755883228.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266704
2025-08-22T17:20:28.195Z,1755883228.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:28.198Z,1755883228.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 52.892284 m,
      bearing: 329.117585 deg,
      approach rate: -0.498928 m/s,
      LOS rate: -0.031107 deg/s,
      cmd heading: 340.916735 deg,
      new cmd heading: 340.888779 deg.

2025-08-22T17:20:28.199Z,1755883228.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949632 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:28.392Z,1755883228.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520091
2025-08-22T17:20:28.555Z,1755883228.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:28.558Z,1755883228.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:28.560Z,1755883228.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 52.710163 m,
      bearing: 329.106022 deg,
      approach rate: -0.502452 m/s,
      LOS rate: -0.032011 deg/s,
      cmd heading: 340.888786 deg,
      new cmd heading: 340.865580 deg.

2025-08-22T17:20:28.562Z,1755883228.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949227 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:28.643Z,1755883228.643 [DAT](INFO): DAT read: Rx Time:17:20:29.3119

2025-08-22T17:20:28.643Z,1755883228.643 [DAT](INFO): Rx dataTimestamp_ set to:1755883228.642908
2025-08-22T17:20:28.644Z,1755883228.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771845
2025-08-22T17:20:28.895Z,1755883228.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022966
2025-08-22T17:20:28.994Z,1755883228.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:28.997Z,1755883228.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 52.491539 m,
      bearing: 329.088683 deg,
      approach rate: -0.500499 m/s,
      LOS rate: -0.039859 deg/s,
      cmd heading: 340.865590 deg,
      new cmd heading: 340.830768 deg.

2025-08-22T17:20:28.998Z,1755883228.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948619 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:29.147Z,1755883229.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274633
2025-08-22T17:20:29.411Z,1755883229.411 [DAT](INFO): DAT read: 17:20:29.3119 LVL= 29872, 29921, 24530, 32755, AGC= 60, IDX= 413, 0.29,-0.413,-1.940, 0.183,-0.323, PHS= 0.012,-1.572, 0.462, RAW= 162.1,  11.8, CAL= 162.4,  13.4, ROT= 347.6, -13.4

2025-08-22T17:20:29.412Z,1755883229.412 [DAT](INFO): got valid direction response:
 17:20:29.3119 LVL= 29872, 29921, 24530, 32755, AGC= 60, IDX= 413, 0.29,-0.413,-1.940, 0.183,-0.323, PHS= 0.012,-1.572, 0.462, RAW= 162.1,  11.8, CAL= 162.4,  13.4, ROT= 347.6, -13.4

2025-08-22T17:20:29.413Z,1755883229.413 [DAT](INFO): DAT read: Bearing 162.5, -11.8 (Local)

2025-08-22T17:20:29.413Z,1755883229.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.5, -11.8 (Local)

2025-08-22T17:20:29.415Z,1755883229.415 [DAT](INFO): DAT read: Range 11 to 50 : 53.9 m  (Round-trip  71.9 ms) speed  0.4 m/s

2025-08-22T17:20:29.416Z,1755883229.416 [DAT](INFO): DAT read: user:624>

2025-08-22T17:20:29.416Z,1755883229.416 [DAT](INFO): DAT read: Tx time:17:20:30.4358

2025-08-22T17:20:29.417Z,1755883229.417 [DAT](INFO): Ping request sent.
2025-08-22T17:20:29.417Z,1755883229.417 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:29.417Z,1755883229.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:29.425Z,1755883229.425 [DAT](INFO): direction in FSK: [0.950083,-0.208889,0.231748]
2025-08-22T17:20:29.425Z,1755883229.425 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:29.425Z,1755883229.425 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:29.436Z,1755883229.436 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:29.437Z,1755883229.437 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:29.446Z,1755883229.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.44 m.
2025-08-22T17:20:29.468Z,1755883229.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.442986 m,
      nav range: 52.291348 m,
      bearing: 329.072743 deg,
      approach rate: -0.455789 m/s,
      LOS rate: -0.036430 deg/s,
      cmd heading: 340.830756 deg,
      new cmd heading: 340.798754 deg.

2025-08-22T17:20:29.469Z,1755883229.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948061 target range: 55.442986 and range: 55.80 m.
2025-08-22T17:20:29.853Z,1755883229.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.900002 m,
      deltaT: 3.780929 s,
      deltaX: -1.899998 m,
      approachRate: -0.502521 m/s,
      rangeRepo size: 4

2025-08-22T17:20:29.864Z,1755883229.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.554760 m,
      bearing: 329.624343 deg,
      lat: 36.779501 deg,
      lon: -121.859637 deg,
      deltaT: 3.780929 s,
      deltaX: -1.888226 m,
      approachRate: -0.499408 m/s,
      posRepo size: 4

2025-08-22T17:20:29.871Z,1755883229.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:29.881Z,1755883229.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 52.050800 m,
      bearing: 329.192931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036430 deg/s,
      cmd heading: 340.798764 deg,
      new cmd heading: 340.769665 deg.

2025-08-22T17:20:29.887Z,1755883229.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947553 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:30.239Z,1755883230.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:30.242Z,1755883230.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 51.836842 m,
      bearing: 329.175994 deg,
      approach rate: -0.527076 m/s,
      LOS rate: -0.041897 deg/s,
      cmd heading: 340.769667 deg,
      new cmd heading: 340.735652 deg.

2025-08-22T17:20:30.243Z,1755883230.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946959 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:30.613Z,1755883230.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:30.615Z,1755883230.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:30.618Z,1755883230.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 51.650623 m,
      bearing: 329.161068 deg,
      approach rate: -0.494822 m/s,
      LOS rate: -0.039803 deg/s,
      cmd heading: 340.735653 deg,
      new cmd heading: 340.705694 deg.

2025-08-22T17:20:30.619Z,1755883230.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946436 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:30.659Z,1755883230.659 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:30.659Z,1755883230.659 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:30.660Z,1755883230.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:30.910Z,1755883230.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493676
2025-08-22T17:20:31.049Z,1755883231.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:31.052Z,1755883231.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 51.434883 m,
      bearing: 329.134371 deg,
      approach rate: -0.497151 m/s,
      LOS rate: -0.061780 deg/s,
      cmd heading: 340.705682 deg,
      new cmd heading: 340.652062 deg.

2025-08-22T17:20:31.053Z,1755883231.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945500 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:31.163Z,1755883231.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746314
2025-08-22T17:20:31.414Z,1755883231.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997716
2025-08-22T17:20:31.427Z,1755883231.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:31.430Z,1755883231.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 51.247177 m,
      bearing: 329.110801 deg,
      approach rate: -0.496511 m/s,
      LOS rate: -0.062573 deg/s,
      cmd heading: 340.652051 deg,
      new cmd heading: 340.604740 deg.

2025-08-22T17:20:31.431Z,1755883231.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944674 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:31.667Z,1755883231.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249877
2025-08-22T17:20:31.845Z,1755883231.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:31.875Z,1755883231.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 51.050915 m,
      bearing: 329.085901 deg,
      approach rate: -0.471459 m/s,
      LOS rate: -0.060046 deg/s,
      cmd heading: 340.604732 deg,
      new cmd heading: 340.554739 deg.

2025-08-22T17:20:31.883Z,1755883231.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943801 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:31.919Z,1755883231.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501822
2025-08-22T17:20:32.171Z,1755883232.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754270
2025-08-22T17:20:32.267Z,1755883232.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:32.270Z,1755883232.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 50.834122 m,
      bearing: 329.055003 deg,
      approach rate: -0.511784 m/s,
      LOS rate: -0.073250 deg/s,
      cmd heading: 340.554735 deg,
      new cmd heading: 340.492677 deg.

2025-08-22T17:20:32.271Z,1755883232.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942719 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:32.423Z,1755883232.423 [DAT](INFO): DAT read: Rx Time:17:20:32.9092

2025-08-22T17:20:32.423Z,1755883232.423 [DAT](INFO): Rx dataTimestamp_ set to:1755883232.422810
2025-08-22T17:20:32.424Z,1755883232.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006887
2025-08-22T17:20:32.634Z,1755883232.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:32.636Z,1755883232.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.55 m.
2025-08-22T17:20:32.639Z,1755883232.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.554760 m,
      nav range: 50.654007 m,
      bearing: 329.028876 deg,
      approach rate: -0.488313 m/s,
      LOS rate: -0.071086 deg/s,
      cmd heading: 340.492689 deg,
      new cmd heading: 340.440249 deg.

2025-08-22T17:20:32.640Z,1755883232.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941803 target range: 53.554760 and range: 53.90 m.
2025-08-22T17:20:32.675Z,1755883232.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258033
2025-08-22T17:20:32.932Z,1755883232.932 [DAT](INFO): DAT read: 17:20:32.9092 LVL= 32752, 32753, 29858, 32755, AGC= 63, IDX= 420,-0.47,-1.187,-2.692,-0.594,-1.057, PHS=-0.028,-1.589, 0.419, RAW= 162.2,  13.0, CAL= 162.7,  15.1, ROT= 347.3, -15.1

2025-08-22T17:20:32.933Z,1755883232.933 [DAT](INFO): got valid direction response:
 17:20:32.9092 LVL= 32752, 32753, 29858, 32755, AGC= 63, IDX= 420,-0.47,-1.187,-2.692,-0.594,-1.057, PHS=-0.028,-1.589, 0.419, RAW= 162.2,  13.0, CAL= 162.7,  15.1, ROT= 347.3, -15.1

2025-08-22T17:20:32.934Z,1755883232.934 [DAT](INFO): DAT read: Bearing 163.9, -11.5 (Local)

2025-08-22T17:20:32.935Z,1755883232.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.9, -11.5 (Local)

2025-08-22T17:20:32.936Z,1755883232.936 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m trip  69.4 ms) speed  0.4 m/s

2025-08-22T17:20:32.936Z,1755883232.936 [DAT](INFO): DAT read: user:625>

2025-08-22T17:20:32.937Z,1755883232.937 [DAT](INFO): DAT read: Tx time:17:20:34.0357

2025-08-22T17:20:32.938Z,1755883232.938 [DAT](INFO): Ping request sent.
2025-08-22T17:20:32.938Z,1755883232.938 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:32.938Z,1755883232.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:32.939Z,1755883232.939 [DAT](INFO): direction in FSK: [0.941852,-0.212256,0.260505]
2025-08-22T17:20:32.939Z,1755883232.939 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:32.939Z,1755883232.940 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:32.943Z,1755883232.943 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:32.943Z,1755883232.943 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:33.139Z,1755883233.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.000000 m,
      deltaT: 3.526987 s,
      deltaX: -1.900002 m,
      approachRate: -0.538704 m/s,
      rangeRepo size: 4

2025-08-22T17:20:33.141Z,1755883233.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.666649 m,
      bearing: 329.592377 deg,
      lat: 36.779501 deg,
      lon: -121.859635 deg,
      deltaT: 3.526987 s,
      deltaX: -1.888111 m,
      approachRate: -0.535333 m/s,
      posRepo size: 4

2025-08-22T17:20:33.141Z,1755883233.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:33.148Z,1755883233.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 50.333157 m,
      bearing: 329.169479 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071086 deg/s,
      cmd heading: 340.440261 deg,
      new cmd heading: 340.369499 deg.

2025-08-22T17:20:33.149Z,1755883233.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940568 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:33.375Z,1755883233.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:20:33.480Z,1755883233.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:33.483Z,1755883233.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 50.162735 m,
      bearing: 329.140512 deg,
      approach rate: -0.492079 m/s,
      LOS rate: -0.083925 deg/s,
      cmd heading: 340.369500 deg,
      new cmd heading: 340.311369 deg.

2025-08-22T17:20:33.484Z,1755883233.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939554 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:33.956Z,1755883233.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:33.963Z,1755883233.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.942863 m,
      bearing: 329.102438 deg,
      approach rate: -0.461744 m/s,
      LOS rate: -0.080310 deg/s,
      cmd heading: 340.311361 deg,
      new cmd heading: 340.234878 deg.

2025-08-22T17:20:33.964Z,1755883233.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938219 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:34.305Z,1755883234.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:34.308Z,1755883234.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.774120 m,
      bearing: 329.073795 deg,
      approach rate: -0.483964 m/s,
      LOS rate: -0.082428 deg/s,
      cmd heading: 340.234891 deg,
      new cmd heading: 340.177411 deg.

2025-08-22T17:20:34.309Z,1755883234.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937216 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:34.379Z,1755883234.379 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:20:34.719Z,1755883234.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:34.721Z,1755883234.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:34.724Z,1755883234.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.584461 m,
      bearing: 329.041367 deg,
      approach rate: -0.456159 m/s,
      LOS rate: -0.078293 deg/s,
      cmd heading: 340.177408 deg,
      new cmd heading: 340.112303 deg.

2025-08-22T17:20:34.725Z,1755883234.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936080 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:34.950Z,1755883234.950 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:34.951Z,1755883234.951 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:34.951Z,1755883234.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:35.112Z,1755883235.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:35.115Z,1755883235.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.397457 m,
      bearing: 329.011086 deg,
      approach rate: -0.477830 m/s,
      LOS rate: -0.077666 deg/s,
      cmd heading: 340.112302 deg,
      new cmd heading: 340.051512 deg.

2025-08-22T17:20:35.116Z,1755883235.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935019 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:35.205Z,1755883235.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266999
2025-08-22T17:20:35.459Z,1755883235.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520881
2025-08-22T17:20:35.501Z,1755883235.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:35.504Z,1755883235.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.218933 m,
      bearing: 328.981750 deg,
      approach rate: -0.459466 m/s,
      LOS rate: -0.075777 deg/s,
      cmd heading: 340.051514 deg,
      new cmd heading: 339.992628 deg.

2025-08-22T17:20:35.504Z,1755883235.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933991 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:35.711Z,1755883235.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773440
2025-08-22T17:20:35.965Z,1755883235.965 [DAT](INFO): DAT read: Rx Time:17:20:36.5072

2025-08-22T17:20:35.966Z,1755883235.966 [DAT](INFO): Rx dataTimestamp_ set to:1755883235.965149
2025-08-22T17:20:35.966Z,1755883235.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028425
2025-08-22T17:20:35.982Z,1755883235.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:35.985Z,1755883235.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 49.010071 m,
      bearing: 328.946965 deg,
      approach rate: -0.435458 m/s,
      LOS rate: -0.072833 deg/s,
      cmd heading: 339.992637 deg,
      new cmd heading: 339.922771 deg.

2025-08-22T17:20:35.986Z,1755883235.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932772 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:36.216Z,1755883236.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277909
2025-08-22T17:20:36.337Z,1755883236.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.67 m.
2025-08-22T17:20:36.340Z,1755883236.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.666649 m,
      nav range: 48.829556 m,
      bearing: 328.920110 deg,
      approach rate: -0.505774 m/s,
      LOS rate: -0.075522 deg/s,
      cmd heading: 339.922778 deg,
      new cmd heading: 339.868869 deg.

2025-08-22T17:20:36.341Z,1755883236.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931831 target range: 51.666649 and range: 52.00 m.
2025-08-22T17:20:36.472Z,1755883236.472 [DAT](INFO): DAT read: 17:20:36.5072 LVL= 28320, 28193, 23250, 32755, AGC= 59, IDX= 414,-0.34, 2.531, 1.050,-3.139, 2.658, PHS=-0.025,-1.564, 0.442, RAW= 162.8,  12.6, CAL= 163.2,  14.5, ROT= 346.8, -14.5

2025-08-22T17:20:36.473Z,1755883236.473 [DAT](INFO): got valid direction response:
 17:20:36.5072 LVL= 28320, 28193, 23250, 32755, AGC= 59, IDX= 414,-0.34, 2.531, 1.050,-3.139, 2.658, PHS=-0.025,-1.564, 0.442, RAW= 162.8,  12.6, CAL= 163.2,  14.5, ROT= 346.8, -14.5

2025-08-22T17:20:36.474Z,1755883236.474 [DAT](INFO): DAT read: Bearing 163.4, -11.7 (Local)

2025-08-22T17:20:36.475Z,1755883236.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.4, -11.7 (Local)

2025-08-22T17:20:36.476Z,1755883236.476 [DAT](INFO): DAT read: Range 11 to 50 : 50.4 m  (Round-trip  67.3 ms) speed  0.4 m/s

2025-08-22T17:20:36.477Z,1755883236.477 [DAT](INFO): DAT read: user:626>

2025-08-22T17:20:36.478Z,1755883236.478 [DAT](INFO): DAT read: Tx time:17:20:37.6357

2025-08-22T17:20:36.478Z,1755883236.478 [DAT](INFO): Ping request sent.
2025-08-22T17:20:36.478Z,1755883236.478 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:36.478Z,1755883236.478 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:36.479Z,1755883236.479 [DAT](INFO): direction in FSK: [0.942568,-0.221078,0.250380]
2025-08-22T17:20:36.480Z,1755883236.480 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:36.480Z,1755883236.480 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:36.483Z,1755883236.483 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:36.483Z,1755883236.483 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:36.745Z,1755883236.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 3.540109 s,
      deltaX: -1.599998 m,
      approachRate: -0.451963 m/s,
      rangeRepo size: 4

2025-08-22T17:20:36.747Z,1755883236.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.077312 m,
      bearing: 329.589738 deg,
      lat: 36.779503 deg,
      lon: -121.859630 deg,
      deltaT: 3.540109 s,
      deltaX: -1.589336 m,
      approachRate: -0.448951 m/s,
      posRepo size: 4

2025-08-22T17:20:36.747Z,1755883236.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:36.750Z,1755883236.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 48.597359 m,
      bearing: 329.486682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075522 deg/s,
      cmd heading: 339.868874 deg,
      new cmd heading: 339.807430 deg.

2025-08-22T17:20:36.751Z,1755883236.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930758 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:37.153Z,1755883237.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:37.156Z,1755883237.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:37.162Z,1755883237.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 48.396358 m,
      bearing: 329.466412 deg,
      approach rate: -0.487615 m/s,
      LOS rate: -0.049378 deg/s,
      cmd heading: 339.807430 deg,
      new cmd heading: 339.766722 deg.

2025-08-22T17:20:37.164Z,1755883237.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930048 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:37.231Z,1755883237.231 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:37.232Z,1755883237.232 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:37.232Z,1755883237.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:37.483Z,1755883237.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004502
2025-08-22T17:20:37.582Z,1755883237.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:37.584Z,1755883237.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 48.195961 m,
      bearing: 329.446446 deg,
      approach rate: -0.475714 m/s,
      LOS rate: -0.047594 deg/s,
      cmd heading: 339.766722 deg,
      new cmd heading: 339.726624 deg.

2025-08-22T17:20:37.589Z,1755883237.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929348 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:37.735Z,1755883237.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256449
2025-08-22T17:20:37.990Z,1755883237.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510965
2025-08-22T17:20:38.016Z,1755883238.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:38.027Z,1755883238.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 47.990799 m,
      bearing: 329.426228 deg,
      approach rate: -0.467971 m/s,
      LOS rate: -0.046314 deg/s,
      cmd heading: 339.726615 deg,
      new cmd heading: 339.686006 deg.

2025-08-22T17:20:38.028Z,1755883238.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928639 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:38.239Z,1755883238.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760537
2025-08-22T17:20:38.433Z,1755883238.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:38.436Z,1755883238.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 47.769295 m,
      bearing: 329.410622 deg,
      approach rate: -0.530886 m/s,
      LOS rate: -0.037576 deg/s,
      cmd heading: 339.686017 deg,
      new cmd heading: 339.654660 deg.

2025-08-22T17:20:38.437Z,1755883238.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928092 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:38.492Z,1755883238.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013583
2025-08-22T17:20:38.743Z,1755883238.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264469
2025-08-22T17:20:38.792Z,1755883238.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:38.799Z,1755883238.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 47.593555 m,
      bearing: 329.398931 deg,
      approach rate: -0.490046 m/s,
      LOS rate: -0.032722 deg/s,
      cmd heading: 339.654652 deg,
      new cmd heading: 339.631183 deg.

2025-08-22T17:20:38.800Z,1755883238.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927682 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:38.996Z,1755883238.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517533
2025-08-22T17:20:39.205Z,1755883239.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:39.207Z,1755883239.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:39.226Z,1755883239.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 47.381119 m,
      bearing: 329.393976 deg,
      approach rate: -0.510978 m/s,
      LOS rate: -0.011972 deg/s,
      cmd heading: 339.631184 deg,
      new cmd heading: 339.621229 deg.

2025-08-22T17:20:39.227Z,1755883239.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927509 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:39.247Z,1755883239.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768602
2025-08-22T17:20:39.499Z,1755883239.499 [DAT](INFO): DAT read: Rx Time:17:20:40.1047

2025-08-22T17:20:39.499Z,1755883239.499 [DAT](INFO): Rx dataTimestamp_ set to:1755883239.499031
2025-08-22T17:20:39.500Z,1755883239.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021783
2025-08-22T17:20:39.596Z,1755883239.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.08 m.
2025-08-22T17:20:39.600Z,1755883239.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.077312 m,
      nav range: 47.193562 m,
      bearing: 329.390049 deg,
      approach rate: -0.482114 m/s,
      LOS rate: -0.010133 deg/s,
      cmd heading: 339.621239 deg,
      new cmd heading: 339.613355 deg.

2025-08-22T17:20:39.601Z,1755883239.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927371 target range: 50.077312 and range: 50.40 m.
2025-08-22T17:20:39.750Z,1755883239.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272374
2025-08-22T17:20:40.033Z,1755883240.033 [DAT](INFO): DAT read: 17:20:40.1047 LVL= 28816, 29825, 24626, 32755, AGC= 59, IDX= 421, 0.21, 2.145, 0.660, 2.718, 2.212, PHS= 0.035,-1.507, 0.462, RAW= 161.9,  11.3, CAL= 162.0,  12.6, ROT= 348.0, -12.6

2025-08-22T17:20:40.034Z,1755883240.034 [DAT](INFO): got valid direction response:
 17:20:40.1047 LVL= 28816, 29825, 24626, 32755, AGC= 59, IDX= 421, 0.21, 2.145, 0.660, 2.718, 2.212, PHS= 0.035,-1.507, 0.462, RAW= 161.9,  11.3, CAL= 162.0,  12.6, ROT= 348.0, -12.6

2025-08-22T17:20:40.035Z,1755883240.035 [DAT](INFO): DAT read: Bearing 160.5, -10.8 (Local)

2025-08-22T17:20:40.036Z,1755883240.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5, -10.8 (Local)

2025-08-22T17:20:40.037Z,1755883240.037 [DAT](INFO): DAT read: Range 11 to 50 : 48.6 m  (Round-trip  64.9 ms) speed  0.4 m/s

2025-08-22T17:20:40.062Z,1755883240.062 [DAT](INFO): DAT read: user:627>

2025-08-22T17:20:40.063Z,1755883240.063 [DAT](INFO): DAT read: Tx time:17:20:41.2357

2025-08-22T17:20:40.063Z,1755883240.063 [DAT](INFO): Ping request sent.
2025-08-22T17:20:40.063Z,1755883240.063 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:40.063Z,1755883240.063 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:40.064Z,1755883240.064 [DAT](INFO): direction in FSK: [0.954591,-0.202905,0.218143]
2025-08-22T17:20:40.065Z,1755883240.065 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:40.065Z,1755883240.065 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:40.077Z,1755883240.077 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:40.077Z,1755883240.077 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:40.191Z,1755883240.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.599998 m,
      deltaT: 3.538237 s,
      deltaX: -1.800003 m,
      approachRate: -0.508729 m/s,
      rangeRepo size: 4

2025-08-22T17:20:40.193Z,1755883240.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.288437 m,
      bearing: 330.346657 deg,
      lat: 36.779503 deg,
      lon: -121.859630 deg,
      deltaT: 3.538237 s,
      deltaX: -1.788876 m,
      approachRate: -0.505584 m/s,
      posRepo size: 4

2025-08-22T17:20:40.226Z,1755883240.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:40.229Z,1755883240.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 46.913731 m,
      bearing: 329.383940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010133 deg/s,
      cmd heading: 339.613343 deg,
      new cmd heading: 339.601322 deg.

2025-08-22T17:20:40.234Z,1755883240.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927161 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:40.572Z,1755883240.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:40.575Z,1755883240.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 46.706326 m,
      bearing: 329.380517 deg,
      approach rate: -0.542203 m/s,
      LOS rate: -0.008988 deg/s,
      cmd heading: 339.601322 deg,
      new cmd heading: 339.594446 deg.

2025-08-22T17:20:40.576Z,1755883240.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927041 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:41.052Z,1755883241.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:41.059Z,1755883241.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 46.492313 m,
      bearing: 329.377210 deg,
      approach rate: -0.445719 m/s,
      LOS rate: -0.006919 deg/s,
      cmd heading: 339.594437 deg,
      new cmd heading: 339.587793 deg.

2025-08-22T17:20:41.060Z,1755883241.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926925 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:41.432Z,1755883241.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:41.434Z,1755883241.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:41.437Z,1755883241.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 46.281425 m,
      bearing: 329.370485 deg,
      approach rate: -0.551862 m/s,
      LOS rate: -0.017679 deg/s,
      cmd heading: 339.587798 deg,
      new cmd heading: 339.574287 deg.

2025-08-22T17:20:41.438Z,1755883241.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926689 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:41.540Z,1755883241.540 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:41.540Z,1755883241.540 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:41.540Z,1755883241.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:41.785Z,1755883241.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:41.791Z,1755883241.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727334
2025-08-22T17:20:41.808Z,1755883241.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 46.107876 m,
      bearing: 329.364962 deg,
      approach rate: -0.495603 m/s,
      LOS rate: -0.015832 deg/s,
      cmd heading: 339.574275 deg,
      new cmd heading: 339.563187 deg.

2025-08-22T17:20:41.808Z,1755883241.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926496 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:42.047Z,1755883242.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983044
2025-08-22T17:20:42.226Z,1755883242.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:42.228Z,1755883242.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 45.894047 m,
      bearing: 329.351886 deg,
      approach rate: -0.484883 m/s,
      LOS rate: -0.029790 deg/s,
      cmd heading: 339.563182 deg,
      new cmd heading: 339.536908 deg.

2025-08-22T17:20:42.246Z,1755883242.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926037 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:42.295Z,1755883242.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231884
2025-08-22T17:20:42.547Z,1755883242.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484108
2025-08-22T17:20:42.634Z,1755883242.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:42.637Z,1755883242.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 45.707767 m,
      bearing: 329.340550 deg,
      approach rate: -0.455693 m/s,
      LOS rate: -0.027845 deg/s,
      cmd heading: 339.536900 deg,
      new cmd heading: 339.514135 deg.

2025-08-22T17:20:42.642Z,1755883242.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925640 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:42.799Z,1755883242.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735315
2025-08-22T17:20:43.057Z,1755883243.057 [DAT](INFO): DAT read: Rx Time:17:20:43.7023

2025-08-22T17:20:43.057Z,1755883243.057 [DAT](INFO): Rx dataTimestamp_ set to:1755883243.056892
2025-08-22T17:20:43.058Z,1755883243.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994799
2025-08-22T17:20:43.128Z,1755883243.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:43.135Z,1755883243.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 45.463852 m,
      bearing: 329.318855 deg,
      approach rate: -0.493675 m/s,
      LOS rate: -0.044144 deg/s,
      cmd heading: 339.514142 deg,
      new cmd heading: 339.470520 deg.

2025-08-22T17:20:43.136Z,1755883243.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924878 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:43.311Z,1755883243.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247292
2025-08-22T17:20:43.539Z,1755883243.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:43.541Z,1755883243.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.29 m.
2025-08-22T17:20:43.560Z,1755883243.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.288437 m,
      nav range: 45.269520 m,
      bearing: 329.301434 deg,
      approach rate: -0.470716 m/s,
      LOS rate: -0.042379 deg/s,
      cmd heading: 339.470510 deg,
      new cmd heading: 339.435518 deg.

2025-08-22T17:20:43.569Z,1755883243.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504559
2025-08-22T17:20:43.594Z,1755883243.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924267 target range: 48.288437 and range: 48.60 m.
2025-08-22T17:20:43.824Z,1755883243.824 [DAT](INFO): DAT read: 17:20:43.7023 LVL= 28128, 30545, 23778, 32755, AGC= 59, IDX= 412, 0.25,-1.261,-2.735,-0.702,-1.200, PHS= 0.041,-1.491, 0.453, RAW= 161.6,  11.2, CAL= 161.8,  12.5, ROT= 348.2, -12.5

2025-08-22T17:20:43.825Z,1755883243.825 [DAT](INFO): got valid direction response:
 17:20:43.7023 LVL= 28128, 30545, 23778, 32755, AGC= 59, IDX= 412, 0.25,-1.261,-2.735,-0.702,-1.200, PHS= 0.041,-1.491, 0.453, RAW= 161.6,  11.2, CAL= 161.8,  12.5, ROT= 348.2, -12.5

2025-08-22T17:20:43.826Z,1755883243.826 [DAT](INFO): DAT read: Bearing 159.9, -10.0 (Local)

2025-08-22T17:20:43.827Z,1755883243.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.9, -10.0 (Local)

2025-08-22T17:20:43.829Z,1755883243.829 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m  (Round-trip  62.5 ms) speed  0.4 m/s

2025-08-22T17:20:43.831Z,1755883243.831 [DAT](INFO): DAT read: user:628>

2025-08-22T17:20:43.833Z,1755883243.833 [DAT](INFO): DAT read: Tx time:17:20:44.7857

2025-08-22T17:20:43.833Z,1755883243.833 [DAT](INFO): Ping request sent.
2025-08-22T17:20:43.833Z,1755883243.833 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:43.834Z,1755883243.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:43.835Z,1755883243.835 [DAT](INFO): direction in FSK: [0.955664,-0.199648,0.216440]
2025-08-22T17:20:43.835Z,1755883243.835 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:43.836Z,1755883243.836 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:43.844Z,1755883243.844 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:43.845Z,1755883243.845 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:44.001Z,1755883244.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.799999 m,
      deltaT: 3.811764 s,
      deltaX: -1.799999 m,
      approachRate: -0.472222 m/s,
      rangeRepo size: 4

2025-08-22T17:20:44.008Z,1755883244.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.499962 m,
      bearing: 329.892793 deg,
      lat: 36.779505 deg,
      lon: -121.859629 deg,
      deltaT: 3.811764 s,
      deltaX: -1.788475 m,
      approachRate: -0.469199 m/s,
      posRepo size: 4

2025-08-22T17:20:44.009Z,1755883244.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:44.059Z,1755883244.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 45.201023 m,
      bearing: 329.547221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042379 deg/s,
      cmd heading: 339.435513 deg,
      new cmd heading: 339.396611 deg.

2025-08-22T17:20:44.072Z,1755883244.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923588 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:44.447Z,1755883244.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:44.450Z,1755883244.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.982861 m,
      bearing: 329.526699 deg,
      approach rate: -0.488472 m/s,
      LOS rate: -0.046173 deg/s,
      cmd heading: 339.396608 deg,
      new cmd heading: 339.355364 deg.

2025-08-22T17:20:44.451Z,1755883244.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922868 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:44.815Z,1755883244.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:44.824Z,1755883244.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.808895 m,
      bearing: 329.510408 deg,
      approach rate: -0.472574 m/s,
      LOS rate: -0.044428 deg/s,
      cmd heading: 339.355353 deg,
      new cmd heading: 339.322644 deg.

2025-08-22T17:20:44.825Z,1755883244.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922297 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:45.255Z,1755883245.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:45.259Z,1755883245.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.598343 m,
      bearing: 329.485768 deg,
      approach rate: -0.477984 m/s,
      LOS rate: -0.056200 deg/s,
      cmd heading: 339.322650 deg,
      new cmd heading: 339.273138 deg.

2025-08-22T17:20:45.260Z,1755883245.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921433 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:45.624Z,1755883245.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:45.626Z,1755883245.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:45.629Z,1755883245.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.423725 m,
      bearing: 329.465386 deg,
      approach rate: -0.471171 m/s,
      LOS rate: -0.055212 deg/s,
      cmd heading: 339.273145 deg,
      new cmd heading: 339.232222 deg.

2025-08-22T17:20:45.631Z,1755883245.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920719 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:45.835Z,1755883245.835 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:45.835Z,1755883245.835 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:45.835Z,1755883245.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:46.090Z,1755883246.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255653
2025-08-22T17:20:46.112Z,1755883246.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:46.120Z,1755883246.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.216084 m,
      bearing: 329.440939 deg,
      approach rate: -0.428591 m/s,
      LOS rate: -0.050698 deg/s,
      cmd heading: 339.232219 deg,
      new cmd heading: 339.183095 deg.

2025-08-22T17:20:46.121Z,1755883246.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919862 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:46.340Z,1755883246.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506300
2025-08-22T17:20:46.478Z,1755883246.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:46.485Z,1755883246.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 44.029560 m,
      bearing: 329.417075 deg,
      approach rate: -0.525167 m/s,
      LOS rate: -0.067474 deg/s,
      cmd heading: 339.183096 deg,
      new cmd heading: 339.135166 deg.

2025-08-22T17:20:46.486Z,1755883246.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919025 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:46.591Z,1755883246.591 [DAT](INFO): DAT read: Rx Time:17:20:47.2502

2025-08-22T17:20:46.592Z,1755883246.592 [DAT](INFO): Rx dataTimestamp_ set to:1755883246.591433
2025-08-22T17:20:46.593Z,1755883246.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759343
2025-08-22T17:20:46.836Z,1755883246.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:46.845Z,1755883246.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010931
2025-08-22T17:20:46.846Z,1755883246.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 43.846642 m,
      bearing: 329.393587 deg,
      approach rate: -0.494627 m/s,
      LOS rate: -0.063779 deg/s,
      cmd heading: 339.135175 deg,
      new cmd heading: 339.088003 deg.

2025-08-22T17:20:46.847Z,1755883246.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918202 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:47.099Z,1755883247.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265040
2025-08-22T17:20:47.262Z,1755883247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-22T17:20:47.265Z,1755883247.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.499962 m,
      nav range: 43.644913 m,
      bearing: 329.369908 deg,
      approach rate: -0.472593 m/s,
      LOS rate: -0.055729 deg/s,
      cmd heading: 339.087993 deg,
      new cmd heading: 339.040416 deg.

2025-08-22T17:20:47.266Z,1755883247.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917372 target range: 46.499962 and range: 46.80 m.
2025-08-22T17:20:47.357Z,1755883247.357 [DAT](INFO): DAT read: 17:20:47.2502 LVL= 30320, 32753, 22658, 32755, AGC= 56, IDX= 423,-0.31,-2.403, 2.449,-1.860,-2.325, PHS= 0.024,-1.464, 0.421, RAW= 161.5,  11.8, CAL= 161.8,  13.3, ROT= 348.2, -13.3

2025-08-22T17:20:47.359Z,1755883247.359 [DAT](INFO): got valid direction response:
 17:20:47.2502 LVL= 30320, 32753, 22658, 32755, AGC= 56, IDX= 423,-0.31,-2.403, 2.449,-1.860,-2.325, PHS= 0.024,-1.464, 0.421, RAW= 161.5,  11.8, CAL= 161.8,  13.3, ROT= 348.2, -13.3

2025-08-22T17:20:47.360Z,1755883247.360 [DAT](INFO): DAT read: Bearing 160.2,  -9.7 (Local)

2025-08-22T17:20:47.361Z,1755883247.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.2,  -9.7 (Local)

2025-08-22T17:20:47.368Z,1755883247.368 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m  (Round-trip  60.4 ms) speed  0.4 m/s

2025-08-22T17:20:47.369Z,1755883247.369 [DAT](INFO): DAT read: user:629>

2025-08-22T17:20:47.379Z,1755883247.379 [DAT](INFO): DAT read: Tx time:17:20:48.3357

2025-08-22T17:20:47.379Z,1755883247.379 [DAT](INFO): Ping request sent.
2025-08-22T17:20:47.379Z,1755883247.379 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:47.380Z,1755883247.380 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:47.380Z,1755883247.380 [DAT](INFO): direction in FSK: [0.952613,-0.199011,0.230050]
2025-08-22T17:20:47.381Z,1755883247.381 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:47.381Z,1755883247.381 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:47.389Z,1755883247.389 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:47.389Z,1755883247.389 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:47.650Z,1755883247.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.299999 m,
      deltaT: 3.530215 s,
      deltaX: -1.500000 m,
      approachRate: -0.424903 m/s,
      rangeRepo size: 4

2025-08-22T17:20:47.652Z,1755883247.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.009079 m,
      bearing: 329.662238 deg,
      lat: 36.779507 deg,
      lon: -121.859628 deg,
      deltaT: 3.530215 s,
      deltaX: -1.490883 m,
      approachRate: -0.422321 m/s,
      posRepo size: 4

2025-08-22T17:20:47.653Z,1755883247.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:47.656Z,1755883247.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 43.596828 m,
      bearing: 329.631086 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055729 deg/s,
      cmd heading: 339.040427 deg,
      new cmd heading: 338.997330 deg.

2025-08-22T17:20:47.656Z,1755883247.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916620 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:48.054Z,1755883248.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:48.056Z,1755883248.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:48.060Z,1755883248.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 43.404118 m,
      bearing: 329.609808 deg,
      approach rate: -0.472946 m/s,
      LOS rate: -0.052451 deg/s,
      cmd heading: 338.997342 deg,
      new cmd heading: 338.954598 deg.

2025-08-22T17:20:48.061Z,1755883248.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915874 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:48.104Z,1755883248.104 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:48.105Z,1755883248.105 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:48.106Z,1755883248.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:48.355Z,1755883248.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975588
2025-08-22T17:20:48.478Z,1755883248.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:48.481Z,1755883248.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 43.194706 m,
      bearing: 329.586262 deg,
      approach rate: -0.496438 m/s,
      LOS rate: -0.056090 deg/s,
      cmd heading: 338.954585 deg,
      new cmd heading: 338.907265 deg.

2025-08-22T17:20:48.482Z,1755883248.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915048 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:48.607Z,1755883248.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227262
2025-08-22T17:20:48.860Z,1755883248.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480281
2025-08-22T17:20:48.878Z,1755883248.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:48.881Z,1755883248.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 42.998405 m,
      bearing: 329.564112 deg,
      approach rate: -0.491655 m/s,
      LOS rate: -0.055731 deg/s,
      cmd heading: 338.907266 deg,
      new cmd heading: 338.862763 deg.

2025-08-22T17:20:48.902Z,1755883248.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914271 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:49.113Z,1755883249.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733596
2025-08-22T17:20:49.299Z,1755883249.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:49.306Z,1755883249.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 42.801300 m,
      bearing: 329.548015 deg,
      approach rate: -0.467623 m/s,
      LOS rate: -0.038364 deg/s,
      cmd heading: 338.862760 deg,
      new cmd heading: 338.830419 deg.

2025-08-22T17:20:49.307Z,1755883249.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913706 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:49.364Z,1755883249.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984298
2025-08-22T17:20:49.614Z,1755883249.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235214
2025-08-22T17:20:49.671Z,1755883249.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:49.674Z,1755883249.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 42.608879 m,
      bearing: 329.532516 deg,
      approach rate: -0.517262 m/s,
      LOS rate: -0.041853 deg/s,
      cmd heading: 338.830412 deg,
      new cmd heading: 338.799274 deg.

2025-08-22T17:20:49.675Z,1755883249.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913163 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:49.867Z,1755883249.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487352
2025-08-22T17:20:50.084Z,1755883250.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:50.090Z,1755883250.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:50.099Z,1755883250.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 42.409286 m,
      bearing: 329.516690 deg,
      approach rate: -0.476118 m/s,
      LOS rate: -0.037930 deg/s,
      cmd heading: 338.799267 deg,
      new cmd heading: 338.767465 deg.

2025-08-22T17:20:50.100Z,1755883250.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912608 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:50.121Z,1755883250.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741393
2025-08-22T17:20:50.374Z,1755883250.374 [DAT](INFO): DAT read: Rx Time:17:20:50.7978

2025-08-22T17:20:50.375Z,1755883250.375 [DAT](INFO): Rx dataTimestamp_ set to:1755883250.374440
2025-08-22T17:20:50.375Z,1755883250.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996019
2025-08-22T17:20:50.527Z,1755883250.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-08-22T17:20:50.530Z,1755883250.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.009079 m,
      nav range: 42.186836 m,
      bearing: 329.498131 deg,
      approach rate: -0.509226 m/s,
      LOS rate: -0.042709 deg/s,
      cmd heading: 338.767465 deg,
      new cmd heading: 338.730151 deg.

2025-08-22T17:20:50.531Z,1755883250.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911956 target range: 45.009079 and range: 45.30 m.
2025-08-22T17:20:50.624Z,1755883250.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245017
2025-08-22T17:20:50.880Z,1755883250.880 [DAT](INFO): DAT read: 17:20:50.7978 LVL= 32752, 32753, 26002, 32755, AGC= 60, IDX= 415,-0.40,-0.424,-1.965, 0.133,-0.353, PHS= 0.032,-1.567, 0.442, RAW= 161.1,  11.9, CAL= 161.4,  13.4, ROT= 348.6, -13.4

2025-08-22T17:20:50.881Z,1755883250.881 [DAT](INFO): got valid direction response:
 17:20:50.7978 LVL= 32752, 32753, 26002, 32755, AGC= 60, IDX= 415,-0.40,-0.424,-1.965, 0.133,-0.353, PHS= 0.032,-1.567, 0.442, RAW= 161.1,  11.9, CAL= 161.4,  13.4, ROT= 348.6, -13.4

2025-08-22T17:20:50.882Z,1755883250.882 [DAT](INFO): DAT read: Bearing 159.9,  -9.1 (Local)

2025-08-22T17:20:50.883Z,1755883250.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.9,  -9.1 (Local)

2025-08-22T17:20:50.884Z,1755883250.884 [DAT](INFO): DAT read: Range 11 to 50 : 43.5 m  (Round-trip  58.1 ms) speed  0.4 m/s

2025-08-22T17:20:50.885Z,1755883250.885 [DAT](INFO): DAT read: user:630>

2025-08-22T17:20:50.885Z,1755883250.885 [DAT](INFO): DAT read: Tx time:17:20:51.8856

2025-08-22T17:20:50.886Z,1755883250.886 [DAT](INFO): Ping request sent.
2025-08-22T17:20:50.886Z,1755883250.886 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:50.886Z,1755883250.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:50.887Z,1755883250.887 [DAT](INFO): direction in FSK: [0.953584,-0.192276,0.231748]
2025-08-22T17:20:50.887Z,1755883250.887 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:50.888Z,1755883250.888 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:50.908Z,1755883250.908 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:50.909Z,1755883250.909 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:51.024Z,1755883251.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.500000 m,
      deltaT: 3.527652 s,
      deltaX: -1.799999 m,
      approachRate: -0.510254 m/s,
      rangeRepo size: 4

2025-08-22T17:20:51.030Z,1755883251.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.221050 m,
      bearing: 329.645396 deg,
      lat: 36.779507 deg,
      lon: -121.859627 deg,
      deltaT: 3.527652 s,
      deltaX: -1.788029 m,
      approachRate: -0.506861 m/s,
      posRepo size: 4

2025-08-22T17:20:51.031Z,1755883251.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:51.035Z,1755883251.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 41.915558 m,
      bearing: 329.559032 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042709 deg/s,
      cmd heading: 338.730145 deg,
      new cmd heading: 338.687781 deg.

2025-08-22T17:20:51.036Z,1755883251.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911217 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:51.420Z,1755883251.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:51.423Z,1755883251.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 41.713390 m,
      bearing: 329.550895 deg,
      approach rate: -0.509852 m/s,
      LOS rate: -0.020620 deg/s,
      cmd heading: 338.687771 deg,
      new cmd heading: 338.671418 deg.

2025-08-22T17:20:51.424Z,1755883251.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910931 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:51.787Z,1755883251.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:51.791Z,1755883251.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 41.534473 m,
      bearing: 329.543873 deg,
      approach rate: -0.486878 m/s,
      LOS rate: -0.019190 deg/s,
      cmd heading: 338.671406 deg,
      new cmd heading: 338.657302 deg.

2025-08-22T17:20:51.792Z,1755883251.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910685 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:52.243Z,1755883252.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:52.265Z,1755883252.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:52.268Z,1755883252.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 41.305958 m,
      bearing: 329.536808 deg,
      approach rate: -0.498787 m/s,
      LOS rate: -0.015508 deg/s,
      cmd heading: 338.657308 deg,
      new cmd heading: 338.643099 deg.

2025-08-22T17:20:52.269Z,1755883252.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910437 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:52.387Z,1755883252.387 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:52.387Z,1755883252.387 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:52.387Z,1755883252.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:52.615Z,1755883252.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:52.618Z,1755883252.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 41.120926 m,
      bearing: 329.531253 deg,
      approach rate: -0.500009 m/s,
      LOS rate: -0.015078 deg/s,
      cmd heading: 338.643101 deg,
      new cmd heading: 338.631942 deg.

2025-08-22T17:20:52.619Z,1755883252.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910243 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:52.639Z,1755883252.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752699
2025-08-22T17:20:52.891Z,1755883252.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004679
2025-08-22T17:20:53.014Z,1755883253.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:53.017Z,1755883253.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 40.921986 m,
      bearing: 329.525332 deg,
      approach rate: -0.499436 m/s,
      LOS rate: -0.014936 deg/s,
      cmd heading: 338.631954 deg,
      new cmd heading: 338.620055 deg.

2025-08-22T17:20:53.018Z,1755883253.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910035 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:53.145Z,1755883253.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258932
2025-08-22T17:20:53.395Z,1755883253.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508716
2025-08-22T17:20:53.440Z,1755883253.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:53.443Z,1755883253.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 40.713890 m,
      bearing: 329.515629 deg,
      approach rate: -0.487713 m/s,
      LOS rate: -0.022856 deg/s,
      cmd heading: 338.620043 deg,
      new cmd heading: 338.600538 deg.

2025-08-22T17:20:53.444Z,1755883253.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909694 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:53.648Z,1755883253.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761907
2025-08-22T17:20:53.814Z,1755883253.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:53.817Z,1755883253.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 40.531578 m,
      bearing: 329.507239 deg,
      approach rate: -0.488148 m/s,
      LOS rate: -0.022566 deg/s,
      cmd heading: 338.600536 deg,
      new cmd heading: 338.583680 deg.

2025-08-22T17:20:53.818Z,1755883253.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909400 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:53.899Z,1755883253.899 [DAT](INFO): DAT read: Rx Time:17:20:54.3455

2025-08-22T17:20:53.900Z,1755883253.900 [DAT](INFO): Rx dataTimestamp_ set to:1755883253.899598
2025-08-22T17:20:53.901Z,1755883253.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014919
2025-08-22T17:20:54.151Z,1755883254.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264939
2025-08-22T17:20:54.303Z,1755883254.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:54.305Z,1755883254.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m.
2025-08-22T17:20:54.308Z,1755883254.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.221050 m,
      nav range: 40.297543 m,
      bearing: 329.503563 deg,
      approach rate: -0.476295 m/s,
      LOS rate: -0.007524 deg/s,
      cmd heading: 338.583679 deg,
      new cmd heading: 338.576284 deg.

2025-08-22T17:20:54.309Z,1755883254.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909271 target range: 43.221050 and range: 43.50 m.
2025-08-22T17:20:54.411Z,1755883254.411 [DAT](INFO): DAT read: 17:20:54.3455 LVL= 29664, 28401, 21618, 32755, AGC= 58, IDX= 423, 0.09,-2.053, 2.699,-1.517,-2.001, PHS= 0.051,-1.538, 0.440, RAW= 160.7,  11.5, CAL= 160.9,  12.9, ROT= 349.1, -12.9

2025-08-22T17:20:54.413Z,1755883254.413 [DAT](INFO): got valid direction response:
 17:20:54.3455 LVL= 29664, 28401, 21618, 32755, AGC= 58, IDX= 423, 0.09,-2.053, 2.699,-1.517,-2.001, PHS= 0.051,-1.538, 0.440, RAW= 160.7,  11.5, CAL= 160.9,  12.9, ROT= 349.1, -12.9

2025-08-22T17:20:54.414Z,1755883254.414 [DAT](INFO): DAT read: Bearing 158.8,  -8.4 (Local)

2025-08-22T17:20:54.415Z,1755883254.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.8,  -8.4 (Local)

2025-08-22T17:20:54.417Z,1755883254.417 [DAT](INFO): DAT read: Range 11 to 50 : 41.7 m  (Round-trip  55.7 ms) speed  0.4 m/s

2025-08-22T17:20:54.418Z,1755883254.418 [DAT](INFO): DAT read: user:631>

2025-08-22T17:20:54.418Z,1755883254.418 [DAT](INFO): DAT read: Tx time:17:20:55.4356

2025-08-22T17:20:54.419Z,1755883254.419 [DAT](INFO): Ping request sent.
2025-08-22T17:20:54.419Z,1755883254.419 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:54.419Z,1755883254.419 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:54.420Z,1755883254.420 [DAT](INFO): direction in FSK: [0.957175,-0.184323,0.223250]
2025-08-22T17:20:54.420Z,1755883254.420 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:54.420Z,1755883254.420 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:54.435Z,1755883254.435 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:54.435Z,1755883254.435 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:54.690Z,1755883254.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 3.528754 s,
      deltaX: -1.799999 m,
      approachRate: -0.510095 m/s,
      rangeRepo size: 4

2025-08-22T17:20:54.692Z,1755883254.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.433117 m,
      bearing: 329.684642 deg,
      lat: 36.779508 deg,
      lon: -121.859626 deg,
      deltaT: 3.528754 s,
      deltaX: -1.787933 m,
      approachRate: -0.506676 m/s,
      posRepo size: 4

2025-08-22T17:20:54.692Z,1755883254.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:54.700Z,1755883254.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 40.118885 m,
      bearing: 329.646030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007524 deg/s,
      cmd heading: 338.576275 deg,
      new cmd heading: 338.570562 deg.

2025-08-22T17:20:54.701Z,1755883254.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909171 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:55.085Z,1755883255.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:55.088Z,1755883255.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 39.922367 m,
      bearing: 329.643955 deg,
      approach rate: -0.491144 m/s,
      LOS rate: -0.005212 deg/s,
      cmd heading: 338.570565 deg,
      new cmd heading: 338.566394 deg.

2025-08-22T17:20:55.089Z,1755883255.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909098 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:55.496Z,1755883255.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:55.499Z,1755883255.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 39.717354 m,
      bearing: 329.637330 deg,
      approach rate: -0.498496 m/s,
      LOS rate: -0.016192 deg/s,
      cmd heading: 338.566385 deg,
      new cmd heading: 338.553066 deg.

2025-08-22T17:20:55.500Z,1755883255.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908866 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:55.887Z,1755883255.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:55.890Z,1755883255.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 39.523605 m,
      bearing: 329.631233 deg,
      approach rate: -0.495531 m/s,
      LOS rate: -0.015670 deg/s,
      cmd heading: 338.553079 deg,
      new cmd heading: 338.540825 deg.

2025-08-22T17:20:55.891Z,1755883255.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908652 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:56.316Z,1755883256.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:56.319Z,1755883256.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:56.325Z,1755883256.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 39.313770 m,
      bearing: 329.628889 deg,
      approach rate: -0.486343 m/s,
      LOS rate: -0.005460 deg/s,
      cmd heading: 338.540812 deg,
      new cmd heading: 338.536100 deg.

2025-08-22T17:20:56.328Z,1755883256.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908570 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:56.418Z,1755883256.418 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:56.419Z,1755883256.419 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:56.419Z,1755883256.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:56.671Z,1755883256.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251853
2025-08-22T17:20:56.702Z,1755883256.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:56.705Z,1755883256.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 39.127277 m,
      bearing: 329.626958 deg,
      approach rate: -0.487014 m/s,
      LOS rate: -0.005069 deg/s,
      cmd heading: 338.536113 deg,
      new cmd heading: 338.532231 deg.

2025-08-22T17:20:56.706Z,1755883256.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908502 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:56.923Z,1755883256.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504102
2025-08-22T17:20:57.119Z,1755883257.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:57.126Z,1755883257.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 38.934368 m,
      bearing: 329.625119 deg,
      approach rate: -0.462330 m/s,
      LOS rate: -0.004430 deg/s,
      cmd heading: 338.532234 deg,
      new cmd heading: 338.528537 deg.

2025-08-22T17:20:57.130Z,1755883257.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908438 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:57.175Z,1755883257.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756420
2025-08-22T17:20:57.427Z,1755883257.427 [DAT](INFO): DAT read: Rx Time:17:20:57.8932

2025-08-22T17:20:57.428Z,1755883257.428 [DAT](INFO): Rx dataTimestamp_ set to:1755883257.427422
2025-08-22T17:20:57.428Z,1755883257.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009490
2025-08-22T17:20:57.538Z,1755883257.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:57.541Z,1755883257.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 38.720943 m,
      bearing: 329.614170 deg,
      approach rate: -0.509637 m/s,
      LOS rate: -0.026287 deg/s,
      cmd heading: 338.528545 deg,
      new cmd heading: 338.506529 deg.

2025-08-22T17:20:57.542Z,1755883257.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908053 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:57.679Z,1755883257.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260288
2025-08-22T17:20:57.916Z,1755883257.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.43 m.
2025-08-22T17:20:57.920Z,1755883257.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.433117 m,
      nav range: 38.537315 m,
      bearing: 329.604996 deg,
      approach rate: -0.484914 m/s,
      LOS rate: -0.024344 deg/s,
      cmd heading: 338.506525 deg,
      new cmd heading: 338.488088 deg.

2025-08-22T17:20:57.921Z,1755883257.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907732 target range: 41.433117 and range: 41.70 m.
2025-08-22T17:20:57.936Z,1755883257.936 [DAT](INFO): DAT read: 17:20:57.8932 LVL= 27040, 32753, 21346, 32755, AGC= 55, IDX= 416,-0.25, 2.429, 0.978, 2.951, 2.502, PHS= 0.029,-1.479, 0.405, RAW= 160.9,  12.1, CAL= 161.2,  13.6, ROT= 348.8, -13.6

2025-08-22T17:20:57.937Z,1755883257.937 [DAT](INFO): got valid direction response:
 17:20:57.8932 LVL= 27040, 32753, 21346, 32755, AGC= 55, IDX= 416,-0.25, 2.429, 0.978, 2.951, 2.502, PHS= 0.029,-1.479, 0.405, RAW= 160.9,  12.1, CAL= 161.2,  13.6, ROT= 348.8, -13.6

2025-08-22T17:20:57.938Z,1755883257.938 [DAT](INFO): DAT read: Bearing 159.4,  -8.5 (Local)

2025-08-22T17:20:57.939Z,1755883257.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.4,  -8.5 (Local)

2025-08-22T17:20:57.940Z,1755883257.940 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m  (Round-trip  53.5 ms) speed  0.4 m/s

2025-08-22T17:20:57.941Z,1755883257.941 [DAT](INFO): DAT read: user:632>

2025-08-22T17:20:57.941Z,1755883257.941 [DAT](INFO): DAT read: Tx time:17:20:58.9856

2025-08-22T17:20:57.942Z,1755883257.942 [DAT](INFO): Ping request sent.
2025-08-22T17:20:57.942Z,1755883257.942 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:20:57.942Z,1755883257.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:20:57.943Z,1755883257.943 [DAT](INFO): direction in FSK: [0.953450,-0.188789,0.235142]
2025-08-22T17:20:57.943Z,1755883257.943 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:57.944Z,1755883257.944 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:57.955Z,1755883257.955 [DAT](INFO): publishing transmit ping time
2025-08-22T17:20:57.955Z,1755883257.955 [DAT](INFO): publishing direction and range info
2025-08-22T17:20:58.426Z,1755883258.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.099998 m,
      deltaT: 3.527305 s,
      deltaX: -1.600002 m,
      approachRate: -0.453605 m/s,
      rangeRepo size: 4

2025-08-22T17:20:58.428Z,1755883258.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.843315 m,
      bearing: 328.962697 deg,
      lat: 36.779507 deg,
      lon: -121.859627 deg,
      deltaT: 3.527305 s,
      deltaX: -1.589802 m,
      approachRate: -0.450713 m/s,
      posRepo size: 4

2025-08-22T17:20:58.434Z,1755883258.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:20:58.437Z,1755883258.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 38.317276 m,
      bearing: 329.444203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024344 deg/s,
      cmd heading: 338.488083 deg,
      new cmd heading: 338.463518 deg.

2025-08-22T17:20:58.443Z,1755883258.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907303 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:20:58.775Z,1755883258.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:20:58.777Z,1755883258.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:20:58.792Z,1755883258.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 38.145908 m,
      bearing: 329.437000 deg,
      approach rate: -0.481533 m/s,
      LOS rate: -0.020331 deg/s,
      cmd heading: 338.463522 deg,
      new cmd heading: 338.449051 deg.

2025-08-22T17:20:58.793Z,1755883258.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907050 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:20:58.942Z,1755883258.942 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:20:58.942Z,1755883258.942 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:20:58.943Z,1755883258.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:20:59.195Z,1755883259.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252602
2025-08-22T17:20:59.243Z,1755883259.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:20:59.286Z,1755883259.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 37.956551 m,
      bearing: 329.429182 deg,
      approach rate: -0.407712 m/s,
      LOS rate: -0.016917 deg/s,
      cmd heading: 338.449042 deg,
      new cmd heading: 338.433328 deg.

2025-08-22T17:20:59.294Z,1755883259.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906776 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:20:59.447Z,1755883259.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504712
2025-08-22T17:20:59.699Z,1755883259.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756744
2025-08-22T17:20:59.701Z,1755883259.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:20:59.704Z,1755883259.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 37.718716 m,
      bearing: 329.422969 deg,
      approach rate: -0.517224 m/s,
      LOS rate: -0.013598 deg/s,
      cmd heading: 338.433333 deg,
      new cmd heading: 338.420827 deg.

2025-08-22T17:20:59.705Z,1755883259.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906558 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:20:59.951Z,1755883259.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008895
2025-08-22T17:21:00.062Z,1755883260.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:21:00.065Z,1755883260.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 37.550491 m,
      bearing: 329.418801 deg,
      approach rate: -0.466330 m/s,
      LOS rate: -0.011605 deg/s,
      cmd heading: 338.420820 deg,
      new cmd heading: 338.412447 deg.

2025-08-22T17:21:00.066Z,1755883260.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906412 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:21:00.203Z,1755883260.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260585
2025-08-22T17:21:00.455Z,1755883260.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512680
2025-08-22T17:21:00.495Z,1755883260.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:21:00.497Z,1755883260.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 37.347687 m,
      bearing: 329.405250 deg,
      approach rate: -0.468610 m/s,
      LOS rate: -0.031483 deg/s,
      cmd heading: 338.412459 deg,
      new cmd heading: 338.385209 deg.

2025-08-22T17:21:00.498Z,1755883260.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905936 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:21:00.707Z,1755883260.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764911
2025-08-22T17:21:00.870Z,1755883260.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:00.873Z,1755883260.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:21:00.876Z,1755883260.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 37.169823 m,
      bearing: 329.393483 deg,
      approach rate: -0.470476 m/s,
      LOS rate: -0.031272 deg/s,
      cmd heading: 338.385221 deg,
      new cmd heading: 338.361576 deg.

2025-08-22T17:21:00.876Z,1755883260.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905524 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:21:00.960Z,1755883260.960 [DAT](INFO): DAT read: Rx Time:17:21:01.4409

2025-08-22T17:21:00.961Z,1755883260.961 [DAT](INFO): Rx dataTimestamp_ set to:1755883260.960557
2025-08-22T17:21:00.962Z,1755883260.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019477
2025-08-22T17:21:01.211Z,1755883261.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268602
2025-08-22T17:21:01.364Z,1755883261.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.84 m.
2025-08-22T17:21:01.371Z,1755883261.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.843315 m,
      nav range: 36.951626 m,
      bearing: 329.379217 deg,
      approach rate: -0.443906 m/s,
      LOS rate: -0.029196 deg/s,
      cmd heading: 338.361588 deg,
      new cmd heading: 338.332886 deg.

2025-08-22T17:21:01.372Z,1755883261.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905023 target range: 39.843315 and range: 40.10 m.
2025-08-22T17:21:01.469Z,1755883261.469 [DAT](INFO): DAT read: 17:21:01.4409 LVL= 32752, 31841, 23234, 32755, AGC= 59, IDX= 424, 0.15,-1.452,-3.023,-0.920,-1.418, PHS= 0.068,-1.560, 0.454, RAW= 160.4,  11.2, CAL= 160.6,  12.4, ROT= 349.4, -12.4

2025-08-22T17:21:01.474Z,1755883261.474 [DAT](INFO): got valid direction response:
 17:21:01.4409 LVL= 32752, 31841, 23234, 32755, AGC= 59, IDX= 424, 0.15,-1.452,-3.023,-0.920,-1.418, PHS= 0.068,-1.560, 0.454, RAW= 160.4,  11.2, CAL= 160.6,  12.4, ROT= 349.4, -12.4

2025-08-22T17:21:01.476Z,1755883261.476 [DAT](INFO): DAT read: Bearing 157.5,  -8.1 (Local)

2025-08-22T17:21:01.476Z,1755883261.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5,  -8.1 (Local)

2025-08-22T17:21:01.479Z,1755883261.479 [DAT](INFO): DAT read: Range 11 to 50 : 38.3 m  (Round-trip  51.1 ms) speed  0.4 m/s

2025-08-22T17:21:01.480Z,1755883261.480 [DAT](INFO): DAT read: user:633>

2025-08-22T17:21:01.481Z,1755883261.481 [DAT](INFO): DAT read: Tx time:17:21:02.5356

2025-08-22T17:21:01.481Z,1755883261.481 [DAT](INFO): Ping request sent.
2025-08-22T17:21:01.481Z,1755883261.481 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:01.481Z,1755883261.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:21:01.483Z,1755883261.483 [DAT](INFO): direction in FSK: [0.960006,-0.179660,0.214735]
2025-08-22T17:21:01.483Z,1755883261.483 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:01.484Z,1755883261.484 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:01.496Z,1755883261.496 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:01.496Z,1755883261.496 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:01.728Z,1755883261.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.299999 m,
      deltaT: 3.531930 s,
      deltaX: -1.799999 m,
      approachRate: -0.509636 m/s,
      rangeRepo size: 4

2025-08-22T17:21:01.750Z,1755883261.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.054634 m,
      bearing: 329.238159 deg,
      lat: 36.779508 deg,
      lon: -121.859628 deg,
      deltaT: 3.531930 s,
      deltaX: -1.788681 m,
      approachRate: -0.506432 m/s,
      posRepo size: 4

2025-08-22T17:21:01.751Z,1755883261.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:01.758Z,1755883261.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 36.842411 m,
      bearing: 329.308787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029196 deg/s,
      cmd heading: 338.332874 deg,
      new cmd heading: 338.311686 deg.

2025-08-22T17:21:01.759Z,1755883261.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904653 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:02.107Z,1755883262.107 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T17:21:02.107Z,1755883262.107 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:21:02.107Z,1755883262.107 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T17:21:02.109Z,1755883262.109 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.299999 m (mode  2.000000 count ).
2025-08-22T17:21:02.109Z,1755883262.109 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T17:21:02.109Z,1755883262.109 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T17:21:02.135Z,1755883262.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:02.154Z,1755883262.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 36.658871 m,
      bearing: 329.292109 deg,
      approach rate: -0.449412 m/s,
      LOS rate: -0.041042 deg/s,
      cmd heading: 338.311673 deg,
      new cmd heading: 338.278150 deg.

2025-08-22T17:21:02.155Z,1755883262.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904068 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:02.524Z,1755883262.524 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T17:21:02.524Z,1755883262.524 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T17:21:02.527Z,1755883262.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:02.530Z,1755883262.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 36.454628 m,
      bearing: 329.276322 deg,
      approach rate: -0.521778 m/s,
      LOS rate: -0.040557 deg/s,
      cmd heading: 338.278151 deg,
      new cmd heading: 338.246400 deg.

2025-08-22T17:21:02.531Z,1755883262.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903513 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:02.924Z,1755883262.924 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T17:21:02.924Z,1755883262.924 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T17:21:02.924Z,1755883262.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:02.927Z,1755883262.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:02.930Z,1755883262.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 36.260796 m,
      bearing: 329.261175 deg,
      approach rate: -0.484632 m/s,
      LOS rate: -0.038074 deg/s,
      cmd heading: 338.246404 deg,
      new cmd heading: 338.215948 deg.

2025-08-22T17:21:02.931Z,1755883262.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902982 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:02.975Z,1755883262.975 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:21:02.975Z,1755883262.975 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:21:02.976Z,1755883262.976 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T17:21:03.226Z,1755883263.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745510
2025-08-22T17:21:03.370Z,1755883263.370 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T17:21:03.370Z,1755883263.370 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:21:03.370Z,1755883263.370 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T17:21:03.370Z,1755883263.370 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T17:21:03.372Z,1755883263.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:03.375Z,1755883263.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 36.044651 m,
      bearing: 329.244637 deg,
      approach rate: -0.484940 m/s,
      LOS rate: -0.037327 deg/s,
      cmd heading: 338.215941 deg,
      new cmd heading: 338.182667 deg.

2025-08-22T17:21:03.376Z,1755883263.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902401 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:03.479Z,1755883263.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997733
2025-08-22T17:21:03.731Z,1755883263.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249646
2025-08-22T17:21:03.754Z,1755883263.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:03.757Z,1755883263.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 35.870014 m,
      bearing: 329.238399 deg,
      approach rate: -0.457209 m/s,
      LOS rate: -0.016412 deg/s,
      cmd heading: 338.182665 deg,
      new cmd heading: 338.170127 deg.

2025-08-22T17:21:03.763Z,1755883263.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902182 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:03.985Z,1755883263.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503570
2025-08-22T17:21:04.135Z,1755883264.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:04.138Z,1755883264.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 35.681381 m,
      bearing: 329.231770 deg,
      approach rate: -0.496118 m/s,
      LOS rate: -0.017526 deg/s,
      cmd heading: 338.170124 deg,
      new cmd heading: 338.156797 deg.

2025-08-22T17:21:04.139Z,1755883264.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901949 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:04.235Z,1755883264.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753843
2025-08-22T17:21:04.487Z,1755883264.487 [DAT](INFO): DAT read: Rx Time:17:21:04.9886

2025-08-22T17:21:04.487Z,1755883264.487 [DAT](INFO): Rx dataTimestamp_ set to:1755883264.486696
2025-08-22T17:21:04.488Z,1755883264.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006580
2025-08-22T17:21:04.506Z,1755883264.506 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:21:04.574Z,1755883264.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:04.577Z,1755883264.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 35.471161 m,
      bearing: 329.226861 deg,
      approach rate: -0.487585 m/s,
      LOS rate: -0.011453 deg/s,
      cmd heading: 338.156792 deg,
      new cmd heading: 338.146916 deg.

2025-08-22T17:21:04.582Z,1755883264.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901777 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:04.739Z,1755883264.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257812
2025-08-22T17:21:04.932Z,1755883264.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:04.934Z,1755883264.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.05 m.
2025-08-22T17:21:04.937Z,1755883264.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.054634 m,
      nav range: 35.293560 m,
      bearing: 329.222894 deg,
      approach rate: -0.482834 m/s,
      LOS rate: -0.010840 deg/s,
      cmd heading: 338.146929 deg,
      new cmd heading: 338.138954 deg.

2025-08-22T17:21:04.938Z,1755883264.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901638 target range: 38.054634 and range: 38.30 m.
2025-08-22T17:21:05.002Z,1755883265.002 [DAT](INFO): DAT read: 17:21:04.9886 LVL= 26192, 32753, 21202, 32755, AGC= 56, IDX= 418, 0.03, 0.655,-0.898, 1.182, 0.707, PHS= 0.049,-1.560, 0.431, RAW= 160.4,  11.8, CAL= 160.7,  13.2, ROT= 349.3, -13.2

2025-08-22T17:21:05.004Z,1755883265.004 [DAT](INFO): got valid direction response:
 17:21:04.9886 LVL= 26192, 32753, 21202, 32755, AGC= 56, IDX= 418, 0.03, 0.655,-0.898, 1.182, 0.707, PHS= 0.049,-1.560, 0.431, RAW= 160.4,  11.8, CAL= 160.7,  13.2, ROT= 349.3, -13.2

2025-08-22T17:21:05.005Z,1755883265.005 [DAT](INFO): DAT read: Bearing 157.9,  -8.0 (Local)

2025-08-22T17:21:05.005Z,1755883265.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.9,  -8.0 (Local)

2025-08-22T17:21:05.027Z,1755883265.027 [DAT](INFO): DAT read: Range 11 to 50 : 36.7 m  (Round-trip  49.0 ms) speed  0.4 m/s

2025-08-22T17:21:05.028Z,1755883265.028 [DAT](INFO): DAT read: user:634>

2025-08-22T17:21:05.028Z,1755883265.028 [DAT](INFO): DAT read: Tx time:17:21:06.0855

2025-08-22T17:21:05.029Z,1755883265.029 [DAT](INFO): Ping request sent.
2025-08-22T17:21:05.029Z,1755883265.029 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:05.029Z,1755883265.029 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:21:05.038Z,1755883265.038 [DAT](INFO): direction in FSK: [0.956651,-0.180761,0.228351]
2025-08-22T17:21:05.039Z,1755883265.039 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:05.039Z,1755883265.039 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:05.046Z,1755883265.046 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:05.046Z,1755883265.046 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:05.054Z,1755883265.054 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.025072
2025-08-22T17:21:05.243Z,1755883265.243 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.213722
2025-08-22T17:21:05.406Z,1755883265.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.700001 m,
      deltaT: 3.528539 s,
      deltaX: -1.599998 m,
      approachRate: -0.453445 m/s,
      rangeRepo size: 4

2025-08-22T17:21:05.408Z,1755883265.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.465069 m,
      bearing: 328.747526 deg,
      lat: 36.779508 deg,
      lon: -121.859629 deg,
      deltaT: 3.528539 s,
      deltaX: -1.589565 m,
      approachRate: -0.450488 m/s,
      posRepo size: 4

2025-08-22T17:21:05.409Z,1755883265.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:05.412Z,1755883265.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 35.114742 m,
      bearing: 329.094711 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010840 deg/s,
      cmd heading: 338.138951 deg,
      new cmd heading: 338.128719 deg.

2025-08-22T17:21:05.413Z,1755883265.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901459 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:05.495Z,1755883265.495 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.466422
2025-08-22T17:21:05.510Z,1755883265.510 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:21:05.747Z,1755883265.747 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.717776
2025-08-22T17:21:05.779Z,1755883265.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:05.782Z,1755883265.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 34.931877 m,
      bearing: 329.097397 deg,
      approach rate: -0.489953 m/s,
      LOS rate: 0.007234 deg/s,
      cmd heading: 338.128706 deg,
      new cmd heading: 338.134106 deg.

2025-08-22T17:21:05.783Z,1755883265.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901554 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:05.999Z,1755883265.999 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.969915
2025-08-22T17:21:06.157Z,1755883266.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:06.162Z,1755883266.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 34.727654 m,
      bearing: 329.100650 deg,
      approach rate: -0.540370 m/s,
      LOS rate: 0.008660 deg/s,
      cmd heading: 338.134116 deg,
      new cmd heading: 338.140661 deg.

2025-08-22T17:21:06.163Z,1755883266.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901668 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:06.251Z,1755883266.251 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.222200
2025-08-22T17:21:06.502Z,1755883266.502 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.473604
2025-08-22T17:21:06.572Z,1755883266.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:06.591Z,1755883266.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 34.523560 m,
      bearing: 329.103526 deg,
      approach rate: -0.491551 m/s,
      LOS rate: 0.006968 deg/s,
      cmd heading: 338.140673 deg,
      new cmd heading: 338.146459 deg.

2025-08-22T17:21:06.592Z,1755883266.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901769 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:06.754Z,1755883266.754 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.725600
2025-08-22T17:21:06.949Z,1755883266.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:06.951Z,1755883266.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:06.954Z,1755883266.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 34.338253 m,
      bearing: 329.106266 deg,
      approach rate: -0.488763 m/s,
      LOS rate: 0.007265 deg/s,
      cmd heading: 338.146465 deg,
      new cmd heading: 338.151973 deg.

2025-08-22T17:21:06.955Z,1755883266.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901865 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:07.008Z,1755883267.008 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.979010
2025-08-22T17:21:07.259Z,1755883267.259 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.229652
2025-08-22T17:21:07.419Z,1755883267.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:07.426Z,1755883267.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 34.125633 m,
      bearing: 329.109456 deg,
      approach rate: -0.454473 m/s,
      LOS rate: 0.006861 deg/s,
      cmd heading: 338.151983 deg,
      new cmd heading: 338.158403 deg.

2025-08-22T17:21:07.427Z,1755883267.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901978 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:07.512Z,1755883267.512 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.483252
2025-08-22T17:21:07.763Z,1755883267.763 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.733733
2025-08-22T17:21:07.794Z,1755883267.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:07.797Z,1755883267.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 33.927746 m,
      bearing: 329.115159 deg,
      approach rate: -0.527955 m/s,
      LOS rate: 0.015305 deg/s,
      cmd heading: 338.158404 deg,
      new cmd heading: 338.169877 deg.

2025-08-22T17:21:07.799Z,1755883267.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902178 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:08.016Z,1755883268.016 [DAT](INFO): DAT read: Rx Time:17:21:08.5362

2025-08-22T17:21:08.017Z,1755883268.017 [DAT](INFO): Rx dataTimestamp_ set to:1755883268.016308
2025-08-22T17:21:08.019Z,1755883268.019 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.989735
2025-08-22T17:21:08.203Z,1755883268.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.47 m.
2025-08-22T17:21:08.210Z,1755883268.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.465069 m,
      nav range: 33.735973 m,
      bearing: 329.120749 deg,
      approach rate: -0.468764 m/s,
      LOS rate: 0.013740 deg/s,
      cmd heading: 338.169878 deg,
      new cmd heading: 338.181120 deg.

2025-08-22T17:21:08.211Z,1755883268.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902374 target range: 36.465069 and range: 36.70 m.
2025-08-22T17:21:08.267Z,1755883268.267 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.238078
2025-08-22T17:21:08.525Z,1755883268.525 [DAT](INFO): DAT read: 17:21:08.5362 LVL= 29408, 32545, 21458, 32755, AGC= 58, IDX= 409,-0.20,-1.947, 2.758,-1.426,-1.899, PHS= 0.054,-1.581, 0.429, RAW= 160.1,  11.8, CAL= 160.4,  13.3, ROT= 349.6, -13.3

2025-08-22T17:21:08.526Z,1755883268.526 [DAT](INFO): got valid direction response:
 17:21:08.5362 LVL= 29408, 32545, 21458, 32755, AGC= 58, IDX= 409,-0.20,-1.947, 2.758,-1.426,-1.899, PHS= 0.054,-1.581, 0.429, RAW= 160.1,  11.8, CAL= 160.4,  13.3, ROT= 349.6, -13.3

2025-08-22T17:21:08.527Z,1755883268.527 [DAT](INFO): DAT read: Bearing 157.9,  -7.7 (Local)

2025-08-22T17:21:08.528Z,1755883268.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.9,  -7.7 (Local)

2025-08-22T17:21:08.529Z,1755883268.529 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m  (Round-trip  46.5 ms) speed  0.4 m/s

2025-08-22T17:21:08.530Z,1755883268.530 [DAT](INFO): DAT read: user:635>e:17:21:09.6355

2025-08-22T17:21:08.531Z,1755883268.531 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T17:21:08.532Z,1755883268.532 [DAT](INFO): direction in FSK: [0.957191,-0.175677,0.230050]
2025-08-22T17:21:08.532Z,1755883268.532 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:08.555Z,1755883268.555 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.526192
2025-08-22T17:21:08.667Z,1755883268.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.527511 s,
      deltaX: -1.900002 m,
      approachRate: -0.538624 m/s,
      rangeRepo size: 4

2025-08-22T17:21:08.669Z,1755883268.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.577080 m,
      bearing: 328.860101 deg,
      lat: 36.779508 deg,
      lon: -121.859630 deg,
      deltaT: 3.527511 s,
      deltaX: -1.887989 m,
      approachRate: -0.535218 m/s,
      posRepo size: 4

2025-08-22T17:21:08.669Z,1755883268.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:08.676Z,1755883268.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 33.552948 m,
      bearing: 329.017376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013740 deg/s,
      cmd heading: 338.181107 deg,
      new cmd heading: 338.193712 deg.

2025-08-22T17:21:08.677Z,1755883268.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902594 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:08.771Z,1755883268.771 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.742133
2025-08-22T17:21:08.984Z,1755883268.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:08.986Z,1755883268.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:08.989Z,1755883268.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 33.387775 m,
      bearing: 329.022482 deg,
      approach rate: -0.509521 m/s,
      LOS rate: 0.015830 deg/s,
      cmd heading: 338.193702 deg,
      new cmd heading: 338.203966 deg.

2025-08-22T17:21:08.990Z,1755883268.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902773 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:09.023Z,1755883269.023 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.993933
2025-08-22T17:21:09.275Z,1755883269.275 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.245627
2025-08-22T17:21:09.399Z,1755883269.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:09.434Z,1755883269.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 33.195324 m,
      bearing: 329.028628 deg,
      approach rate: -0.467489 m/s,
      LOS rate: 0.015015 deg/s,
      cmd heading: 338.203975 deg,
      new cmd heading: 338.216337 deg.

2025-08-22T17:21:09.437Z,1755883269.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902988 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:09.527Z,1755883269.527 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.497790
2025-08-22T17:21:09.779Z,1755883269.779 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=4.749681
2025-08-22T17:21:09.822Z,1755883269.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:09.842Z,1755883269.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.989925 m,
      bearing: 329.030187 deg,
      approach rate: -0.485060 m/s,
      LOS rate: 0.003704 deg/s,
      cmd heading: 338.216324 deg,
      new cmd heading: 338.219461 deg.

2025-08-22T17:21:09.843Z,1755883269.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903043 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:10.034Z,1755883270.034 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.004792
2025-08-22T17:21:10.203Z,1755883270.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:10.206Z,1755883270.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.804550 m,
      bearing: 329.031711 deg,
      approach rate: -0.484627 m/s,
      LOS rate: 0.004006 deg/s,
      cmd heading: 338.219466 deg,
      new cmd heading: 338.222531 deg.

2025-08-22T17:21:10.207Z,1755883270.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903097 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:10.284Z,1755883270.284 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.254755
2025-08-22T17:21:10.535Z,1755883270.535 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.505640
2025-08-22T17:21:10.608Z,1755883270.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:10.627Z,1755883270.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.611298 m,
      bearing: 329.031693 deg,
      approach rate: -0.477947 m/s,
      LOS rate: -0.000044 deg/s,
      cmd heading: 338.222526 deg,
      new cmd heading: 338.222490 deg.

2025-08-22T17:21:10.628Z,1755883270.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903096 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:10.788Z,1755883270.788 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=5.758574
2025-08-22T17:21:10.998Z,1755883270.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:10.000Z,1755883271.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:11.007Z,1755883271.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.430489 m,
      bearing: 329.032005 deg,
      approach rate: -0.461185 m/s,
      LOS rate: 0.000800 deg/s,
      cmd heading: 338.222498 deg,
      new cmd heading: 338.223125 deg.

2025-08-22T17:21:11.008Z,1755883271.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903107 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:11.040Z,1755883271.040 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.010655
2025-08-22T17:21:11.291Z,1755883271.291 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.261581
2025-08-22T17:21:11.407Z,1755883271.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:11.417Z,1755883271.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.229900 m,
      bearing: 329.032355 deg,
      approach rate: -0.493123 m/s,
      LOS rate: 0.000867 deg/s,
      cmd heading: 338.223127 deg,
      new cmd heading: 338.223832 deg.

2025-08-22T17:21:11.421Z,1755883271.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903120 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:11.543Z,1755883271.543 [DAT](INFO): DAT read: Rx Time:17:21:12.0838

2025-08-22T17:21:11.544Z,1755883271.544 [DAT](INFO): Rx dataTimestamp_ set to:1755883271.543442
2025-08-22T17:21:11.545Z,1755883271.545 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.515720
2025-08-22T17:21:11.796Z,1755883271.796 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=6.767058
2025-08-22T17:21:11.849Z,1755883271.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m.
2025-08-22T17:21:11.852Z,1755883271.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.577080 m,
      nav range: 32.017227 m,
      bearing: 329.032618 deg,
      approach rate: -0.480921 m/s,
      LOS rate: 0.000600 deg/s,
      cmd heading: 338.223837 deg,
      new cmd heading: 338.224367 deg.

2025-08-22T17:21:11.853Z,1755883271.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903129 target range: 34.577080 and range: 34.80 m.
2025-08-22T17:21:12.053Z,1755883272.053 [DAT](INFO): DAT read: 17:21:12.0838 LVL= 30016, 32753, 22738, 32755, AGC= 58, IDX= 417, 0.19, 2.289, 0.717, 2.807, 2.354, PHS= 0.037,-1.592, 0.409, RAW= 160.1,  12.4, CAL= 160.4,  14.0, ROT= 349.6, -14.0

2025-08-22T17:21:12.055Z,1755883272.055 [DAT](INFO): got valid direction response:
 17:21:12.0838 LVL= 30016, 32753, 22738, 32755, AGC= 58, IDX= 417, 0.19, 2.289, 0.717, 2.807, 2.354, PHS= 0.037,-1.592, 0.409, RAW= 160.1,  12.4, CAL= 160.4,  14.0, ROT= 349.6, -14.0

2025-08-22T17:21:12.055Z,1755883272.055 [DAT](INFO): DAT read: Bearing 158.3,  -7.6 (Local)

2025-08-22T17:21:12.056Z,1755883272.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3,  -7.6 (Local)

2025-08-22T17:21:12.057Z,1755883272.057 [DAT](INFO): DAT read: Range 11 to 50 : 33.1 m  (Round-trip  44.2 ms) speed  0.4 m/s

2025-08-22T17:21:12.058Z,1755883272.058 [DAT](INFO): DAT read: user:636>

2025-08-22T17:21:12.059Z,1755883272.059 [DAT](INFO): DAT read: Tx time:17:21:13.1855

2025-08-22T17:21:12.059Z,1755883272.059 [DAT](INFO): Ping request sent.
2025-08-22T17:21:12.060Z,1755883272.060 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:12.060Z,1755883272.060 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T17:21:12.061Z,1755883272.061 [DAT](INFO): direction in FSK: [0.954355,-0.175157,0.241922]
2025-08-22T17:21:12.061Z,1755883272.061 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:12.061Z,1755883272.061 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:12.064Z,1755883272.064 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:12.065Z,1755883272.065 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:12.068Z,1755883272.068 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008307
2025-08-22T17:21:12.296Z,1755883272.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.099998 m,
      deltaT: 3.529370 s,
      deltaX: -1.700001 m,
      approachRate: -0.481673 m/s,
      rangeRepo size: 4

2025-08-22T17:21:12.299Z,1755883272.299 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239317
2025-08-22T17:21:12.312Z,1755883272.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.887817 m,
      bearing: 328.617044 deg,
      lat: 36.779507 deg,
      lon: -121.859631 deg,
      deltaT: 3.529370 s,
      deltaX: -1.689262 m,
      approachRate: -0.478630 m/s,
      posRepo size: 4

2025-08-22T17:21:12.318Z,1755883272.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:12.327Z,1755883272.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 31.815338 m,
      bearing: 328.799270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000600 deg/s,
      cmd heading: 338.224356 deg,
      new cmd heading: 338.224880 deg.

2025-08-22T17:21:12.327Z,1755883272.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903138 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:12.551Z,1755883272.551 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491698
2025-08-22T17:21:12.709Z,1755883272.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:12.716Z,1755883272.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 31.592989 m,
      bearing: 328.787299 deg,
      approach rate: -0.525236 m/s,
      LOS rate: -0.028477 deg/s,
      cmd heading: 338.224875 deg,
      new cmd heading: 338.200765 deg.

2025-08-22T17:21:12.717Z,1755883272.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902717 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:12.804Z,1755883272.804 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.744334
2025-08-22T17:21:13.037Z,1755883273.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:13.054Z,1755883273.054 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.994834
2025-08-22T17:21:13.057Z,1755883273.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:13.064Z,1755883273.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 31.427505 m,
      bearing: 328.778300 deg,
      approach rate: -0.475300 m/s,
      LOS rate: -0.025985 deg/s,
      cmd heading: 338.200778 deg,
      new cmd heading: 338.182684 deg.

2025-08-22T17:21:13.065Z,1755883273.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902401 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:13.307Z,1755883273.307 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247331
2025-08-22T17:21:13.511Z,1755883273.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:13.518Z,1755883273.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 31.217251 m,
      bearing: 328.766591 deg,
      approach rate: -0.463213 m/s,
      LOS rate: -0.025968 deg/s,
      cmd heading: 338.182692 deg,
      new cmd heading: 338.159118 deg.

2025-08-22T17:21:13.519Z,1755883273.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901990 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:13.559Z,1755883273.559 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499020
2025-08-22T17:21:13.812Z,1755883273.812 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751882
2025-08-22T17:21:13.896Z,1755883273.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:13.904Z,1755883273.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 31.020344 m,
      bearing: 328.751269 deg,
      approach rate: -0.511119 m/s,
      LOS rate: -0.040025 deg/s,
      cmd heading: 338.159114 deg,
      new cmd heading: 338.128275 deg.

2025-08-22T17:21:13.905Z,1755883273.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901452 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:14.063Z,1755883274.063 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.003001
2025-08-22T17:21:14.262Z,1755883274.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:14.264Z,1755883274.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 30.837467 m,
      bearing: 328.736956 deg,
      approach rate: -0.500575 m/s,
      LOS rate: -0.039409 deg/s,
      cmd heading: 338.128269 deg,
      new cmd heading: 338.099474 deg.

2025-08-22T17:21:14.278Z,1755883274.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900949 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:14.315Z,1755883274.315 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255519
2025-08-22T17:21:14.567Z,1755883274.567 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506921
2025-08-22T17:21:14.690Z,1755883274.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:14.693Z,1755883274.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 30.636417 m,
      bearing: 328.721271 deg,
      approach rate: -0.469353 m/s,
      LOS rate: -0.036858 deg/s,
      cmd heading: 338.099473 deg,
      new cmd heading: 338.067897 deg.

2025-08-22T17:21:14.694Z,1755883274.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900398 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:14.819Z,1755883274.819 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.759739
2025-08-22T17:21:15.059Z,1755883275.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:15.061Z,1755883275.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:15.065Z,1755883275.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 30.447620 m,
      bearing: 328.705902 deg,
      approach rate: -0.508418 m/s,
      LOS rate: -0.041643 deg/s,
      cmd heading: 338.067890 deg,
      new cmd heading: 338.036963 deg.

2025-08-22T17:21:15.066Z,1755883275.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899858 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:15.071Z,1755883275.071 [DAT](INFO): DAT read: Rx Time:17:21:15.6316

2025-08-22T17:21:15.071Z,1755883275.071 [DAT](INFO): Rx dataTimestamp_ set to:1755883275.070823
2025-08-22T17:21:15.072Z,1755883275.072 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012048
2025-08-22T17:21:15.323Z,1755883275.323 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.262894
2025-08-22T17:21:15.538Z,1755883275.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.89 m.
2025-08-22T17:21:15.546Z,1755883275.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.887817 m,
      nav range: 30.246761 m,
      bearing: 328.688965 deg,
      approach rate: -0.426655 m/s,
      LOS rate: -0.036217 deg/s,
      cmd heading: 338.036963 deg,
      new cmd heading: 338.002862 deg.

2025-08-22T17:21:15.547Z,1755883275.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899263 target range: 32.887817 and range: 33.10 m.
2025-08-22T17:21:15.584Z,1755883275.584 [DAT](INFO): DAT read: 17:21:15.6315 LVL= 28016, 29361, 21874, 32755, AGC= 57, IDX= 426, 0.03,-2.477, 2.275,-1.953,-2.422, PHS= 0.047,-1.541, 0.425, RAW= 160.4,  11.8, CAL= 160.7,  13.3, ROT= 349.3, -13.3

2025-08-22T17:21:15.585Z,1755883275.585 [DAT](INFO): got valid direction response:
 17:21:15.6315 LVL= 28016, 29361, 21874, 32755, AGC= 57, IDX= 426, 0.03,-2.477, 2.275,-1.953,-2.422, PHS= 0.047,-1.541, 0.425, RAW= 160.4,  11.8, CAL= 160.7,  13.3, ROT= 349.3, -13.3

2025-08-22T17:21:15.586Z,1755883275.586 [DAT](INFO): DAT read: Bearing 157.4,  -7.6 (Local)

2025-08-22T17:21:15.586Z,1755883275.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4,  -7.6 (Local)

2025-08-22T17:21:15.588Z,1755883275.588 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m  (Round-trip  41.9 ms) speed  0.4 m/s

2025-08-22T17:21:15.590Z,1755883275.590 [DAT](INFO): DAT read: user:637>

2025-08-22T17:21:15.592Z,1755883275.592 [DAT](INFO): DAT read: Tx time:17:21:16.7354

2025-08-22T17:21:15.592Z,1755883275.592 [DAT](INFO): Ping request sent.
2025-08-22T17:21:15.592Z,1755883275.592 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:15.593Z,1755883275.593 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T17:21:15.595Z,1755883275.595 [DAT](INFO): direction in FSK: [0.956258,-0.180687,0.230050]
2025-08-22T17:21:15.595Z,1755883275.595 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:15.596Z,1755883275.596 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:15.605Z,1755883275.605 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:15.605Z,1755883275.605 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:15.631Z,1755883275.631 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.038701
2025-08-22T17:21:15.831Z,1755883275.831 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.238372
2025-08-22T17:21:15.912Z,1755883275.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 3.530236 s,
      deltaX: -1.699999 m,
      approachRate: -0.481554 m/s,
      rangeRepo size: 4

2025-08-22T17:21:15.914Z,1755883275.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.198784 m,
      bearing: 328.330425 deg,
      lat: 36.779507 deg,
      lon: -121.859631 deg,
      deltaT: 3.530236 s,
      deltaX: -1.689034 m,
      approachRate: -0.478448 m/s,
      posRepo size: 4

2025-08-22T17:21:15.915Z,1755883275.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:15.918Z,1755883275.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 30.022877 m,
      bearing: 328.650416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036217 deg/s,
      cmd heading: 338.002867 deg,
      new cmd heading: 337.975398 deg.

2025-08-22T17:21:15.919Z,1755883275.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898784 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:16.082Z,1755883276.082 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.490309
2025-08-22T17:21:16.300Z,1755883276.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:16.305Z,1755883276.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 29.844551 m,
      bearing: 328.631882 deg,
      approach rate: -0.459866 m/s,
      LOS rate: -0.048082 deg/s,
      cmd heading: 337.975409 deg,
      new cmd heading: 337.938119 deg.

2025-08-22T17:21:16.307Z,1755883276.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898133 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:16.335Z,1755883276.335 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.742504
2025-08-22T17:21:16.588Z,1755883276.588 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.995566
2025-08-22T17:21:16.771Z,1755883276.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:16.774Z,1755883276.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 29.606722 m,
      bearing: 328.611504 deg,
      approach rate: -0.503310 m/s,
      LOS rate: -0.043471 deg/s,
      cmd heading: 337.938117 deg,
      new cmd heading: 337.897034 deg.

2025-08-22T17:21:16.775Z,1755883276.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897416 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:16.839Z,1755883276.839 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.247179
2025-08-22T17:21:17.084Z,1755883277.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:17.091Z,1755883277.091 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.498380
2025-08-22T17:21:17.106Z,1755883277.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:17.109Z,1755883277.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 29.455389 m,
      bearing: 328.598580 deg,
      approach rate: -0.452245 m/s,
      LOS rate: -0.038821 deg/s,
      cmd heading: 337.897026 deg,
      new cmd heading: 337.871045 deg.

2025-08-22T17:21:17.114Z,1755883277.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896962 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:17.343Z,1755883277.343 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.750375
2025-08-22T17:21:17.545Z,1755883277.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:17.595Z,1755883277.595 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.002423
2025-08-22T17:21:17.595Z,1755883277.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 29.254343 m,
      bearing: 328.581351 deg,
      approach rate: -0.466337 m/s,
      LOS rate: -0.040238 deg/s,
      cmd heading: 337.871044 deg,
      new cmd heading: 337.836349 deg.

2025-08-22T17:21:17.596Z,1755883277.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896357 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:17.847Z,1755883277.847 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.254414
2025-08-22T17:21:17.959Z,1755883277.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:17.962Z,1755883277.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 29.025934 m,
      bearing: 328.562114 deg,
      approach rate: -0.543247 m/s,
      LOS rate: -0.046114 deg/s,
      cmd heading: 337.836347 deg,
      new cmd heading: 337.797570 deg.

2025-08-22T17:21:17.962Z,1755883277.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895680 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:18.098Z,1755883278.098 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.506301
2025-08-22T17:21:18.335Z,1755883278.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:18.338Z,1755883278.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 28.836071 m,
      bearing: 328.545999 deg,
      approach rate: -0.502991 m/s,
      LOS rate: -0.042973 deg/s,
      cmd heading: 337.797579 deg,
      new cmd heading: 337.765136 deg.

2025-08-22T17:21:18.339Z,1755883278.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895114 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:18.351Z,1755883278.351 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.758685
2025-08-22T17:21:18.603Z,1755883278.603 [DAT](INFO): DAT read: Rx Time:17:21:19.1791

2025-08-22T17:21:18.603Z,1755883278.603 [DAT](INFO): Rx dataTimestamp_ set to:1755883278.602764
2025-08-22T17:21:18.604Z,1755883278.604 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.011435
2025-08-22T17:21:18.755Z,1755883278.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-22T17:21:18.758Z,1755883278.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.198784 m,
      nav range: 28.630060 m,
      bearing: 328.540167 deg,
      approach rate: -0.490688 m/s,
      LOS rate: -0.013991 deg/s,
      cmd heading: 337.765149 deg,
      new cmd heading: 337.753401 deg.

2025-08-22T17:21:18.759Z,1755883278.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894909 target range: 31.198784 and range: 31.40 m.
2025-08-22T17:21:18.855Z,1755883278.855 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.262884
2025-08-22T17:21:19.112Z,1755883279.112 [DAT](INFO): DAT read: 17:21:19.1791 LVL= 31952, 29825, 23858, 32755, AGC= 56, IDX= 418, 0.24,-2.008, 2.717,-1.467,-1.957, PHS= 0.051,-1.564, 0.447, RAW= 160.7,  11.5, CAL= 160.9,  12.9, ROT= 349.1, -12.9

2025-08-22T17:21:19.113Z,1755883279.113 [DAT](INFO): got valid direction response:
 17:21:19.1791 LVL= 31952, 29825, 23858, 32755, AGC= 56, IDX= 418, 0.24,-2.008, 2.717,-1.467,-1.957, PHS= 0.051,-1.564, 0.447, RAW= 160.7,  11.5, CAL= 160.9,  12.9, ROT= 349.1, -12.9

2025-08-22T17:21:19.114Z,1755883279.114 [DAT](INFO): DAT read: Bearing 156.6,  -8.2 (Local)

2025-08-22T17:21:19.115Z,1755883279.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6,  -8.2 (Local)

2025-08-22T17:21:19.116Z,1755883279.116 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m  (Round-trip  39.6 ms) speed  0.4 m/s

2025-08-22T17:21:19.117Z,1755883279.117 [DAT](INFO): DAT read: user:638>

2025-08-22T17:21:19.117Z,1755883279.117 [DAT](INFO): DAT read: Tx time:17:21:20.2854

2025-08-22T17:21:19.118Z,1755883279.118 [DAT](INFO): Ping request sent.
2025-08-22T17:21:19.118Z,1755883279.118 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:19.118Z,1755883279.118 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T17:21:19.119Z,1755883279.119 [DAT](INFO): direction in FSK: [0.957175,-0.184323,0.223250]
2025-08-22T17:21:19.119Z,1755883279.119 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:19.120Z,1755883279.120 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:19.156Z,1755883279.156 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:19.156Z,1755883279.156 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:19.176Z,1755883279.176 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.047416
2025-08-22T17:21:19.239Z,1755883279.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.528401 s,
      deltaX: -1.699999 m,
      approachRate: -0.481804 m/s,
      rangeRepo size: 4

2025-08-22T17:21:19.258Z,1755883279.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.509474 m,
      bearing: 328.175181 deg,
      lat: 36.779507 deg,
      lon: -121.859632 deg,
      deltaT: 3.528401 s,
      deltaX: -1.689310 m,
      approachRate: -0.478775 m/s,
      posRepo size: 4

2025-08-22T17:21:19.258Z,1755883279.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:19.261Z,1755883279.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 28.448143 m,
      bearing: 328.417261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013991 deg/s,
      cmd heading: 337.753401 deg,
      new cmd heading: 337.739863 deg.

2025-08-22T17:21:19.266Z,1755883279.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894672 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:19.359Z,1755883279.359 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.240701
2025-08-22T17:21:19.611Z,1755883279.611 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492683
2025-08-22T17:21:19.643Z,1755883279.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:19.645Z,1755883279.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:19.648Z,1755883279.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 28.232431 m,
      bearing: 328.413446 deg,
      approach rate: -0.530998 m/s,
      LOS rate: -0.009463 deg/s,
      cmd heading: 337.739850 deg,
      new cmd heading: 337.732162 deg.

2025-08-22T17:21:19.651Z,1755883279.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894538 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:19.863Z,1755883279.863 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744922
2025-08-22T17:21:20.018Z,1755883280.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:20.021Z,1755883280.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 28.052004 m,
      bearing: 328.410455 deg,
      approach rate: -0.483287 m/s,
      LOS rate: -0.008063 deg/s,
      cmd heading: 337.732173 deg,
      new cmd heading: 337.726152 deg.

2025-08-22T17:21:20.039Z,1755883280.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894433 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:20.116Z,1755883280.116 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.997351
2025-08-22T17:21:20.366Z,1755883280.366 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248526
2025-08-22T17:21:20.430Z,1755883280.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:20.432Z,1755883280.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 27.853266 m,
      bearing: 328.406784 deg,
      approach rate: -0.483351 m/s,
      LOS rate: -0.008992 deg/s,
      cmd heading: 337.726162 deg,
      new cmd heading: 337.718768 deg.

2025-08-22T17:21:20.434Z,1755883280.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894304 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:20.622Z,1755883280.622 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.503101
2025-08-22T17:21:20.853Z,1755883280.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:20.858Z,1755883280.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 27.639101 m,
      bearing: 328.407856 deg,
      approach rate: -0.508818 m/s,
      LOS rate: 0.002568 deg/s,
      cmd heading: 337.718758 deg,
      new cmd heading: 337.720920 deg.

2025-08-22T17:21:20.859Z,1755883280.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894342 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:20.871Z,1755883280.871 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.752749
2025-08-22T17:21:21.123Z,1755883281.123 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.005261
2025-08-22T17:21:21.227Z,1755883281.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:21.230Z,1755883281.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 27.447224 m,
      bearing: 328.408654 deg,
      approach rate: -0.509146 m/s,
      LOS rate: 0.002130 deg/s,
      cmd heading: 337.720916 deg,
      new cmd heading: 337.722522 deg.

2025-08-22T17:21:21.231Z,1755883281.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894370 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:21.375Z,1755883281.375 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256617
2025-08-22T17:21:21.627Z,1755883281.627 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508776
2025-08-22T17:21:21.682Z,1755883281.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:21.684Z,1755883281.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:21.687Z,1755883281.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 27.215921 m,
      bearing: 328.409938 deg,
      approach rate: -0.506340 m/s,
      LOS rate: 0.002836 deg/s,
      cmd heading: 337.722528 deg,
      new cmd heading: 337.725120 deg.

2025-08-22T17:21:21.688Z,1755883281.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894415 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:21.878Z,1755883281.878 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.760560
2025-08-22T17:21:22.042Z,1755883282.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:22.046Z,1755883282.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 27.033941 m,
      bearing: 328.410595 deg,
      approach rate: -0.507732 m/s,
      LOS rate: 0.001843 deg/s,
      cmd heading: 337.725124 deg,
      new cmd heading: 337.726445 deg.

2025-08-22T17:21:22.046Z,1755883282.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894438 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:22.132Z,1755883282.132 [DAT](INFO): DAT read: Rx Time:17:21:22.7268

2025-08-22T17:21:22.132Z,1755883282.132 [DAT](INFO): Rx dataTimestamp_ set to:1755883282.131771
2025-08-22T17:21:22.133Z,1755883282.133 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.015048
2025-08-22T17:21:22.383Z,1755883282.383 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.264868
2025-08-22T17:21:22.447Z,1755883282.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:22.450Z,1755883282.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 26.829027 m,
      bearing: 328.411125 deg,
      approach rate: -0.506733 m/s,
      LOS rate: 0.001322 deg/s,
      cmd heading: 337.726435 deg,
      new cmd heading: 337.727504 deg.

2025-08-22T17:21:22.451Z,1755883282.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894457 target range: 29.509474 and range: 29.70 m.
2025-08-22T17:21:22.651Z,1755883282.651 [DAT](INFO): DAT read: 17:21:22.7268 LVL= 29088, 32753, 22194, 3C= 56, IDX= 410, 0.31, 0.372,-1.158, 0.911, 0.425, PHS= 0.049,-1.538, 0.= 160.8,  1= 16.9, ROT= 349.0, -12.9

2025-08-22T17:21:22.662Z,1755883282.662 [DAT](INFO): unknown deviceResponse_: 17:21:22.7268 LVL= 29088, 32753, 22194, 3C= 56, IDX= 410, 0.31, 0.372,-1.158, 0.911, 0.425, PHS= 0.049,-1.538, 0.= 160.8,  1= 16.9, ROT= 349.0, -12.9

2025-08-22T17:21:22.662Z,1755883282.662 [DAT](INFO): DAT read: Bearing 156.7,  -7.8 (Local)

2025-08-22T17:21:22.663Z,1755883282.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.7,  -7.8 (Local)

2025-08-22T17:21:22.664Z,1755883282.664 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m  (Round-trip  37.3 ms) speed  0.4 m/s

2025-08-22T17:21:22.665Z,1755883282.665 [DAT](INFO): DAT read: user:639>

2025-08-22T17:21:22.671Z,1755883282.671 [DAT](INFO): DAT read: Tx time:17:21:23.8354

2025-08-22T17:21:22.671Z,1755883282.671 [DAT](INFO): Ping request sent.
2025-08-22T17:21:22.671Z,1755883282.671 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:22.672Z,1755883282.672 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-22T17:21:22.672Z,1755883282.672 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:22.672Z,1755883282.672 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:22.673Z,1755883282.673 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.001858
2025-08-22T17:21:22.838Z,1755883282.838 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS35.0, +10.2,   0.0,1490.7,  0
2025-08-22T17:21:22.887Z,1755883282.887 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.215317
2025-08-22T17:21:22.888Z,1755883282.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 3.528993 s,
      deltaX: -1.800001 m,
      approachRate: -0.510061 m/s,
      rangeRepo size: 4

2025-08-22T17:21:22.889Z,1755883282.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:22.896Z,1755883282.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 26.612635 m,
      bearing: 328.411978 deg,
      approach rate: -0.497650 m/s,
      LOS rate: 0.001977 deg/s,
      cmd heading: 337.727501 deg,
      new cmd heading: 337.729221 deg.

2025-08-22T17:21:22.897Z,1755883282.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894487 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:23.139Z,1755883283.139 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.467274
2025-08-22T17:21:23.246Z,1755883283.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:23.248Z,1755883283.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 26.424183 m,
      bearing: 328.412611 deg,
      approach rate: -0.518192 m/s,
      LOS rate: 0.001754 deg/s,
      cmd heading: 337.729222 deg,
      new cmd heading: 337.730498 deg.

2025-08-22T17:21:23.250Z,1755883283.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894509 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:23.391Z,1755883283.391 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.719210
2025-08-22T17:21:23.646Z,1755883283.646 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.973652
2025-08-22T17:21:23.711Z,1755883283.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:23.714Z,1755883283.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:23.716Z,1755883283.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 26.200600 m,
      bearing: 328.400151 deg,
      approach rate: -0.477696 m/s,
      LOS rate: -0.026849 deg/s,
      cmd heading: 337.730506 deg,
      new cmd heading: 337.705373 deg.

2025-08-22T17:21:23.717Z,1755883283.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894071 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:23.895Z,1755883283.895 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.223718
2025-08-22T17:21:24.074Z,1755883284.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:24.076Z,1755883284.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 26.027966 m,
      bearing: 328.390384 deg,
      approach rate: -0.479506 m/s,
      LOS rate: -0.027310 deg/s,
      cmd heading: 337.705371 deg,
      new cmd heading: 337.685706 deg.

2025-08-22T17:21:24.077Z,1755883284.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893727 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:24.147Z,1755883284.147 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.475290
2025-08-22T17:21:24.399Z,1755883284.399 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.727177
2025-08-22T17:21:24.465Z,1755883284.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:24.468Z,1755883284.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 25.842989 m,
      bearing: 328.380080 deg,
      approach rate: -0.472540 m/s,
      LOS rate: -0.026510 deg/s,
      cmd heading: 337.685700 deg,
      new cmd heading: 337.664945 deg.

2025-08-22T17:21:24.469Z,1755883284.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893365 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:24.654Z,1755883284.654 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.981316
2025-08-22T17:21:24.894Z,1755883284.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:24.897Z,1755883284.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 25.628403 m,
      bearing: 328.354616 deg,
      approach rate: -0.499904 m/s,
      LOS rate: -0.059818 deg/s,
      cmd heading: 337.664936 deg,
      new cmd heading: 337.613582 deg.

2025-08-22T17:21:24.898Z,1755883284.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892468 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:24.903Z,1755883284.903 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.231280
2025-08-22T17:21:25.155Z,1755883285.155 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.483864
2025-08-22T17:21:25.289Z,1755883285.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:25.315Z,1755883285.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 25.436090 m,
      bearing: 328.331836 deg,
      approach rate: -0.488134 m/s,
      LOS rate: -0.058257 deg/s,
      cmd heading: 337.613573 deg,
      new cmd heading: 337.567670 deg.

2025-08-22T17:21:25.316Z,1755883285.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891667 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:25.407Z,1755883285.407 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.735518
2025-08-22T17:21:25.665Z,1755883285.665 [DAT](INFO): DAT read: Rx Time:17:21:26.2744

2025-08-22T17:21:25.666Z,1755883285.666 [DAT](INFO): Rx dataTimestamp_ set to:1755883285.665646
2025-08-22T17:21:25.669Z,1755883285.669 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.996807
2025-08-22T17:21:25.765Z,1755883285.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:25.772Z,1755883285.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:25.776Z,1755883285.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 25.202280 m,
      bearing: 328.291832 deg,
      approach rate: -0.484002 m/s,
      LOS rate: -0.083580 deg/s,
      cmd heading: 337.567674 deg,
      new cmd heading: 337.486923 deg.

2025-08-22T17:21:25.779Z,1755883285.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890258 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:25.911Z,1755883285.911 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.239494
2025-08-22T17:21:26.116Z,1755883286.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m.
2025-08-22T17:21:26.124Z,1755883286.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.509474 m,
      nav range: 25.031982 m,
      bearing: 328.262684 deg,
      approach rate: -0.493247 m/s,
      LOS rate: -0.084998 deg/s,
      cmd heading: 337.486914 deg,
      new cmd heading: 337.428222 deg.

2025-08-22T17:21:26.128Z,1755883286.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889234 target range: 29.509474 and range: 27.90 m.
2025-08-22T17:21:26.184Z,1755883286.184 [DAT](INFO): DAT read: 17:21:26.2744 LVL= 27856, 31409, 20034, 32755, AGC= 55, IDX= 418, 0.36,-1.849, 2.902,-1.311,-1.796, PHS= 0.048,-1.541, 0.440, RAW= 160.8,  11.6, CAL= 161.0,  12.9, ROT= 349.0, -12.9

2025-08-22T17:21:26.186Z,1755883286.186 [DAT](INFO): got valid direction response:
 17:21:26.2744 LVL= 27856, 31409, 20034, 32755, AGC= 55, IDX= 418, 0.36,-1.849, 2.902,-1.311,-1.796, PHS= 0.048,-1.541, 0.440, RAW= 160.8,  11.6, CAL= 161.0,  12.9, ROT= 349.0, -12.9

2025-08-22T17:21:26.187Z,1755883286.187 [DAT](INFO): DAT read: Bearing 156.3,  -7.9 (Local)

2025-08-22T17:21:26.187Z,1755883286.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.3,  -7.9 (Local)

2025-08-22T17:21:26.189Z,1755883286.189 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.9 ms) speed  0.4 m/s

2025-08-22T17:21:26.206Z,1755883286.206 [DAT](INFO): DAT read: user:640>

2025-08-22T17:21:26.207Z,1755883286.207 [DAT](INFO): DAT read: Tx time:17:21:27.3853

2025-08-22T17:21:26.207Z,1755883286.207 [DAT](INFO): Ping request sent.
2025-08-22T17:21:26.207Z,1755883286.207 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:26.208Z,1755883286.208 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T17:21:26.209Z,1755883286.209 [DAT](INFO): direction in FSK: [0.956852,-0.185993,0.223250]
2025-08-22T17:21:26.209Z,1755883286.209 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:26.209Z,1755883286.209 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:26.222Z,1755883286.222 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:26.222Z,1755883286.222 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:26.231Z,1755883286.231 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.024035
2025-08-22T17:21:26.415Z,1755883286.415 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.207621
2025-08-22T17:21:26.538Z,1755883286.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.528347 s,
      deltaX: -1.799999 m,
      approachRate: -0.510154 m/s,
      rangeRepo size: 4

2025-08-22T17:21:26.540Z,1755883286.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.932383 m,
      bearing: 327.822956 deg,
      lat: 36.779507 deg,
      lon: -121.859633 deg,
      deltaT: 7.057340 s,
      deltaX: -3.577091 m,
      approachRate: -0.506861 m/s,
      posRepo size: 4

2025-08-22T17:21:26.541Z,1755883286.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:26.548Z,1755883286.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 24.902382 m,
      bearing: 327.976821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084998 deg/s,
      cmd heading: 337.428229 deg,
      new cmd heading: 337.356646 deg.

2025-08-22T17:21:26.549Z,1755883286.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887984 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:26.670Z,1755883286.670 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.461655
2025-08-22T17:21:26.919Z,1755883286.919 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.711469
2025-08-22T17:21:26.939Z,1755883286.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:26.942Z,1755883286.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 24.703102 m,
      bearing: 327.934651 deg,
      approach rate: -0.496421 m/s,
      LOS rate: -0.105896 deg/s,
      cmd heading: 337.356649 deg,
      new cmd heading: 337.271629 deg.

2025-08-22T17:21:26.943Z,1755883286.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886500 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:27.174Z,1755883287.174 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.966345
2025-08-22T17:21:27.327Z,1755883287.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:27.330Z,1755883287.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 24.516687 m,
      bearing: 327.894903 deg,
      approach rate: -0.479802 m/s,
      LOS rate: -0.103082 deg/s,
      cmd heading: 337.271627 deg,
      new cmd heading: 337.191527 deg.

2025-08-22T17:21:27.331Z,1755883287.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885102 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:27.423Z,1755883287.423 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.215573
2025-08-22T17:21:27.678Z,1755883287.678 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.469771
2025-08-22T17:21:27.795Z,1755883287.795 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  80.11,  82.49,  83.17, 

2025-08-22T17:21:27.809Z,1755883287.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:27.811Z,1755883287.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:27.838Z,1755883287.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 24.284212 m,
      bearing: 327.844662 deg,
      approach rate: -0.480669 m/s,
      LOS rate: -0.104875 deg/s,
      cmd heading: 337.191522 deg,
      new cmd heading: 337.090077 deg.

2025-08-22T17:21:27.839Z,1755883287.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883332 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:27.927Z,1755883287.927 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.719962
2025-08-22T17:21:28.179Z,1755883288.179 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.972004
2025-08-22T17:21:28.218Z,1755883288.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:28.221Z,1755883288.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 24.090162 m,
      bearing: 327.801964 deg,
      approach rate: -0.476395 m/s,
      LOS rate: -0.105668 deg/s,
      cmd heading: 337.090080 deg,
      new cmd heading: 337.003997 deg.

2025-08-22T17:21:28.223Z,1755883288.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881829 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:28.431Z,1755883288.431 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.223507
2025-08-22T17:21:28.604Z,1755883288.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:28.607Z,1755883288.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 23.903549 m,
      bearing: 327.760548 deg,
      approach rate: -0.484258 m/s,
      LOS rate: -0.108311 deg/s,
      cmd heading: 337.003993 deg,
      new cmd heading: 336.920515 deg.

2025-08-22T17:21:28.608Z,1755883288.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880373 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:28.685Z,1755883288.685 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.477469
2025-08-22T17:21:28.934Z,1755883288.934 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.727232
2025-08-22T17:21:29.029Z,1755883289.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:29.032Z,1755883289.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 23.698008 m,
      bearing: 327.712917 deg,
      approach rate: -0.483862 m/s,
      LOS rate: -0.113101 deg/s,
      cmd heading: 336.920528 deg,
      new cmd heading: 336.824439 deg.

2025-08-22T17:21:29.033Z,1755883289.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878695 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:29.187Z,1755883289.187 [DAT](INFO): DAT read: Rx Time:17:21:29.8221

2025-08-22T17:21:29.188Z,1755883289.188 [DAT](INFO): Rx dataTimestamp_ set to:1755883289.187582
2025-08-22T17:21:29.189Z,1755883289.189 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.981507
2025-08-22T17:21:29.418Z,1755883289.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:29.421Z,1755883289.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 23.509689 m,
      bearing: 327.668877 deg,
      approach rate: -0.483564 m/s,
      LOS rate: -0.113992 deg/s,
      cmd heading: 336.824441 deg,
      new cmd heading: 336.735655 deg.

2025-08-22T17:21:29.422Z,1755883289.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877146 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:29.446Z,1755883289.446 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.239196
2025-08-22T17:21:29.705Z,1755883289.705 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.497094
2025-08-22T17:21:29.857Z,1755883289.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:29.859Z,1755883289.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m.
2025-08-22T17:21:29.863Z,1755883289.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.932383 m,
      nav range: 23.290962 m,
      bearing: 327.616309 deg,
      approach rate: -0.495806 m/s,
      LOS rate: -0.120278 deg/s,
      cmd heading: 336.735648 deg,
      new cmd heading: 336.629525 deg.

2025-08-22T17:21:29.864Z,1755883289.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875294 target range: 25.932383 and range: 26.10 m.
2025-08-22T17:21:29.959Z,1755883289.959 [DAT](INFO): DAT read: 17:21:29.8221 LVL= 26336, 26721, 22066, 32755, AGC= 53, IDX= 411, 0.22, 1.749, 0.228, 2.301, 1.807, PHS= 0.043,-1.534, 0.449, RAW= 161.2,  11.5, CAL= 161.4,  12.8, ROT= 348.6, -12.8

2025-08-22T17:21:29.960Z,1755883289.960 [DAT](INFO): got valid direction response:
 17:21:29.8221 LVL= 26336, 26721, 22066, 32755, AGC= 53, IDX= 411, 0.22, 1.749, 0.228, 2.301, 1.807, PHS= 0.043,-1.534, 0.449, RAW= 161.2,  11.5, CAL= 161.4,  12.8, ROT= 348.6, -12.8

2025-08-22T17:21:29.961Z,1755883289.961 [DAT](INFO): DAT read: Bearing 155.6,  -8.4 (Local)

2025-08-22T17:21:29.961Z,1755883289.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.6,  -8.4 (Local)

2025-08-22T17:21:29.963Z,1755883289.963 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed  0.4 m/s

2025-08-22T17:21:29.964Z,1755883289.964 [DAT](INFO): DAT read: user:641>

2025-08-22T17:21:29.965Z,1755883289.965 [DAT](INFO): DAT read: Tx time:17:21:30.9353

2025-08-22T17:21:29.965Z,1755883289.965 [DAT](INFO): Ping request sent.
2025-08-22T17:21:29.965Z,1755883289.965 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:29.965Z,1755883289.965 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T17:21:29.966Z,1755883289.966 [DAT](INFO): direction in FSK: [0.955911,-0.192745,0.221548]
2025-08-22T17:21:29.967Z,1755883289.967 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:29.967Z,1755883289.967 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:29.978Z,1755883289.978 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:29.978Z,1755883289.978 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:29.986Z,1755883289.986 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.021040
2025-08-22T17:21:30.203Z,1755883290.203 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.237546
2025-08-22T17:21:30.243Z,1755883290.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 3.787385 s,
      deltaX: -1.600000 m,
      approachRate: -0.422455 m/s,
      rangeRepo size: 4

2025-08-22T17:21:30.245Z,1755883290.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.342815 m,
      bearing: 327.233137 deg,
      lat: 36.779507 deg,
      lon: -121.859633 deg,
      deltaT: 3.787385 s,
      deltaX: -1.589567 m,
      approachRate: -0.419700 m/s,
      posRepo size: 4

2025-08-22T17:21:30.246Z,1755883290.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:30.248Z,1755883290.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 23.133568 m,
      bearing: 327.545091 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.120278 deg/s,
      cmd heading: 336.629534 deg,
      new cmd heading: 336.537416 deg.

2025-08-22T17:21:30.249Z,1755883290.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873686 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:30.458Z,1755883290.458 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.493099
2025-08-22T17:21:30.623Z,1755883290.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:30.626Z,1755883290.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 22.942125 m,
      bearing: 327.498203 deg,
      approach rate: -0.502451 m/s,
      LOS rate: -0.124086 deg/s,
      cmd heading: 336.537409 deg,
      new cmd heading: 336.442851 deg.

2025-08-22T17:21:30.627Z,1755883290.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872036 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:30.710Z,1755883290.710 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.743859
2025-08-22T17:21:30.958Z,1755883290.958 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.993503
2025-08-22T17:21:31.125Z,1755883291.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:31.128Z,1755883291.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 22.691900 m,
      bearing: 327.458438 deg,
      approach rate: -0.499075 m/s,
      LOS rate: -0.080187 deg/s,
      cmd heading: 336.442851 deg,
      new cmd heading: 336.362444 deg.

2025-08-22T17:21:31.129Z,1755883291.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870632 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:31.212Z,1755883291.212 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.246388
2025-08-22T17:21:31.463Z,1755883291.463 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.497772
2025-08-22T17:21:31.463Z,1755883291.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:31.470Z,1755883291.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 22.530447 m,
      bearing: 327.432525 deg,
      approach rate: -0.484629 m/s,
      LOS rate: -0.078340 deg/s,
      cmd heading: 336.362447 deg,
      new cmd heading: 336.310249 deg.

2025-08-22T17:21:31.471Z,1755883291.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869721 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:31.718Z,1755883291.718 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.751839
2025-08-22T17:21:31.896Z,1755883291.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:31.899Z,1755883291.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:31.902Z,1755883291.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 22.306511 m,
      bearing: 327.415309 deg,
      approach rate: -0.507878 m/s,
      LOS rate: -0.039436 deg/s,
      cmd heading: 336.310237 deg,
      new cmd heading: 336.275460 deg.

2025-08-22T17:21:31.903Z,1755883291.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869114 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:31.967Z,1755883291.967 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.001770
2025-08-22T17:21:32.219Z,1755883292.219 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.253671
2025-08-22T17:21:32.291Z,1755883292.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:32.313Z,1755883292.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 22.115265 m,
      bearing: 327.401225 deg,
      approach rate: -0.487833 m/s,
      LOS rate: -0.036237 deg/s,
      cmd heading: 336.275457 deg,
      new cmd heading: 336.247045 deg.

2025-08-22T17:21:32.314Z,1755883292.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868618 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:32.471Z,1755883292.471 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.505582
2025-08-22T17:21:32.648Z,1755883292.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:32.651Z,1755883292.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 21.938349 m,
      bearing: 327.388592 deg,
      approach rate: -0.495622 m/s,
      LOS rate: -0.035676 deg/s,
      cmd heading: 336.247044 deg,
      new cmd heading: 336.221574 deg.

2025-08-22T17:21:32.652Z,1755883292.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868174 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:32.727Z,1755883292.727 [DAT](INFO): DAT read: Rx Time:17:21:33.3699

2025-08-22T17:21:32.727Z,1755883292.727 [DAT](INFO): Rx dataTimestamp_ set to:1755883292.726898
2025-08-22T17:21:32.728Z,1755883292.728 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763085
2025-08-22T17:21:32.975Z,1755883292.975 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.009565
2025-08-22T17:21:33.075Z,1755883293.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:33.078Z,1755883293.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 21.726597 m,
      bearing: 327.386190 deg,
      approach rate: -0.494994 m/s,
      LOS rate: -0.005670 deg/s,
      cmd heading: 336.221581 deg,
      new cmd heading: 336.216730 deg.

2025-08-22T17:21:33.079Z,1755883293.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868089 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:33.246Z,1755883293.246 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.264335
2025-08-22T17:21:33.476Z,1755883293.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m.
2025-08-22T17:21:33.484Z,1755883293.484 [DAT](INFO): DAT read: 17:21:33.3699 LVL= 28448, 32753, 21282, 32755, AGC= 53, IDX= 420,-0.23, 0.408,-1.073, 0.975, 0.505, PHS= 0.005,-1.533, 0.426, RAW= 161.8,  12.3, CAL= 162.1,  14.0, ROT= 347.9, -14.0

2025-08-22T17:21:33.485Z,1755883293.485 [DAT](INFO): got valid direction response:
 17:21:33.3699 LVL= 28448, 32753, 21282, 32755, AGC= 53, IDX= 420,-0.23, 0.408,-1.073, 0.975, 0.505, PHS= 0.005,-1.533, 0.426, RAW= 161.8,  12.3, CAL= 162.1,  14.0, ROT= 347.9, -14.0

2025-08-22T17:21:33.486Z,1755883293.486 [DAT](INFO): DAT read: Bearing 156.4,  -9.3 (Local)

2025-08-22T17:21:33.487Z,1755883293.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.4,  -9.3 (Local)

2025-08-22T17:21:33.488Z,1755883293.488 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m  (Round-trip  30.4 ms) speed  0.4 m/s

2025-08-22T17:21:33.489Z,1755883293.489 [DAT](INFO): DAT read: user:642>

2025-08-22T17:21:33.489Z,1755883293.489 [DAT](INFO): DAT read: Tx time:17:21:34.4853

2025-08-22T17:21:33.490Z,1755883293.490 [DAT](INFO): Ping request sent.
2025-08-22T17:21:33.490Z,1755883293.490 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:33.490Z,1755883293.490 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T17:21:33.491Z,1755883293.491 [DAT](INFO): direction in FSK: [0.948739,-0.203392,0.241922]
2025-08-22T17:21:33.491Z,1755883293.491 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:33.492Z,1755883293.492 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:33.495Z,1755883293.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.342815 m,
      nav range: 21.528212 m,
      bearing: 327.383897 deg,
      approach rate: -0.495271 m/s,
      LOS rate: -0.005778 deg/s,
      cmd heading: 336.216718 deg,
      new cmd heading: 336.212089 deg.

2025-08-22T17:21:33.496Z,1755883293.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868008 target range: 24.342815 and range: 24.50 m.
2025-08-22T17:21:33.499Z,1755883293.499 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:33.499Z,1755883293.499 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:33.503Z,1755883293.503 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.012792
2025-08-22T17:21:33.735Z,1755883293.735 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.244482
2025-08-22T17:21:33.916Z,1755883293.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 3.527331 s,
      deltaX: -1.700001 m,
      approachRate: -0.481951 m/s,
      rangeRepo size: 4

2025-08-22T17:21:33.918Z,1755883293.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.653778 m,
      bearing: 325.857632 deg,
      lat: 36.779508 deg,
      lon: -121.859635 deg,
      deltaT: 3.527331 s,
      deltaX: -1.689037 m,
      approachRate: -0.478843 m/s,
      posRepo size: 4

2025-08-22T17:21:33.919Z,1755883293.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:33.922Z,1755883293.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 21.450855 m,
      bearing: 327.243747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005778 deg/s,
      cmd heading: 336.212100 deg,
      new cmd heading: 336.207021 deg.

2025-08-22T17:21:33.923Z,1755883293.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867919 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:33.983Z,1755883293.983 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.493390
2025-08-22T17:21:34.234Z,1755883294.234 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744557
2025-08-22T17:21:34.310Z,1755883294.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:34.312Z,1755883294.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:34.315Z,1755883294.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 21.249605 m,
      bearing: 327.250590 deg,
      approach rate: -0.507996 m/s,
      LOS rate: 0.017436 deg/s,
      cmd heading: 336.207019 deg,
      new cmd heading: 336.220834 deg.

2025-08-22T17:21:34.316Z,1755883294.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868161 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:34.487Z,1755883294.487 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996743
2025-08-22T17:21:34.686Z,1755883294.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:34.689Z,1755883294.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 21.061180 m,
      bearing: 327.258194 deg,
      approach rate: -0.503103 m/s,
      LOS rate: 0.020485 deg/s,
      cmd heading: 336.220843 deg,
      new cmd heading: 336.236188 deg.

2025-08-22T17:21:34.690Z,1755883294.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868429 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:34.739Z,1755883294.739 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.249396
2025-08-22T17:21:34.991Z,1755883294.991 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.500625
2025-08-22T17:21:35.106Z,1755883295.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:35.109Z,1755883295.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 20.857000 m,
      bearing: 327.274572 deg,
      approach rate: -0.486053 m/s,
      LOS rate: 0.039369 deg/s,
      cmd heading: 336.236197 deg,
      new cmd heading: 336.269273 deg.

2025-08-22T17:21:35.110Z,1755883295.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869006 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:35.243Z,1755883295.243 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752757
2025-08-22T17:21:35.493Z,1755883295.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:35.495Z,1755883295.495 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.004722
2025-08-22T17:21:35.497Z,1755883295.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 20.669014 m,
      bearing: 327.290217 deg,
      approach rate: -0.486657 m/s,
      LOS rate: 0.040869 deg/s,
      cmd heading: 336.269283 deg,
      new cmd heading: 336.300857 deg.

2025-08-22T17:21:35.498Z,1755883295.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869557 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:35.630Z,1755883295.630 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:21:35.748Z,1755883295.748 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.257867
2025-08-22T17:21:35.936Z,1755883295.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:35.939Z,1755883295.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 20.456486 m,
      bearing: 327.314383 deg,
      approach rate: -0.479353 m/s,
      LOS rate: 0.055073 deg/s,
      cmd heading: 336.300866 deg,
      new cmd heading: 336.349701 deg.

2025-08-22T17:21:35.940Z,1755883295.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870409 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:35.999Z,1755883295.999 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.509091
2025-08-22T17:21:36.252Z,1755883296.252 [DAT](INFO): DAT read: Rx Time:17:21:36.9174

2025-08-22T17:21:36.253Z,1755883296.253 [DAT](INFO): Rx dataTimestamp_ set to:1755883296.252301
2025-08-22T17:21:36.253Z,1755883296.253 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.763498
2025-08-22T17:21:36.322Z,1755883296.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:36.324Z,1755883296.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:36.327Z,1755883296.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 20.269932 m,
      bearing: 327.336352 deg,
      approach rate: -0.480169 m/s,
      LOS rate: 0.057065 deg/s,
      cmd heading: 336.349688 deg,
      new cmd heading: 336.394029 deg.

2025-08-22T17:21:36.328Z,1755883296.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871183 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:36.503Z,1755883296.503 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.012638
2025-08-22T17:21:36.634Z,1755883296.634 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:21:36.709Z,1755883296.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m.
2025-08-22T17:21:36.712Z,1755883296.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.653778 m,
      nav range: 20.085297 m,
      bearing: 327.358885 deg,
      approach rate: -0.480483 m/s,
      LOS rate: 0.059180 deg/s,
      cmd heading: 336.394029 deg,
      new cmd heading: 336.439511 deg.

2025-08-22T17:21:36.713Z,1755883296.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871977 target range: 22.653778 and range: 22.80 m.
2025-08-22T17:21:36.756Z,1755883296.756 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.265896
2025-08-22T17:21:37.013Z,1755883297.013 [DAT](INFO): DAT read: 17:21:36.9174 LVL= 30144, 32753, 24626, 32755, AGC= 53, IDX= 411, 0.15, 1.890, 0.324, 2.451, 1.951, PHS= 0.041,-1.583, 0.456, RAW= 161.1,  11.6, CAL= 161.3,  13.0, ROT= 348.7, -13.0

2025-08-22T17:21:37.014Z,1755883297.014 [DAT](INFO): got valid direction response:
 17:21:36.9174 LVL= 30144, 32753, 24626, 32755, AGC= 53, IDX= 411, 0.15, 1.890, 0.324, 2.451, 1.951, PHS= 0.041,-1.583, 0.456, RAW= 161.1,  11.6, CAL= 161.3,  13.0, ROT= 348.7, -13.0

2025-08-22T17:21:37.015Z,1755883297.015 [DAT](INFO): DAT read: Bearing 154.6,  -8.8 (Local)

2025-08-22T17:21:37.015Z,1755883297.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.6,  -8.8 (Local)

2025-08-22T17:21:37.017Z,1755883297.017 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m  (Round-trip  28.0 ms) speed  0.4 m/s

2025-08-22T17:21:37.018Z,1755883297.018 [DAT](INFO): DAT read: user:643>

2025-08-22T17:21:37.018Z,1755883297.018 [DAT](INFO): DAT read: Tx time:17:21:38.0353

2025-08-22T17:21:37.019Z,1755883297.019 [DAT](INFO): Ping request sent.
2025-08-22T17:21:37.019Z,1755883297.019 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:37.019Z,1755883297.019 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T17:21:37.020Z,1755883297.020 [DAT](INFO): direction in FSK: [0.955482,-0.190924,0.224951]
2025-08-22T17:21:37.020Z,1755883297.020 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:37.020Z,1755883297.020 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:37.023Z,1755883297.023 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:37.024Z,1755883297.024 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:37.027Z,1755883297.027 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.008463
2025-08-22T17:21:37.259Z,1755883297.259 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.240306
2025-08-22T17:21:37.270Z,1755883297.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 3.527905 s,
      deltaX: -1.799999 m,
      approachRate: -0.510218 m/s,
      rangeRepo size: 4

2025-08-22T17:21:37.282Z,1755883297.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.865503 m,
      bearing: 326.216730 deg,
      lat: 36.779508 deg,
      lon: -121.859637 deg,
      deltaT: 3.527905 s,
      deltaX: -1.788275 m,
      approachRate: -0.506894 m/s,
      posRepo size: 4

2025-08-22T17:21:37.283Z,1755883297.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:37.294Z,1755883297.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 19.969307 m,
      bearing: 326.904712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059180 deg/s,
      cmd heading: 336.439518 deg,
      new cmd heading: 336.504187 deg.

2025-08-22T17:21:37.295Z,1755883297.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873106 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:37.511Z,1755883297.511 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.492285
2025-08-22T17:21:37.674Z,1755883297.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:37.677Z,1755883297.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 19.751087 m,
      bearing: 326.917020 deg,
      approach rate: -0.520597 m/s,
      LOS rate: 0.029687 deg/s,
      cmd heading: 336.504187 deg,
      new cmd heading: 336.529074 deg.

2025-08-22T17:21:37.678Z,1755883297.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873540 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:37.764Z,1755883297.764 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.744970
2025-08-22T17:21:38.015Z,1755883298.015 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.996119
2025-08-22T17:21:38.099Z,1755883298.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:38.102Z,1755883298.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 19.538622 m,
      bearing: 326.912435 deg,
      approach rate: -0.500629 m/s,
      LOS rate: -0.010921 deg/s,
      cmd heading: 336.529076 deg,
      new cmd heading: 336.519806 deg.

2025-08-22T17:21:38.103Z,1755883298.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873379 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:38.268Z,1755883298.268 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.248552
2025-08-22T17:21:38.482Z,1755883298.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:38.484Z,1755883298.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:38.487Z,1755883298.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 19.348219 m,
      bearing: 326.908068 deg,
      approach rate: -0.494045 m/s,
      LOS rate: -0.011444 deg/s,
      cmd heading: 336.519814 deg,
      new cmd heading: 336.510993 deg.

2025-08-22T17:21:38.488Z,1755883298.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873225 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:38.519Z,1755883298.519 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.500087
2025-08-22T17:21:38.772Z,1755883298.772 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.753070
2025-08-22T17:21:38.934Z,1755883298.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:38.937Z,1755883298.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 19.122210 m,
      bearing: 326.898193 deg,
      approach rate: -0.502013 m/s,
      LOS rate: -0.022193 deg/s,
      cmd heading: 336.510989 deg,
      new cmd heading: 336.491006 deg.

2025-08-22T17:21:38.939Z,1755883298.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872876 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:39.024Z,1755883299.024 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.004765
2025-08-22T17:21:39.275Z,1755883299.275 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.256060
2025-08-22T17:21:39.368Z,1755883299.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:39.371Z,1755883299.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 18.904163 m,
      bearing: 326.889062 deg,
      approach rate: -0.502255 m/s,
      LOS rate: -0.021275 deg/s,
      cmd heading: 336.491018 deg,
      new cmd heading: 336.472546 deg.

2025-08-22T17:21:39.372Z,1755883299.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872554 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:39.527Z,1755883299.527 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.508025
2025-08-22T17:21:39.706Z,1755883299.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:39.708Z,1755883299.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 18.734865 m,
      bearing: 326.881826 deg,
      approach rate: -0.502196 m/s,
      LOS rate: -0.021658 deg/s,
      cmd heading: 336.472549 deg,
      new cmd heading: 336.457946 deg.

2025-08-22T17:21:39.730Z,1755883299.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872299 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:39.779Z,1755883299.779 [DAT](INFO): DAT read: Rx Time:17:21:40.4651

2025-08-22T17:21:39.779Z,1755883299.779 [DAT](INFO): Rx dataTimestamp_ set to:1755883299.779060
2025-08-22T17:21:39.780Z,1755883299.780 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.761229
2025-08-22T17:21:40.031Z,1755883300.031 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.011818
2025-08-22T17:21:40.136Z,1755883300.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:40.139Z,1755883300.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 18.532242 m,
      bearing: 326.864326 deg,
      approach rate: -0.473648 m/s,
      LOS rate: -0.041356 deg/s,
      cmd heading: 336.457960 deg,
      new cmd heading: 336.422577 deg.

2025-08-22T17:21:40.140Z,1755883300.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871682 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:40.283Z,1755883300.283 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.263916
2025-08-22T17:21:40.504Z,1755883300.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:40.506Z,1755883300.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T17:21:40.509Z,1755883300.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.865503 m,
      nav range: 18.340414 m,
      bearing: 326.847735 deg,
      approach rate: -0.514444 m/s,
      LOS rate: -0.044959 deg/s,
      cmd heading: 336.422579 deg,
      new cmd heading: 336.389051 deg.

2025-08-22T17:21:40.510Z,1755883300.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871097 target range: 20.865503 and range: 21.00 m.
2025-08-22T17:21:40.541Z,1755883300.541 [DAT](INFO): DAT read: 17:21:40.4651 LVL= 29424, 29889, 20706, 32755, AGC= 49, IDX= 419, 0.18,-0.776,-2.281,-0.208,-0.674, PHS= 0.001,-1.562, 0.422, RAW= 161.6,  12.5, CAL= 162.0,  14.3, ROT= 348.0, -14.3

2025-08-22T17:21:40.543Z,1755883300.543 [DAT](INFO): got valid direction response:
 17:21:40.4651 LVL= 29424, 29889, 20706, 32755, AGC= 49, IDX= 419, 0.18,-0.776,-2.281,-0.208,-0.674, PHS= 0.001,-1.562, 0.422, RAW= 161.6,  12.5, CAL= 162.0,  14.3, ROT= 348.0, -14.3

2025-08-22T17:21:40.544Z,1755883300.544 [DAT](INFO): DAT read: Bearing 155.6,  -9.2 (Local)

2025-08-22T17:21:40.544Z,1755883300.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.6,  -9.2 (Local)

2025-08-22T17:21:40.546Z,1755883300.546 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m  (Round-trip  25.6 ms) speed  0.4 m/s

2025-08-22T17:21:40.547Z,1755883300.547 [DAT](INFO): DAT read: user:644>

2025-08-22T17:21:40.548Z,1755883300.548 [DAT](INFO): DAT read: Tx time:17:21:41.5853

2025-08-22T17:21:40.549Z,1755883300.549 [DAT](INFO): Ping request sent.
2025-08-22T17:21:40.549Z,1755883300.549 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:40.551Z,1755883300.551 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T17:21:40.552Z,1755883300.552 [DAT](INFO): direction in FSK: [0.947840,-0.201470,0.246999]
2025-08-22T17:21:40.553Z,1755883300.553 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:40.553Z,1755883300.553 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:40.558Z,1755883300.558 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:40.558Z,1755883300.558 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:40.573Z,1755883300.573 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.024147
2025-08-22T17:21:40.787Z,1755883300.787 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.237899
2025-08-22T17:21:41.013Z,1755883301.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 3.527909 s,
      deltaX: -1.799999 m,
      approachRate: -0.510217 m/s,
      rangeRepo size: 4

2025-08-22T17:21:41.019Z,1755883301.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.077019 m,
      bearing: 325.158719 deg,
      lat: 36.779508 deg,
      lon: -121.859641 deg,
      deltaT: 3.527909 s,
      deltaX: -1.788485 m,
      approachRate: -0.506953 m/s,
      posRepo size: 4

2025-08-22T17:21:41.020Z,1755883301.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:41.027Z,1755883301.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 18.286507 m,
      bearing: 325.975246 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044959 deg/s,
      cmd heading: 336.389057 deg,
      new cmd heading: 336.343586 deg.

2025-08-22T17:21:41.027Z,1755883301.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870303 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:41.039Z,1755883301.039 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.489595
2025-08-22T17:21:41.291Z,1755883301.291 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.741598
2025-08-22T17:21:41.318Z,1755883301.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:41.321Z,1755883301.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 18.129978 m,
      bearing: 325.950662 deg,
      approach rate: -0.511722 m/s,
      LOS rate: -0.081065 deg/s,
      cmd heading: 336.343595 deg,
      new cmd heading: 336.294002 deg.

2025-08-22T17:21:41.322Z,1755883301.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869438 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:41.543Z,1755883301.543 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.993443
2025-08-22T17:21:41.704Z,1755883301.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:41.723Z,1755883301.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 17.945414 m,
      bearing: 325.920856 deg,
      approach rate: -0.478025 m/s,
      LOS rate: -0.077992 deg/s,
      cmd heading: 336.294008 deg,
      new cmd heading: 336.233783 deg.

2025-08-22T17:21:41.724Z,1755883301.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868387 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:41.795Z,1755883301.795 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.245883
2025-08-22T17:21:42.046Z,1755883302.046 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.497393
2025-08-22T17:21:42.132Z,1755883302.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:42.135Z,1755883302.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 17.732742 m,
      bearing: 325.882672 deg,
      approach rate: -0.496269 m/s,
      LOS rate: -0.090171 deg/s,
      cmd heading: 336.233793 deg,
      new cmd heading: 336.156509 deg.

2025-08-22T17:21:42.136Z,1755883302.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867038 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:42.279Z,1755883302.279 [CTD_Seabird](ERROR): Failed to parse device response: ,10.2192,3.72590,2348.73
2025-08-22T17:21:42.298Z,1755883302.298 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.749438
2025-08-22T17:21:42.516Z,1755883302.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:42.519Z,1755883302.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:42.522Z,1755883302.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 17.541397 m,
      bearing: 325.847694 deg,
      approach rate: -0.495200 m/s,
      LOS rate: -0.091511 deg/s,
      cmd heading: 336.156503 deg,
      new cmd heading: 336.085783 deg.

2025-08-22T17:21:42.523Z,1755883302.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865804 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:42.551Z,1755883302.551 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.001783
2025-08-22T17:21:42.803Z,1755883302.803 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.253532
2025-08-22T17:21:43.011Z,1755883303.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:43.014Z,1755883303.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 17.298399 m,
      bearing: 325.788958 deg,
      approach rate: -0.493742 m/s,
      LOS rate: -0.121021 deg/s,
      cmd heading: 336.085797 deg,
      new cmd heading: 335.966674 deg.

2025-08-22T17:21:43.015Z,1755883303.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863725 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:43.055Z,1755883303.055 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.505585
2025-08-22T17:21:43.310Z,1755883303.310 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760985
2025-08-22T17:21:43.385Z,1755883303.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:43.388Z,1755883303.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 17.113983 m,
      bearing: 325.743541 deg,
      approach rate: -0.492693 m/s,
      LOS rate: -0.122645 deg/s,
      cmd heading: 335.966678 deg,
      new cmd heading: 335.874866 deg.

2025-08-22T17:21:43.389Z,1755883303.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862122 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:43.559Z,1755883303.559 [DAT](INFO): DAT read: Rx Time:17:21:44.0127

2025-08-22T17:21:43.559Z,1755883303.559 [DAT](INFO): Rx dataTimestamp_ set to:1755883303.558752
2025-08-22T17:21:43.560Z,1755883303.560 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.010556
2025-08-22T17:21:43.807Z,1755883303.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m.
2025-08-22T17:21:43.811Z,1755883303.811 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.261582
2025-08-22T17:21:43.814Z,1755883303.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.077019 m,
      nav range: 16.909790 m,
      bearing: 325.692774 deg,
      approach rate: -0.484623 m/s,
      LOS rate: -0.121942 deg/s,
      cmd heading: 335.874853 deg,
      new cmd heading: 335.772094 deg.

2025-08-22T17:21:43.815Z,1755883303.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860329 target range: 19.077019 and range: 19.20 m.
2025-08-22T17:21:44.068Z,1755883304.068 [DAT](INFO): DAT read: 17:21:44.0127 LVL= 27632, 32753, 22514, 32755, AGC= 52, IDX= 412, 0.04, 2.923, 1.395,-2.768, 3.016, PHS= 0.010,-1.576, 0.455, RAW= 162.0,  12.0, CAL= 162.3,  13.6, ROT= 347.7, -13.6

2025-08-22T17:21:44.070Z,1755883304.070 [DAT](INFO): got valid direction response:
 17:21:44.0127 LVL= 27632, 32753, 22514, 32755, AGC= 52, IDX= 412, 0.04, 2.923, 1.395,-2.768, 3.016, PHS= 0.010,-1.576, 0.455, RAW= 162.0,  12.0, CAL= 162.3,  13.6, ROT= 347.7, -13.6

2025-08-22T17:21:44.071Z,1755883304.071 [DAT](INFO): DAT read: Bearing 154.6,  -9.9 (Local)

2025-08-22T17:21:44.071Z,1755883304.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.6,  -9.9 (Local)

2025-08-22T17:21:44.074Z,1755883304.074 [DAT](INFO): DAT read: Range 11 to 50 : 17.5 m  (Round-trip  23.4 ms) speed  0.4 m/s

2025-08-22T17:21:44.077Z,1755883304.077 [DAT](INFO): DAT read: user:645>

2025-08-22T17:21:44.082Z,1755883304.082 [DAT](INFO): DAT read: Tx time:17:21:45.1352

2025-08-22T17:21:44.083Z,1755883304.083 [DAT](INFO): Ping request sent.
2025-08-22T17:21:44.083Z,1755883304.083 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:44.083Z,1755883304.083 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T17:21:44.085Z,1755883304.085 [DAT](INFO): direction in FSK: [0.949650,-0.207057,0.235142]
2025-08-22T17:21:44.085Z,1755883304.085 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:44.086Z,1755883304.086 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:44.091Z,1755883304.091 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:44.092Z,1755883304.092 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:44.097Z,1755883304.097 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.013922
2025-08-22T17:21:44.315Z,1755883304.315 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.231657
2025-08-22T17:21:44.327Z,1755883304.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.500000 m,
      deltaT: 3.528432 s,
      deltaX: -1.700001 m,
      approachRate: -0.481801 m/s,
      rangeRepo size: 4

2025-08-22T17:21:44.334Z,1755883304.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.387793 m,
      bearing: 324.865561 deg,
      lat: 36.779508 deg,
      lon: -121.859642 deg,
      deltaT: 3.528432 s,
      deltaX: -1.689226 m,
      approachRate: -0.478747 m/s,
      posRepo size: 4

2025-08-22T17:21:44.334Z,1755883304.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:44.342Z,1755883304.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 16.724932 m,
      bearing: 325.325368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.121942 deg/s,
      cmd heading: 335.772100 deg,
      new cmd heading: 335.645255 deg.

2025-08-22T17:21:44.343Z,1755883304.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858115 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:44.569Z,1755883304.569 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.485764
2025-08-22T17:21:44.663Z,1755883304.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:44.665Z,1755883304.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:44.668Z,1755883304.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 16.550554 m,
      bearing: 325.279671 deg,
      approach rate: -0.515447 m/s,
      LOS rate: -0.136498 deg/s,
      cmd heading: 335.645249 deg,
      new cmd heading: 335.552894 deg.

2025-08-22T17:21:44.669Z,1755883304.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856503 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:44.818Z,1755883304.818 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.735418
2025-08-22T17:21:45.071Z,1755883305.071 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.987603
2025-08-22T17:21:45.104Z,1755883305.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:45.107Z,1755883305.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 16.336258 m,
      bearing: 325.245570 deg,
      approach rate: -0.488448 m/s,
      LOS rate: -0.078746 deg/s,
      cmd heading: 335.552905 deg,
      new cmd heading: 335.483809 deg.

2025-08-22T17:21:45.108Z,1755883305.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855297 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:45.323Z,1755883305.323 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.239500
2025-08-22T17:21:45.546Z,1755883305.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:45.549Z,1755883305.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 16.120562 m,
      bearing: 325.210253 deg,
      approach rate: -0.488031 m/s,
      LOS rate: -0.080977 deg/s,
      cmd heading: 335.483811 deg,
      new cmd heading: 335.412232 deg.

2025-08-22T17:21:45.550Z,1755883305.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854048 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:45.575Z,1755883305.575 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.491978
2025-08-22T17:21:45.827Z,1755883305.827 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.743503
2025-08-22T17:21:45.909Z,1755883305.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:45.916Z,1755883305.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 15.948160 m,
      bearing: 325.181285 deg,
      approach rate: -0.475156 m/s,
      LOS rate: -0.080704 deg/s,
      cmd heading: 335.412231 deg,
      new cmd heading: 335.353667 deg.

2025-08-22T17:21:45.928Z,1755883305.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853025 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:46.081Z,1755883306.081 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.997594
2025-08-22T17:21:46.331Z,1755883306.331 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.247588
2025-08-22T17:21:46.339Z,1755883306.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:46.342Z,1755883306.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 15.734321 m,
      bearing: 325.161523 deg,
      approach rate: -0.496286 m/s,
      LOS rate: -0.046488 deg/s,
      cmd heading: 335.353655 deg,
      new cmd heading: 335.313594 deg.

2025-08-22T17:21:46.343Z,1755883306.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852326 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:46.583Z,1755883306.583 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.499484
2025-08-22T17:21:46.680Z,1755883306.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:46.683Z,1755883306.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:46.686Z,1755883306.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 15.566192 m,
      bearing: 325.146176 deg,
      approach rate: -0.489762 m/s,
      LOS rate: -0.045188 deg/s,
      cmd heading: 335.313603 deg,
      new cmd heading: 335.282578 deg.

2025-08-22T17:21:46.687Z,1755883306.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851785 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:46.835Z,1755883306.835 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.751460
2025-08-22T17:21:47.086Z,1755883307.086 [DAT](INFO): DAT read: Rx Time:17:21:47.5605

2025-08-22T17:21:47.087Z,1755883307.087 [DAT](INFO): Rx dataTimestamp_ set to:1755883307.086646
2025-08-22T17:21:47.087Z,1755883307.087 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.004431
2025-08-22T17:21:47.164Z,1755883307.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:47.177Z,1755883307.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 15.339390 m,
      bearing: 325.140303 deg,
      approach rate: -0.471414 m/s,
      LOS rate: -0.012388 deg/s,
      cmd heading: 335.282566 deg,
      new cmd heading: 335.270647 deg.

2025-08-22T17:21:47.179Z,1755883307.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851577 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:47.339Z,1755883307.339 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.255506
2025-08-22T17:21:47.531Z,1755883307.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.39 m.
2025-08-22T17:21:47.534Z,1755883307.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.387793 m,
      nav range: 15.150789 m,
      bearing: 325.135351 deg,
      approach rate: -0.513761 m/s,
      LOS rate: -0.013659 deg/s,
      cmd heading: 335.270654 deg,
      new cmd heading: 335.260626 deg.

2025-08-22T17:21:47.535Z,1755883307.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851402 target range: 17.387793 and range: 17.50 m.
2025-08-22T17:21:47.597Z,1755883307.597 [DAT](INFO): DAT read: 17:21:47.5605 LVL= 28784, 32177, 19954, 32755, AGC= 52, IDX= 421,-0.38,-1.742, 3.055,-1.126,-1.593, PHS=-0.047,-1.591, 0.423, RAW= 162.9,  13.2, CAL= 163.4,  15.4, ROT= 346.6, -15.4

2025-08-22T17:21:47.599Z,1755883307.599 [DAT](INFO): got valid direction response:
 17:21:47.5605 LVL= 28784, 32177, 19954, 32755, AGC= 52, IDX= 421,-0.38,-1.742, 3.055,-1.126,-1.593, PHS=-0.047,-1.591, 0.423, RAW= 162.9,  13.2, CAL= 163.4,  15.4, ROT= 346.6, -15.4

2025-08-22T17:21:47.599Z,1755883307.599 [DAT](INFO): DAT read: Bearing 156.1, -11.5 (Local)

2025-08-22T17:21:47.600Z,1755883307.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.1, -11.5 (Local)

2025-08-22T17:21:47.601Z,1755883307.601 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m  (Round-trip  21.1 ms) speed  0.4 m/s

2025-08-22T17:21:47.602Z,1755883307.602 [DAT](INFO): DAT read: user:646>

2025-08-22T17:21:47.603Z,1755883307.603 [DAT](INFO): DAT read: Tx time:17:21:48.6852

2025-08-22T17:21:47.603Z,1755883307.603 [DAT](INFO): Ping request sent.
2025-08-22T17:21:47.603Z,1755883307.603 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:47.603Z,1755883307.603 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T17:21:47.604Z,1755883307.604 [DAT](INFO): direction in FSK: [0.937849,-0.223427,0.265556]
2025-08-22T17:21:47.604Z,1755883307.604 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:47.605Z,1755883307.605 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:47.635Z,1755883307.635 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:47.635Z,1755883307.635 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:47.649Z,1755883307.649 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.045141
2025-08-22T17:21:47.843Z,1755883307.843 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.239528
2025-08-22T17:21:47.923Z,1755883307.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 3.528412 s,
      deltaX: -1.700000 m,
      approachRate: -0.481803 m/s,
      rangeRepo size: 4

2025-08-22T17:21:47.925Z,1755883307.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.698636 m,
      bearing: 323.530726 deg,
      lat: 36.779508 deg,
      lon: -121.859643 deg,
      deltaT: 3.528412 s,
      deltaX: -1.689157 m,
      approachRate: -0.478730 m/s,
      posRepo size: 4

2025-08-22T17:21:47.942Z,1755883307.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:47.944Z,1755883307.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 15.037094 m,
      bearing: 324.644963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013659 deg/s,
      cmd heading: 335.260628 deg,
      new cmd heading: 335.249960 deg.

2025-08-22T17:21:47.951Z,1755883307.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851216 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:48.095Z,1755883308.095 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.491607
2025-08-22T17:21:48.347Z,1755883308.347 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.743524
2025-08-22T17:21:48.362Z,1755883308.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:48.365Z,1755883308.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 14.813737 m,
      bearing: 324.633117 deg,
      approach rate: -0.507473 m/s,
      LOS rate: -0.027322 deg/s,
      cmd heading: 335.249973 deg,
      new cmd heading: 335.225922 deg.

2025-08-22T17:21:48.366Z,1755883308.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850796 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:48.599Z,1755883308.599 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.995943
2025-08-22T17:21:48.745Z,1755883308.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:48.749Z,1755883308.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:48.754Z,1755883308.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 14.622895 m,
      bearing: 324.622778 deg,
      approach rate: -0.492884 m/s,
      LOS rate: -0.027049 deg/s,
      cmd heading: 335.225930 deg,
      new cmd heading: 335.204984 deg.

2025-08-22T17:21:48.755Z,1755883308.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850430 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:48.852Z,1755883308.852 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.248847
2025-08-22T17:21:49.102Z,1755883309.102 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.499414
2025-08-22T17:21:49.173Z,1755883309.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:49.178Z,1755883309.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 14.407564 m,
      bearing: 324.616068 deg,
      approach rate: -0.507970 m/s,
      LOS rate: -0.016066 deg/s,
      cmd heading: 335.204975 deg,
      new cmd heading: 335.191355 deg.

2025-08-22T17:21:49.179Z,1755883309.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850193 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:49.355Z,1755883309.355 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.751482
2025-08-22T17:21:49.552Z,1755883309.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:49.556Z,1755883309.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 14.213873 m,
      bearing: 324.610206 deg,
      approach rate: -0.510209 m/s,
      LOS rate: -0.015652 deg/s,
      cmd heading: 335.191342 deg,
      new cmd heading: 335.179458 deg.

2025-08-22T17:21:49.557Z,1755883309.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849985 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:49.608Z,1755883309.608 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.004461
2025-08-22T17:21:49.859Z,1755883309.859 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.255464
2025-08-22T17:21:49.939Z,1755883309.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:49.942Z,1755883309.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 14.018990 m,
      bearing: 324.604804 deg,
      approach rate: -0.503974 m/s,
      LOS rate: -0.014166 deg/s,
      cmd heading: 335.179458 deg,
      new cmd heading: 335.168502 deg.

2025-08-22T17:21:49.943Z,1755883309.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849794 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:50.111Z,1755883310.111 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.507761
2025-08-22T17:21:50.363Z,1755883310.363 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.759583
2025-08-22T17:21:50.399Z,1755883310.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:50.402Z,1755883310.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 13.795432 m,
      bearing: 324.610466 deg,
      approach rate: -0.485700 m/s,
      LOS rate: 0.012502 deg/s,
      cmd heading: 335.168502 deg,
      new cmd heading: 335.180011 deg.

2025-08-22T17:21:50.403Z,1755883310.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849995 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:50.615Z,1755883310.615 [DAT](INFO): DAT read: Rx Time:17:21:51.1082

2025-08-22T17:21:50.616Z,1755883310.616 [DAT](INFO): Rx dataTimestamp_ set to:1755883310.615688
2025-08-22T17:21:50.617Z,1755883310.617 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.013850
2025-08-22T17:21:50.769Z,1755883310.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:50.771Z,1755883310.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m.
2025-08-22T17:21:50.774Z,1755883310.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.698636 m,
      nav range: 13.615417 m,
      bearing: 324.615548 deg,
      approach rate: -0.484326 m/s,
      LOS rate: 0.013855 deg/s,
      cmd heading: 335.180004 deg,
      new cmd heading: 335.190303 deg.

2025-08-22T17:21:50.775Z,1755883310.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850174 target range: 15.698636 and range: 15.80 m.
2025-08-22T17:21:50.867Z,1755883310.867 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.263649
2025-08-22T17:21:51.132Z,1755883311.132 [DAT](INFO): DAT read: 17:21:51.1082 LVL= 31600, 32753, 21586, 32755, AGC= 48, IDX= 413, 0.10,-1.445,-2.914,-0.777,-1.250, PHS=-0.094,-1.619, 0.429, RAW= 164.2,  13.8, CAL= 164.7,  16.3, ROT= 345.3, -16.3

2025-08-22T17:21:51.133Z,1755883311.133 [DAT](INFO): got valid direction response:
 17:21:51.1082 LVL= 31600, 32753, 21586, 32755, AGC= 48, IDX= 413, 0.10,-1.445,-2.914,-0.777,-1.250, PHS=-0.094,-1.619, 0.429, RAW= 164.2,  13.8, CAL= 164.7,  16.3, ROT= 345.3, -16.3

2025-08-22T17:21:51.142Z,1755883311.142 [DAT](INFO): DAT read: Bearing 157.6, -13.4 (Local)

2025-08-22T17:21:51.142Z,1755883311.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6, -13.4 (Local)

2025-08-22T17:21:51.143Z,1755883311.143 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m  (Round-trip  18.8 ms) speed  0.4 m/s

2025-08-22T17:21:51.144Z,1755883311.144 [DAT](INFO): DAT read: user:647>

2025-08-22T17:21:51.145Z,1755883311.145 [DAT](INFO): DAT read: Tx time:17:21:52.2352

2025-08-22T17:21:51.145Z,1755883311.145 [DAT](INFO): Ping request sent.
2025-08-22T17:21:51.145Z,1755883311.145 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:51.146Z,1755883311.146 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T17:21:51.147Z,1755883311.147 [DAT](INFO): direction in FSK: [0.928389,-0.243558,0.280667]
2025-08-22T17:21:51.147Z,1755883311.147 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:51.147Z,1755883311.147 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:51.155Z,1755883311.155 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:51.155Z,1755883311.155 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:51.165Z,1755883311.165 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.019386
2025-08-22T17:21:51.298Z,1755883311.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 3.527219 s,
      deltaX: -1.700000 m,
      approachRate: -0.481966 m/s,
      rangeRepo size: 4

2025-08-22T17:21:51.300Z,1755883311.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.009439 m,
      bearing: 322.102998 deg,
      lat: 36.779507 deg,
      lon: -121.859644 deg,
      deltaT: 3.527219 s,
      deltaX: -1.689197 m,
      approachRate: -0.478903 m/s,
      posRepo size: 4

2025-08-22T17:21:51.300Z,1755883311.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:51.307Z,1755883311.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 13.308703 m,
      bearing: 324.364629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013855 deg/s,
      cmd heading: 335.190304 deg,
      new cmd heading: 335.204761 deg.

2025-08-22T17:21:51.308Z,1755883311.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850427 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:51.371Z,1755883311.371 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.225400
2025-08-22T17:21:51.631Z,1755883311.631 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.485918
2025-08-22T17:21:51.663Z,1755883311.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:51.666Z,1755883311.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 13.112992 m,
      bearing: 324.338189 deg,
      approach rate: -0.528406 m/s,
      LOS rate: -0.072452 deg/s,
      cmd heading: 335.204757 deg,
      new cmd heading: 335.151087 deg.

2025-08-22T17:21:51.667Z,1755883311.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849490 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:51.883Z,1755883311.883 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.737613
2025-08-22T17:21:52.131Z,1755883312.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:52.135Z,1755883312.135 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.989405
2025-08-22T17:21:52.135Z,1755883312.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 12.872494 m,
      bearing: 324.286867 deg,
      approach rate: -0.514397 m/s,
      LOS rate: -0.111822 deg/s,
      cmd heading: 335.151099 deg,
      new cmd heading: 335.046537 deg.

2025-08-22T17:21:52.136Z,1755883312.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847665 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:52.387Z,1755883312.387 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.241493
2025-08-22T17:21:52.550Z,1755883312.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:52.553Z,1755883312.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 12.658377 m,
      bearing: 324.239532 deg,
      approach rate: -0.510475 m/s,
      LOS rate: -0.114761 deg/s,
      cmd heading: 335.046542 deg,
      new cmd heading: 334.950270 deg.

2025-08-22T17:21:52.554Z,1755883312.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845985 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:52.639Z,1755883312.639 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.493473
2025-08-22T17:21:52.891Z,1755883312.891 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.745368
2025-08-22T17:21:52.915Z,1755883312.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:52.917Z,1755883312.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:52.928Z,1755883312.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 12.468166 m,
      bearing: 324.197024 deg,
      approach rate: -0.518503 m/s,
      LOS rate: -0.117642 deg/s,
      cmd heading: 334.950264 deg,
      new cmd heading: 334.863951 deg.

2025-08-22T17:21:52.929Z,1755883312.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844479 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:53.142Z,1755883313.142 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.997231
2025-08-22T17:21:53.337Z,1755883313.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:53.340Z,1755883313.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 12.252521 m,
      bearing: 324.143055 deg,
      approach rate: -0.513276 m/s,
      LOS rate: -0.130716 deg/s,
      cmd heading: 334.863958 deg,
      new cmd heading: 334.754121 deg.

2025-08-22T17:21:53.341Z,1755883313.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842562 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:53.396Z,1755883313.396 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.250013
2025-08-22T17:21:53.646Z,1755883313.646 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.501240
2025-08-22T17:21:53.719Z,1755883313.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:53.724Z,1755883313.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 12.060067 m,
      bearing: 324.093993 deg,
      approach rate: -0.504310 m/s,
      LOS rate: -0.130617 deg/s,
      cmd heading: 334.754128 deg,
      new cmd heading: 334.654437 deg.

2025-08-22T17:21:53.726Z,1755883313.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840822 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:53.899Z,1755883313.899 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.753419
2025-08-22T17:21:54.151Z,1755883314.151 [DAT](INFO): DAT read: Rx Time:17:21:54.6558

2025-08-22T17:21:54.152Z,1755883314.152 [DAT](INFO): Rx dataTimestamp_ set to:1755883314.151077
2025-08-22T17:21:54.152Z,1755883314.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.007042
2025-08-22T17:21:54.182Z,1755883314.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:54.190Z,1755883314.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 11.840846 m,
      bearing: 324.023740 deg,
      approach rate: -0.499556 m/s,
      LOS rate: -0.163054 deg/s,
      cmd heading: 334.654435 deg,
      new cmd heading: 334.511328 deg.

2025-08-22T17:21:54.191Z,1755883314.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838324 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:54.402Z,1755883314.402 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.257256
2025-08-22T17:21:54.609Z,1755883314.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m.
2025-08-22T17:21:54.620Z,1755883314.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.009439 m,
      nav range: 11.613255 m,
      bearing: 323.948911 deg,
      approach rate: -0.503932 m/s,
      LOS rate: -0.168934 deg/s,
      cmd heading: 334.511329 deg,
      new cmd heading: 334.358738 deg.

2025-08-22T17:21:54.621Z,1755883314.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835661 target range: 14.009439 and range: 14.10 m.
2025-08-22T17:21:54.660Z,1755883314.660 [DAT](INFO): DAT read: 17:21:54.6558 LVL= 28656, 32753, 19186, 32755, AGC= 50, IDX= 421,-0.14,-1.737, 3.097,-1.020,-1.512, PHS=-0.123,-1.629, 0.448, RAW= 165.4,  13.9, CAL= 165.9,  16.6, ROT= 344.1, -16.6

2025-08-22T17:21:54.661Z,1755883314.661 [DAT](INFO): got valid direction response:
 17:21:54.6558 LVL= 28656, 32753, 19186, 32755, AGC= 50, IDX= 421,-0.14,-1.737, 3.097,-1.020,-1.512, PHS=-0.123,-1.629, 0.448, RAW= 165.4,  13.9, CAL= 165.9,  16.6, ROT= 344.1, -16.6

2025-08-22T17:21:54.662Z,1755883314.662 [DAT](INFO): DAT read: Bearing 157.8, -15.1 (Local)

2025-08-22T17:21:54.662Z,1755883314.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8, -15.1 (Local)

2025-08-22T17:21:54.664Z,1755883314.664 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m  (Round-trip  16.5 ms) speed  0.4 m/s

2025-08-22T17:21:54.664Z,1755883314.664 [DAT](INFO): DAT read: user:648>

2025-08-22T17:21:54.665Z,1755883314.665 [DAT](INFO): DAT read: Tx time:17:21:55.7852

2025-08-22T17:21:54.666Z,1755883314.666 [DAT](INFO): Ping request sent.
2025-08-22T17:21:54.666Z,1755883314.666 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:54.666Z,1755883314.666 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T17:21:54.667Z,1755883314.667 [DAT](INFO): direction in FSK: [0.921658,-0.262541,0.285688]
2025-08-22T17:21:54.667Z,1755883314.667 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:54.667Z,1755883314.667 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:54.671Z,1755883314.671 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:54.671Z,1755883314.671 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:54.674Z,1755883314.674 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.008390
2025-08-22T17:21:54.907Z,1755883314.907 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.241330
2025-08-22T17:21:55.001Z,1755883315.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 3.535985 s,
      deltaX: -1.800000 m,
      approachRate: -0.509052 m/s,
      rangeRepo size: 4

2025-08-22T17:21:55.003Z,1755883315.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.220951 m,
      bearing: 320.505082 deg,
      lat: 36.779507 deg,
      lon: -121.859647 deg,
      deltaT: 3.535985 s,
      deltaX: -1.788488 m,
      approachRate: -0.505796 m/s,
      posRepo size: 4

2025-08-22T17:21:55.004Z,1755883315.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:55.015Z,1755883315.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 11.572144 m,
      bearing: 322.699137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168934 deg/s,
      cmd heading: 334.358742 deg,
      new cmd heading: 334.226567 deg.

2025-08-22T17:21:55.016Z,1755883315.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833354 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:55.159Z,1755883315.159 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.493748
2025-08-22T17:21:55.411Z,1755883315.411 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.744916
2025-08-22T17:21:55.415Z,1755883315.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:55.417Z,1755883315.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:55.424Z,1755883315.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 11.350934 m,
      bearing: 322.570248 deg,
      approach rate: -0.530916 m/s,
      LOS rate: -0.315369 deg/s,
      cmd heading: 334.226564 deg,
      new cmd heading: 333.963765 deg.

2025-08-22T17:21:55.425Z,1755883315.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828767 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:55.663Z,1755883315.663 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.996815
2025-08-22T17:21:55.787Z,1755883315.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:55.790Z,1755883315.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 11.169789 m,
      bearing: 322.461940 deg,
      approach rate: -0.489633 m/s,
      LOS rate: -0.297504 deg/s,
      cmd heading: 333.963766 deg,
      new cmd heading: 333.743638 deg.

2025-08-22T17:21:55.791Z,1755883315.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824925 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:55.915Z,1755883315.915 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.249349
2025-08-22T17:21:56.167Z,1755883316.167 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.501325
2025-08-22T17:21:56.256Z,1755883316.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:56.259Z,1755883316.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 10.929750 m,
      bearing: 322.327216 deg,
      approach rate: -0.511663 m/s,
      LOS rate: -0.293483 deg/s,
      cmd heading: 333.743643 deg,
      new cmd heading: 333.468278 deg.

2025-08-22T17:21:56.260Z,1755883316.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820119 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:56.419Z,1755883316.419 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.753000
2025-08-22T17:21:56.581Z,1755883316.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:56.612Z,1755883316.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 10.767424 m,
      bearing: 322.233537 deg,
      approach rate: -0.499280 m/s,
      LOS rate: -0.292476 deg/s,
      cmd heading: 333.468277 deg,
      new cmd heading: 333.278097 deg.

2025-08-22T17:21:56.613Z,1755883316.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816800 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:56.672Z,1755883316.672 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.005504
2025-08-22T17:21:56.923Z,1755883316.923 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.256865
2025-08-22T17:21:57.016Z,1755883317.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:57.019Z,1755883317.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 10.565806 m,
      bearing: 322.113671 deg,
      approach rate: -0.464188 m/s,
      LOS rate: -0.281236 deg/s,
      cmd heading: 333.278097 deg,
      new cmd heading: 333.033792 deg.

2025-08-22T17:21:57.020Z,1755883317.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812536 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:57.175Z,1755883317.175 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.509477
2025-08-22T17:21:57.427Z,1755883317.427 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.760920
2025-08-22T17:21:57.439Z,1755883317.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:57.441Z,1755883317.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:57.448Z,1755883317.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 10.345789 m,
      bearing: 321.997964 deg,
      approach rate: -0.517460 m/s,
      LOS rate: -0.277918 deg/s,
      cmd heading: 333.033795 deg,
      new cmd heading: 332.797462 deg.

2025-08-22T17:21:57.451Z,1755883317.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808412 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:57.680Z,1755883317.680 [DAT](INFO): DAT read: Rx Time:17:21:58.2033

2025-08-22T17:21:57.680Z,1755883317.680 [DAT](INFO): Rx dataTimestamp_ set to:1755883317.679714
2025-08-22T17:21:57.681Z,1755883317.681 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.015236
2025-08-22T17:21:57.788Z,1755883317.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m.
2025-08-22T17:21:57.791Z,1755883317.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.220951 m,
      nav range: 10.170094 m,
      bearing: 321.902948 deg,
      approach rate: -0.505439 m/s,
      LOS rate: -0.278065 deg/s,
      cmd heading: 332.797470 deg,
      new cmd heading: 332.604156 deg.

2025-08-22T17:21:57.792Z,1755883317.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805037 target range: 12.220951 and range: 12.30 m.
2025-08-22T17:21:57.931Z,1755883317.931 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.265340
2025-08-22T17:21:58.190Z,1755883318.190 [DAT](INFO): DAT read: 17:21:58.2033 LVL= 30064, 29249, 20626, 32755, AGC= 49, IDX= 413,-0.44, 0.612,-0.868, 1.370, 0.884, PHS=-0.170,-1.708, 0.441, RAW= 166.0,  14.8, CAL= 166.6,  17.9, ROT= 343.4, -17.9

2025-08-22T17:21:58.191Z,1755883318.191 [DAT](INFO): got valid direction response:
 17:21:58.2033 LVL= 30064, 29249, 20626, 32755, AGC= 49, IDX= 413,-0.44, 0.612,-0.868, 1.370, 0.884, PHS=-0.170,-1.708, 0.441, RAW= 166.0,  14.8, CAL= 166.6,  17.9, ROT= 343.4, -17.9

2025-08-22T17:21:58.192Z,1755883318.192 [DAT](INFO): DAT read: Bearing 159.0, -16.0 (Local)

2025-08-22T17:21:58.192Z,1755883318.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.0, -16.0 (Local)

2025-08-22T17:21:58.231Z,1755883318.231 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m  (Round-trip  14.0 ms) speed  0.4 m/s

2025-08-22T17:21:58.237Z,1755883318.237 [DAT](INFO): DAT read: user:649>

2025-08-22T17:21:58.258Z,1755883318.258 [DAT](INFO): DAT read: Tx time:17:21:59.2851

2025-08-22T17:21:58.258Z,1755883318.258 [DAT](INFO): Ping request sent.
2025-08-22T17:21:58.258Z,1755883318.258 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:21:58.259Z,1755883318.259 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T17:21:58.260Z,1755883318.260 [DAT](INFO): direction in FSK: [0.911934,-0.271859,0.307357]
2025-08-22T17:21:58.260Z,1755883318.260 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:58.260Z,1755883318.260 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:58.276Z,1755883318.276 [DAT](INFO): publishing transmit ping time
2025-08-22T17:21:58.276Z,1755883318.276 [DAT](INFO): publishing direction and range info
2025-08-22T17:21:58.288Z,1755883318.288 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.029790
2025-08-22T17:21:58.362Z,1755883318.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 3.528374 s,
      deltaX: -1.800000 m,
      approachRate: -0.510150 m/s,
      rangeRepo size: 4

2025-08-22T17:21:58.364Z,1755883318.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.432525 m,
      bearing: 319.513123 deg,
      lat: 36.779506 deg,
      lon: -121.859649 deg,
      deltaT: 3.528374 s,
      deltaX: -1.788426 m,
      approachRate: -0.506870 m/s,
      posRepo size: 4

2025-08-22T17:21:58.365Z,1755883318.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:21:58.372Z,1755883318.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 9.961123 m,
      bearing: 320.187307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.278065 deg/s,
      cmd heading: 332.604149 deg,
      new cmd heading: 332.292232 deg.

2025-08-22T17:21:58.373Z,1755883318.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799593 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:21:58.435Z,1755883318.435 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.176837
2025-08-22T17:21:58.687Z,1755883318.687 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.428172
2025-08-22T17:21:58.712Z,1755883318.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:21:58.717Z,1755883318.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 9.772675 m,
      bearing: 320.058744 deg,
      approach rate: -0.520245 m/s,
      LOS rate: -0.361763 deg/s,
      cmd heading: 332.292227 deg,
      new cmd heading: 332.030146 deg.

2025-08-22T17:21:58.720Z,1755883318.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795019 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:21:58.939Z,1755883318.939 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.680025
2025-08-22T17:21:59.110Z,1755883319.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:21:59.117Z,1755883319.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 9.568395 m,
      bearing: 319.915412 deg,
      approach rate: -0.512428 m/s,
      LOS rate: -0.367219 deg/s,
      cmd heading: 332.030139 deg,
      new cmd heading: 331.737357 deg.

2025-08-22T17:21:59.136Z,1755883319.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789909 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:21:59.193Z,1755883319.193 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.934282
2025-08-22T17:21:59.443Z,1755883319.443 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.184265
2025-08-22T17:21:59.560Z,1755883319.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:21:59.562Z,1755883319.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:21:59.565Z,1755883319.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 9.350141 m,
      bearing: 319.780157 deg,
      approach rate: -0.482778 m/s,
      LOS rate: -0.306167 deg/s,
      cmd heading: 331.737370 deg,
      new cmd heading: 331.460549 deg.

2025-08-22T17:21:59.566Z,1755883319.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785078 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:21:59.695Z,1755883319.695 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.436149
2025-08-22T17:21:59.947Z,1755883319.947 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.688402
2025-08-22T17:21:59.952Z,1755883319.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:21:59.955Z,1755883319.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 9.162304 m,
      bearing: 319.660344 deg,
      approach rate: -0.481473 m/s,
      LOS rate: -0.313408 deg/s,
      cmd heading: 331.460556 deg,
      new cmd heading: 331.216019 deg.

2025-08-22T17:21:59.956Z,1755883319.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780810 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:22:00.200Z,1755883320.200 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.941544
2025-08-22T17:22:00.440Z,1755883320.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:22:00.443Z,1755883320.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 8.922714 m,
      bearing: 319.504234 deg,
      approach rate: -0.491480 m/s,
      LOS rate: -0.328833 deg/s,
      cmd heading: 331.216008 deg,
      new cmd heading: 330.895408 deg.

2025-08-22T17:22:00.444Z,1755883320.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775214 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:22:00.451Z,1755883320.451 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.192151
2025-08-22T17:22:00.704Z,1755883320.704 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.445338
2025-08-22T17:22:00.820Z,1755883320.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:22:00.827Z,1755883320.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 8.738473 m,
      bearing: 319.379733 deg,
      approach rate: -0.484580 m/s,
      LOS rate: -0.334358 deg/s,
      cmd heading: 330.895399 deg,
      new cmd heading: 330.641150 deg.

2025-08-22T17:22:00.828Z,1755883320.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770777 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:22:00.955Z,1755883320.955 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.696108
2025-08-22T17:22:01.217Z,1755883321.217 [DAT](INFO): DAT read: Rx Time:17:22:01.7011

2025-08-22T17:22:01.219Z,1755883321.219 [DAT](INFO): Rx dataTimestamp_ set to:1755883321.217902
2025-08-22T17:22:01.221Z,1755883321.221 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.961824
2025-08-22T17:22:01.309Z,1755883321.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:22:01.312Z,1755883321.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 8.494628 m,
      bearing: 319.223864 deg,
      approach rate: -0.498964 m/s,
      LOS rate: -0.328100 deg/s,
      cmd heading: 330.641152 deg,
      new cmd heading: 330.320469 deg.

2025-08-22T17:22:01.313Z,1755883321.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765180 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:22:01.459Z,1755883321.459 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.200179
2025-08-22T17:22:01.672Z,1755883321.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:01.674Z,1755883321.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m.
2025-08-22T17:22:01.677Z,1755883321.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.432525 m,
      nav range: 8.313944 m,
      bearing: 319.105679 deg,
      approach rate: -0.494226 m/s,
      LOS rate: -0.330298 deg/s,
      cmd heading: 330.320461 deg,
      new cmd heading: 330.078955 deg.

2025-08-22T17:22:01.678Z,1755883321.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760964 target range: 10.432525 and range: 10.50 m.
2025-08-22T17:22:01.722Z,1755883321.722 [DAT](INFO): DAT read: 17:22:01.7011 LVL= 30000, 28065, 20354, 32755, AGC= 44, IDX= 422, 0.40, 2.310, 0.859, 3.091, 2.615, PHS=-0.203,-1.710, 0.432, RAW= 166.8,  15.4, CAL= 167.5,  18.8, ROT= 342.6, -18.8

2025-08-22T17:22:01.724Z,1755883321.724 [DAT](INFO): got valid direction response:
 17:22:01.7011 LVL= 30000, 28065, 20354, 32755, AGC= 44, IDX= 422, 0.40, 2.310, 0.859, 3.091, 2.615, PHS=-0.203,-1.710, 0.432, RAW= 166.8,  15.4, CAL= 167.5,  18.8, ROT= 342.6, -18.8

2025-08-22T17:22:01.725Z,1755883321.725 [DAT](INFO): DAT read: Bearing 159.5, -16.9 (Local)

2025-08-22T17:22:01.726Z,1755883321.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5, -16.9 (Local)

2025-08-22T17:22:01.728Z,1755883321.728 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m  (Round-trip  11.9 ms) speed  0.4 m/s

2025-08-22T17:22:01.730Z,1755883321.730 [DAT](INFO): DAT read: user:650>

2025-08-22T17:22:01.731Z,1755883321.731 [DAT](INFO): DAT read: Tx time:17:22:02.7851

2025-08-22T17:22:01.731Z,1755883321.731 [DAT](INFO): Ping request sent.
2025-08-22T17:22:01.731Z,1755883321.731 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:01.732Z,1755883321.732 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T17:22:01.733Z,1755883321.733 [DAT](INFO): direction in FSK: [0.903331,-0.283087,0.322266]
2025-08-22T17:22:01.742Z,1755883321.742 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:01.742Z,1755883321.742 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:01.752Z,1755883321.752 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:01.752Z,1755883321.752 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:01.756Z,1755883321.756 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.024469
2025-08-22T17:22:01.963Z,1755883321.963 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.231479
2025-08-22T17:22:02.131Z,1755883322.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 3.528448 s,
      deltaX: -1.600000 m,
      approachRate: -0.453457 m/s,
      rangeRepo size: 4

2025-08-22T17:22:02.166Z,1755883322.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.842813 m,
      bearing: 318.051016 deg,
      lat: 36.779506 deg,
      lon: -121.859651 deg,
      deltaT: 3.528448 s,
      deltaX: -1.589711 m,
      approachRate: -0.450541 m/s,
      posRepo size: 4

2025-08-22T17:22:02.168Z,1755883322.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m.
2025-08-22T17:22:02.175Z,1755883322.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.90 m.
2025-08-22T17:22:02.175Z,1755883322.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T17:22:02.198Z,1755883322.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 8.164474 m,
      bearing: 318.355123 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.330298 deg/s,
      cmd heading: 330.078946 deg,
      new cmd heading: 329.777478 deg.

2025-08-22T17:22:02.207Z,1755883322.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755703 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:02.218Z,1755883322.218 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.486511
2025-08-22T17:22:02.467Z,1755883322.467 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.736034
2025-08-22T17:22:02.603Z,1755883322.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:02.607Z,1755883322.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 7.931825 m,
      bearing: 318.200336 deg,
      approach rate: -0.492460 m/s,
      LOS rate: -0.337255 deg/s,
      cmd heading: 329.777488 deg,
      new cmd heading: 329.458838 deg.

2025-08-22T17:22:02.608Z,1755883322.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750142 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:02.722Z,1755883322.722 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.989820
2025-08-22T17:22:02.971Z,1755883322.971 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.239374
2025-08-22T17:22:02.974Z,1755883322.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:02.977Z,1755883322.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 7.747427 m,
      bearing: 318.075195 deg,
      approach rate: -0.497119 m/s,
      LOS rate: -0.345398 deg/s,
      cmd heading: 329.458846 deg,
      new cmd heading: 329.202609 deg.

2025-08-22T17:22:02.978Z,1755883322.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745669 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:03.226Z,1755883323.226 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.494057
2025-08-22T17:22:03.412Z,1755883323.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:03.415Z,1755883323.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 7.533324 m,
      bearing: 317.931415 deg,
      approach rate: -0.489476 m/s,
      LOS rate: -0.338047 deg/s,
      cmd heading: 329.202605 deg,
      new cmd heading: 328.906876 deg.

2025-08-22T17:22:03.416Z,1755883323.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740508 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:03.475Z,1755883323.475 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.743527
2025-08-22T17:22:03.727Z,1755883323.727 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.995591
2025-08-22T17:22:03.789Z,1755883323.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:03.791Z,1755883323.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:03.794Z,1755883323.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 7.348475 m,
      bearing: 317.805257 deg,
      approach rate: -0.487193 m/s,
      LOS rate: -0.340869 deg/s,
      cmd heading: 328.906885 deg,
      new cmd heading: 328.648224 deg.

2025-08-22T17:22:03.795Z,1755883323.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735993 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:03.982Z,1755883323.982 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.250962
2025-08-22T17:22:04.236Z,1755883324.236 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.503785
2025-08-22T17:22:04.261Z,1755883324.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:04.268Z,1755883324.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 7.150662 m,
      bearing: 317.668783 deg,
      approach rate: -0.421173 m/s,
      LOS rate: -0.298613 deg/s,
      cmd heading: 328.648212 deg,
      new cmd heading: 328.367715 deg.

2025-08-22T17:22:04.269Z,1755883324.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731098 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:04.491Z,1755883324.491 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.758933
2025-08-22T17:22:04.648Z,1755883324.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:04.655Z,1755883324.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 6.925015 m,
      bearing: 317.478768 deg,
      approach rate: -0.583165 m/s,
      LOS rate: -0.507077 deg/s,
      cmd heading: 328.367710 deg,
      new cmd heading: 327.975304 deg.

2025-08-22T17:22:04.656Z,1755883324.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724249 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:04.740Z,1755883324.740 [DAT](INFO): DAT read: Rx Time:17:22:05.1989

2025-08-22T17:22:04.741Z,1755883324.741 [DAT](INFO): Rx dataTimestamp_ set to:1755883324.740603
2025-08-22T17:22:04.742Z,1755883324.742 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.010683
2025-08-22T17:22:04.991Z,1755883324.991 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.259406
2025-08-22T17:22:05.002Z,1755883325.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:05.005Z,1755883325.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 6.740325 m,
      bearing: 317.325486 deg,
      approach rate: -0.520702 m/s,
      LOS rate: -0.443992 deg/s,
      cmd heading: 327.975302 deg,
      new cmd heading: 327.660342 deg.

2025-08-22T17:22:05.006Z,1755883325.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718752 target range: 8.842813 and range: 8.90 m.
2025-08-22T17:22:05.264Z,1755883325.264 [DAT](INFO): DAT read: 17:22:05.1989 LVL= 32752, 28145, 20722, 32755, AGC= 46, IDX= 414, 0.32, 2.767, 1.254,-2.732, 3.074, PHS=-0.205,-1.775, 0.433, RAW= 166.3,  15.5, CAL= 167.0,  19.0, ROT= 343.0, -19.0

2025-08-22T17:22:05.268Z,1755883325.268 [DAT](INFO): got valid direction response:
 17:22:05.1989 LVL= 32752, 28145, 20722, 32755, AGC= 46, IDX= 414, 0.32, 2.767, 1.254,-2.732, 3.074, PHS=-0.205,-1.775, 0.433, RAW= 166.3,  15.5, CAL= 167.0,  19.0, ROT= 343.0, -19.0

2025-08-22T17:22:05.271Z,1755883325.271 [DAT](INFO): DAT read: Bearing 158.3, -16.7 (Local)

2025-08-22T17:22:05.273Z,1755883325.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.3, -16.7 (Local)

2025-08-22T17:22:05.277Z,1755883325.277 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m  (Round-trip  9.6 ms) speed  0.4 m/s

2025-08-22T17:22:05.281Z,1755883325.281 [DAT](INFO): DAT read: user:651>

2025-08-22T17:22:05.283Z,1755883325.283 [DAT](INFO): DAT read: Tx time:17:22:06.2851

2025-08-22T17:22:05.284Z,1755883325.284 [DAT](INFO): Ping request sent.
2025-08-22T17:22:05.284Z,1755883325.284 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:05.284Z,1755883325.284 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T17:22:05.285Z,1755883325.285 [DAT](INFO): direction in FSK: [0.904204,-0.276443,0.325568]
2025-08-22T17:22:05.286Z,1755883325.286 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:05.286Z,1755883325.286 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:05.290Z,1755883325.290 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:05.290Z,1755883325.290 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:05.299Z,1755883325.299 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.014710
2025-08-22T17:22:05.495Z,1755883325.495 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.210587
2025-08-22T17:22:05.496Z,1755883325.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 3.532543 s,
      deltaX: -1.700000 m,
      approachRate: -0.481240 m/s,
      rangeRepo size: 4

2025-08-22T17:22:05.506Z,1755883325.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.153691 m,
      bearing: 316.971791 deg,
      lat: 36.779506 deg,
      lon: -121.859652 deg,
      deltaT: 3.532543 s,
      deltaX: -1.689122 m,
      approachRate: -0.478160 m/s,
      posRepo size: 4

2025-08-22T17:22:05.507Z,1755883325.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.15 m. 8.84 m.
2025-08-22T17:22:05.522Z,1755883325.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 6.523860 m,
      bearing: 317.149225 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.330298 deg/s,
      cmd heading: 327.660348 deg,
      new cmd heading: 327.338342 deg.

2025-08-22T17:22:05.523Z,1755883325.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713132 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:05.747Z,1755883325.747 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.463138
2025-08-22T17:22:05.999Z,1755883325.999 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.714954
2025-08-22T17:22:06.072Z,1755883326.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:06.075Z,1755883326.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:06.078Z,1755883326.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 6.226056 m,
      bearing: 316.896357 deg,
      approach rate: -0.509034 m/s,
      LOS rate: -0.452899 deg/s,
      cmd heading: 327.338346 deg,
      new cmd heading: 326.808435 deg.

2025-08-22T17:22:06.078Z,1755883326.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703883 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:06.253Z,1755883326.253 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.968606
2025-08-22T17:22:06.503Z,1755883326.503 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.218664
2025-08-22T17:22:06.588Z,1755883326.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:06.595Z,1755883326.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 5.976934 m,
      bearing: 316.635470 deg,
      approach rate: -0.485249 m/s,
      LOS rate: -0.529344 deg/s,
      cmd heading: 326.808433 deg,
      new cmd heading: 326.264930 deg.

2025-08-22T17:22:06.596Z,1755883326.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694397 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:06.755Z,1755883326.755 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.470632
2025-08-22T17:22:06.770Z,1755883326.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:22:07.007Z,1755883327.007 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.722664
2025-08-22T17:22:07.068Z,1755883327.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:07.071Z,1755883327.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 5.729023 m,
      bearing: 316.362342 deg,
      approach rate: -0.516400 m/s,
      LOS rate: -0.593544 deg/s,
      cmd heading: 326.264941 deg,
      new cmd heading: 325.695067 deg.

2025-08-22T17:22:07.072Z,1755883327.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684451 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:07.261Z,1755883327.261 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.976447
2025-08-22T17:22:07.498Z,1755883327.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:07.501Z,1755883327.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 5.511951 m,
      bearing: 316.134454 deg,
      approach rate: -0.505565 m/s,
      LOS rate: -0.551656 deg/s,
      cmd heading: 325.695057 deg,
      new cmd heading: 325.221344 deg.

2025-08-22T17:22:07.502Z,1755883327.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676183 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:07.511Z,1755883327.511 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.226634
2025-08-22T17:22:07.763Z,1755883327.763 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.478545
2025-08-22T17:22:07.774Z,1755883327.774 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:22:07.867Z,1755883327.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:07.869Z,1755883327.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 5.332186 m,
      bearing: 315.939286 deg,
      approach rate: -0.487414 m/s,
      LOS rate: -0.547018 deg/s,
      cmd heading: 325.221342 deg,
      new cmd heading: 324.817854 deg.

2025-08-22T17:22:07.871Z,1755883327.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669141 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:08.015Z,1755883328.015 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.730552
2025-08-22T17:22:08.280Z,1755883328.280 [DAT](INFO): DAT read: Rx Time:17:22:08.6967

2025-08-22T17:22:08.281Z,1755883328.281 [DAT](INFO): Rx dataTimestamp_ set to:1755883328.280364
2025-08-22T17:22:08.283Z,1755883328.283 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.998862
2025-08-22T17:22:08.290Z,1755883328.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:08.319Z,1755883328.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:08.326Z,1755883328.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 5.128804 m,
      bearing: 315.710242 deg,
      approach rate: -0.449418 m/s,
      LOS rate: -0.526193 deg/s,
      cmd heading: 324.817842 deg,
      new cmd heading: 324.341602 deg.

2025-08-22T17:22:08.327Z,1755883328.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660829 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:08.527Z,1755883328.527 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.242593
2025-08-22T17:22:08.724Z,1755883328.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:08.731Z,1755883328.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 4.906602 m,
      bearing: 315.454121 deg,
      approach rate: -0.548857 m/s,
      LOS rate: -0.661289 deg/s,
      cmd heading: 324.341614 deg,
      new cmd heading: 323.806191 deg.

2025-08-22T17:22:08.732Z,1755883328.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651484 target range: 8.842813 and range: 7.20 m.
2025-08-22T17:22:08.784Z,1755883328.784 [DAT](INFO): DAT read: 17:22:08.6967 LVL= 25584, 28497, 27682, 32755, AGC= 44, IDX= 425,-0.19, 0.760,-0.864, 1.510, 1.030, PHS=-0.169,-1.849, 0.436, RAW= 164.8,  15.2, CAL= 165.5,  18.4, ROT= 344.5, -18.4

2025-08-22T17:22:08.787Z,1755883328.787 [DAT](INFO): got valid direction response:
 17:22:08.6967 LVL= 25584, 28497, 27682, 32755, AGC= 44, IDX= 425,-0.19, 0.760,-0.864, 1.510, 1.030, PHS=-0.169,-1.849, 0.436, RAW= 164.8,  15.2, CAL= 165.5,  18.4, ROT= 344.5, -18.4

2025-08-22T17:22:08.788Z,1755883328.788 [DAT](INFO): DAT read: Bearing 155.5, -15.8 (Local)

2025-08-22T17:22:08.788Z,1755883328.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5, -15.8 (Local)

2025-08-22T17:22:08.791Z,1755883328.791 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m  (Round-trip  7.5 ms) speed  0.4 m/s

2025-08-22T17:22:08.792Z,1755883328.792 [DAT](INFO): DAT read: user:652>

2025-08-22T17:22:08.793Z,1755883328.793 [DAT](INFO): DAT read: Tx time:17:22:09.7851

2025-08-22T17:22:08.793Z,1755883328.793 [DAT](INFO): Ping request sent.
2025-08-22T17:22:08.793Z,1755883328.793 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:08.794Z,1755883328.794 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T17:22:08.795Z,1755883328.795 [DAT](INFO): direction in FSK: [0.914366,-0.253576,0.315649]
2025-08-22T17:22:08.796Z,1755883328.796 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:08.796Z,1755883328.796 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:08.802Z,1755883328.802 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:08.803Z,1755883328.803 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:08.808Z,1755883328.808 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.014882
2025-08-22T17:22:09.031Z,1755883329.031 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.237560
2025-08-22T17:22:09.078Z,1755883329.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 3.534959 s,
      deltaX: -1.600000 m,
      approachRate: -0.452622 m/s,
      rangeRepo size: 4

2025-08-22T17:22:09.080Z,1755883329.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.563987 m,
      bearing: 316.537148 deg,
      lat: 36.779507 deg,
      lon: -121.859653 deg,
      deltaT: 7.067502 s,
      deltaX: -3.278826 m,
      approachRate: -0.463930 m/s,
      posRepo size: 4

2025-08-22T17:22:09.081Z,1755883329.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 8.84 m.
2025-08-22T17:22:09.084Z,1755883329.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 4.709134 m,
      bearing: 315.217254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.330298 deg/s,
      cmd heading: 323.806182 deg,
      new cmd heading: 323.572810 deg.

2025-08-22T17:22:09.085Z,1755883329.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647411 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:09.286Z,1755883329.286 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.492107
2025-08-22T17:22:09.507Z,1755883329.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:09.509Z,1755883329.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 4.487896 m,
      bearing: 315.014104 deg,
      approach rate: -0.515336 m/s,
      LOS rate: -0.496530 deg/s,
      cmd heading: 323.572808 deg,
      new cmd heading: 323.146488 deg.

2025-08-22T17:22:09.511Z,1755883329.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639970 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:09.534Z,1755883329.534 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.741459
2025-08-22T17:22:09.787Z,1755883329.787 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.993790
2025-08-22T17:22:09.885Z,1755883329.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:09.888Z,1755883329.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 4.299942 m,
      bearing: 314.848189 deg,
      approach rate: -0.496697 m/s,
      LOS rate: -0.457620 deg/s,
      cmd heading: 323.146495 deg,
      new cmd heading: 322.800165 deg.

2025-08-22T17:22:09.889Z,1755883329.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633926 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:10.039Z,1755883330.039 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.245571
2025-08-22T17:22:10.295Z,1755883330.295 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.499850
2025-08-22T17:22:10.300Z,1755883330.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:10.340Z,1755883330.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 4.092536 m,
      bearing: 314.661580 deg,
      approach rate: -0.513535 m/s,
      LOS rate: -0.485458 deg/s,
      cmd heading: 322.800177 deg,
      new cmd heading: 322.408051 deg.

2025-08-22T17:22:10.346Z,1755883330.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627082 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:10.546Z,1755883330.546 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.753021
2025-08-22T17:22:10.759Z,1755883330.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:10.766Z,1755883330.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:10.769Z,1755883330.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 3.859716 m,
      bearing: 314.462407 deg,
      approach rate: -0.492246 m/s,
      LOS rate: -0.446507 deg/s,
      cmd heading: 322.408042 deg,
      new cmd heading: 321.985677 deg.

2025-08-22T17:22:10.772Z,1755883330.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619710 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:10.795Z,1755883330.795 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.001583
2025-08-22T17:22:11.047Z,1755883331.047 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.253968
2025-08-22T17:22:11.120Z,1755883331.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:11.123Z,1755883331.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 3.679467 m,
      bearing: 314.308567 deg,
      approach rate: -0.503565 m/s,
      LOS rate: -0.450839 deg/s,
      cmd heading: 321.985663 deg,
      new cmd heading: 321.662916 deg.

2025-08-22T17:22:11.124Z,1755883331.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614077 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:11.302Z,1755883331.302 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.508127
2025-08-22T17:22:11.551Z,1755883331.551 [DAT](INFO): DAT read: Rx Time:17:22:12.1949

2025-08-22T17:22:11.551Z,1755883331.551 [DAT](INFO): Rx dataTimestamp_ set to:1755883331.550820
2025-08-22T17:22:11.552Z,1755883331.552 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.758644
2025-08-22T17:22:11.565Z,1755883331.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:11.567Z,1755883331.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 3.454264 m,
      bearing: 314.144107 deg,
      approach rate: -0.506301 m/s,
      LOS rate: -0.393845 deg/s,
      cmd heading: 321.662923 deg,
      new cmd heading: 321.312562 deg.

2025-08-22T17:22:11.568Z,1755883331.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607962 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:11.803Z,1755883331.803 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.010041
2025-08-22T17:22:11.932Z,1755883331.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:11.947Z,1755883331.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 3.274550 m,
      bearing: 314.015751 deg,
      approach rate: -0.488972 m/s,
      LOS rate: -0.368401 deg/s,
      cmd heading: 321.312562 deg,
      new cmd heading: 321.041764 deg.

2025-08-22T17:22:11.948Z,1755883331.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603236 target range: 8.842813 and range: 5.60 m.
2025-08-22T17:22:12.058Z,1755883332.058 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.264339
2025-08-22T17:22:12.356Z,1755883332.356 [DAT](INFO): DAT read: 17:22:12.1949 LVL= 20464, 22033, 12466, 29379, AGC= 45, IDX= 422,-0.24,-0.543,-1.443, 0.256, 0.181, PHS=-0.622,-1.579, 0.031, RAW= 173.8,  28.7, CAL= 174.4,  41.8, ROT= 335.6, -41.8

2025-08-22T17:22:12.367Z,1755883332.367 [DAT](INFO): got valid direction response:
 17:22:12.1949 LVL= 20464, 22033, 12466, 29379, AGC= 45, IDX= 422,-0.24,-0.543,-1.443, 0.256, 0.181, PHS=-0.622,-1.579, 0.031, RAW= 173.8,  28.7, CAL= 174.4,  41.8, ROT= 335.6, -41.8

2025-08-22T17:22:12.400Z,1755883332.400 [DAT](INFO): DAT read: Bearing 178.4, -18.8 (Local)

2025-08-22T17:22:12.400Z,1755883332.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.4, -18.8 (Local)

2025-08-22T17:22:12.409Z,1755883332.409 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m  (Round-trip  5.7 ms) speed  0.4 m/s

2025-08-22T17:22:12.410Z,1755883332.410 [DAT](INFO): DAT read: user:653>

2025-08-22T17:22:12.411Z,1755883332.411 [DAT](INFO): DAT read: Tx time:17:22:13.2850

2025-08-22T17:22:12.411Z,1755883332.411 [DAT](INFO): Ping request sent.
2025-08-22T17:22:12.411Z,1755883332.411 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:12.412Z,1755883332.412 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T17:22:12.412Z,1755883332.412 [DAT](INFO): direction in FSK: [0.678893,-0.307959,0.666532]
2025-08-22T17:22:12.413Z,1755883332.413 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:12.413Z,1755883332.413 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:12.420Z,1755883332.420 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:12.421Z,1755883332.421 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:12.428Z,1755883332.428 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.017152
2025-08-22T17:22:12.522Z,1755883332.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 3.529233 s,
      deltaX: -1.400000 m,
      approachRate: -0.396687 m/s,
      rangeRepo size: 4

2025-08-22T17:22:12.524Z,1755883332.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.172981 m,
      bearing: 306.085423 deg,
      lat: 36.779507 deg,
      lon: -121.859653 deg,
      deltaT: 10.596735 s,
      deltaX: -4.669832 m,
      approachRate: -0.440686 m/s,
      posRepo size: 4

2025-08-22T17:22:12.530Z,1755883332.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.17 m. 8.84 m.
2025-08-22T17:22:12.532Z,1755883332.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 2.984952 m,
      bearing: 313.810431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.330298 deg/s,
      cmd heading: 321.041758 deg,
      new cmd heading: 320.654773 deg.

2025-08-22T17:22:12.533Z,1755883332.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596481 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:12.559Z,1755883332.559 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.147216
2025-08-22T17:22:12.811Z,1755883332.811 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.399202
2025-08-22T17:22:12.827Z,1755883332.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:12.835Z,1755883332.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:12.837Z,1755883332.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 2.824412 m,
      bearing: 313.697960 deg,
      approach rate: -0.514667 m/s,
      LOS rate: -0.381059 deg/s,
      cmd heading: 320.654760 deg,
      new cmd heading: 320.417035 deg.

2025-08-22T17:22:12.842Z,1755883332.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592332 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:13.063Z,1755883333.063 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.651257
2025-08-22T17:22:13.249Z,1755883333.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:13.252Z,1755883333.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 2.622365 m,
      bearing: 313.566079 deg,
      approach rate: -0.481884 m/s,
      LOS rate: -0.338772 deg/s,
      cmd heading: 320.417042 deg,
      new cmd heading: 320.132961 deg.

2025-08-22T17:22:13.253Z,1755883333.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587374 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:13.315Z,1755883333.315 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.903405
2025-08-22T17:22:13.567Z,1755883333.567 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.155213
2025-08-22T17:22:13.661Z,1755883333.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:13.668Z,1755883333.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 2.412077 m,
      bearing: 313.418318 deg,
      approach rate: -0.510801 m/s,
      LOS rate: -0.390211 deg/s,
      cmd heading: 320.132961 deg,
      new cmd heading: 319.811678 deg.

2025-08-22T17:22:13.668Z,1755883333.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581767 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:13.819Z,1755883333.819 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.407837
2025-08-22T17:22:14.061Z,1755883334.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:14.063Z,1755883334.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 2.198447 m,
      bearing: 313.273806 deg,
      approach rate: -0.534196 m/s,
      LOS rate: -0.396473 deg/s,
      cmd heading: 319.811669 deg,
      new cmd heading: 319.494564 deg.

2025-08-22T17:22:14.064Z,1755883334.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576232 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:14.071Z,1755883334.071 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.659303
2025-08-22T17:22:14.326Z,1755883334.326 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.914736
2025-08-22T17:22:14.498Z,1755883334.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:14.501Z,1755883334.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 1.985061 m,
      bearing: 313.121773 deg,
      approach rate: -0.511368 m/s,
      LOS rate: -0.403507 deg/s,
      cmd heading: 319.494557 deg,
      new cmd heading: 319.157807 deg.

2025-08-22T17:22:14.507Z,1755883334.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570354 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:14.576Z,1755883334.576 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.164441
2025-08-22T17:22:14.826Z,1755883334.826 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.415132
2025-08-22T17:22:14.934Z,1755883334.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:14.937Z,1755883334.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:14.940Z,1755883334.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 1.751233 m,
      bearing: 312.957350 deg,
      approach rate: -0.509680 m/s,
      LOS rate: -0.406248 deg/s,
      cmd heading: 319.157801 deg,
      new cmd heading: 318.785054 deg.

2025-08-22T17:22:14.940Z,1755883334.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563849 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:15.079Z,1755883335.079 [DAT](INFO): DAT read: Rx Time:17:22:15.6931

2025-08-22T17:22:15.080Z,1755883335.080 [DAT](INFO): Rx dataTimestamp_ set to:1755883335.079319
2025-08-22T17:22:15.080Z,1755883335.080 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.669181
2025-08-22T17:22:15.331Z,1755883335.331 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.919339
2025-08-22T17:22:15.339Z,1755883335.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 8.84 m.
2025-08-22T17:22:15.341Z,1755883335.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.842813 m,
      nav range: 1.558095 m,
      bearing: 312.828752 deg,
      approach rate: -0.480679 m/s,
      LOS rate: -0.359724 deg/s,
      cmd heading: 318.785064 deg,
      new cmd heading: 318.495990 deg.

2025-08-22T17:22:15.346Z,1755883335.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558804 target range: 8.842813 and range: 4.20 m.
2025-08-22T17:22:15.586Z,1755883335.586 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.0 ms) speed  0.1 m/s

2025-08-22T17:22:15.587Z,1755883335.587 [DAT](INFO): DAT read: user:654>

2025-08-22T17:22:15.588Z,1755883335.588 [DAT](INFO): DAT read: Tx time:17:22:16.7850

2025-08-22T17:22:15.588Z,1755883335.588 [DAT](INFO): Ping request sent.
2025-08-22T17:22:15.588Z,1755883335.588 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:15.589Z,1755883335.589 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-08-22T17:22:15.589Z,1755883335.589 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:15.590Z,1755883335.590 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:15.591Z,1755883335.591 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.002302
2025-08-22T17:22:15.784Z,1755883335.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 3.276088 s,
      deltaX: -1.200000 m,
      approachRate: -0.366290 m/s,
      rangeRepo size: 4

2025-08-22T17:22:15.784Z,1755883335.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-08-22T17:22:15.785Z,1755883335.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T17:22:15.836Z,1755883335.836 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.247694
2025-08-22T17:22:16.087Z,1755883336.087 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.498254
2025-08-22T17:22:16.338Z,1755883336.338 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.750069
2025-08-22T17:22:16.593Z,1755883336.593 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.004105
2025-08-22T17:22:16.843Z,1755883336.843 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.254123
2025-08-22T17:22:17.094Z,1755883337.094 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.506084
2025-08-22T17:22:17.339Z,1755883337.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:17.347Z,1755883337.347 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.758213
2025-08-22T17:22:17.599Z,1755883337.599 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.010160
2025-08-22T17:22:17.851Z,1755883337.851 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.262129
2025-08-22T17:22:18.105Z,1755883338.105 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.516213
2025-08-22T17:22:18.359Z,1755883338.359 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.770135
2025-08-22T17:22:18.611Z,1755883338.611 [DAT](INFO): DAT read: Rx Time:17:22:19.1919

2025-08-22T17:22:18.611Z,1755883338.611 [DAT](INFO): Rx dataTimestamp_ set to:1755883338.610762
2025-08-22T17:22:18.612Z,1755883338.612 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.023220
2025-08-22T17:22:18.863Z,1755883338.863 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.274131
2025-08-22T17:22:19.120Z,1755883339.120 [DAT](INFO): DAT read: 17:22:19.1919 LVL= 22608, 13857, 28274, 32755, AGC= 45, IDX= 426,-0.49, 0.565, 1.636, 1.090, 2.289, PHS=-1.622,-0.609,-1.243, RAW= 308.3,  54.2, CAL= 309.2,  57.6, ROT= 200.8, -57.6

2025-08-22T17:22:19.121Z,1755883339.121 [DAT](INFO): got valid direction response:
 17:22:19.1919 LVL= 22608, 13857, 28274, 32755, AGC= 45, IDX= 426,-0.49, 0.565, 1.636, 1.090, 2.289, PHS=-1.622,-0.609,-1.243, RAW= 308.3,  54.2, CAL= 309.2,  57.6, ROT= 200.8, -57.6

2025-08-22T17:22:19.122Z,1755883339.122 [DAT](INFO): DAT read: Bearing 250.3, -10.6 (Local)

2025-08-22T17:22:19.123Z,1755883339.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.3, -10.6 (Local)

2025-08-22T17:22:19.124Z,1755883339.124 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-22T17:22:19.125Z,1755883339.125 [DAT](INFO): DAT read: user:655>

2025-08-22T17:22:19.125Z,1755883339.125 [DAT](INFO): DAT read: Tx time:17:22:20.2850

2025-08-22T17:22:19.126Z,1755883339.126 [DAT](INFO): Ping request sent.
2025-08-22T17:22:19.126Z,1755883339.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:19.126Z,1755883339.126 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T17:22:19.127Z,1755883339.127 [DAT](INFO): direction in FSK: [-0.500905,-0.190276,0.844328]
2025-08-22T17:22:19.127Z,1755883339.127 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:19.128Z,1755883339.128 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:19.131Z,1755883339.131 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:19.131Z,1755883339.131 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:19.135Z,1755883339.135 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.008900
2025-08-22T17:22:19.367Z,1755883339.367 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.240748
2025-08-22T17:22:19.407Z,1755883339.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.530462 s,
      deltaX: -0.900000 m,
      approachRate: -0.254924 m/s,
      rangeRepo size: 4

2025-08-22T17:22:19.409Z,1755883339.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086473 m,
      bearing: 171.258639 deg,
      lat: 36.779507 deg,
      lon: -121.859653 deg,
      deltaT: 17.403285 s,
      deltaX: -6.756341 m,
      approachRate: -0.388222 m/s,
      posRepo size: 4

2025-08-22T17:22:19.619Z,1755883339.619 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492758
2025-08-22T17:22:19.851Z,1755883339.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:19.871Z,1755883339.871 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.744919
2025-08-22T17:22:20.123Z,1755883340.122 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.996728
2025-08-22T17:22:20.375Z,1755883340.375 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.248751
2025-08-22T17:22:20.627Z,1755883340.627 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.500904
2025-08-22T17:22:20.878Z,1755883340.878 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752675
2025-08-22T17:22:21.131Z,1755883341.131 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.004756
2025-08-22T17:22:21.383Z,1755883341.383 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.256894
2025-08-22T17:22:21.635Z,1755883341.635 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508808
2025-08-22T17:22:21.887Z,1755883341.887 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.760798
2025-08-22T17:22:22.139Z,1755883342.139 [DAT](INFO): DAT read: Rx Time:17:22:22.6918

2025-08-22T17:22:22.139Z,1755883342.139 [DAT](INFO): Rx dataTimestamp_ set to:1755883342.138744
2025-08-22T17:22:22.140Z,1755883342.140 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013829
2025-08-22T17:22:22.228Z,1755883342.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:22.391Z,1755883342.391 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.264756
2025-08-22T17:22:22.644Z,1755883342.644 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-22T17:22:22.645Z,1755883342.645 [DAT](INFO): DAT read: user:656>

2025-08-22T17:22:22.646Z,1755883342.646 [DAT](INFO): DAT read: Tx time:17:22:23.7849

2025-08-22T17:22:22.646Z,1755883342.646 [DAT](INFO): Ping request sent.
2025-08-22T17:22:22.646Z,1755883342.646 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:22.647Z,1755883342.647 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-22T17:22:22.647Z,1755883342.647 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:22.647Z,1755883342.647 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:22.648Z,1755883342.648 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.001825
2025-08-22T17:22:22.719Z,1755883342.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528979 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:22:22.895Z,1755883342.895 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.248872
2025-08-22T17:22:23.146Z,1755883343.146 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.499926
2025-08-22T17:22:23.399Z,1755883343.399 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.752077
2025-08-22T17:22:23.651Z,1755883343.651 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.003977
2025-08-22T17:22:23.903Z,1755883343.903 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.256658
2025-08-22T17:22:24.160Z,1755883344.160 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.513114
2025-08-22T17:22:24.239Z,1755883344.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:24.411Z,1755883344.411 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.764043
2025-08-22T17:22:24.664Z,1755883344.664 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.016992
2025-08-22T17:22:24.918Z,1755883344.918 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.271070
2025-08-22T17:22:25.168Z,1755883345.168 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.521039
2025-08-22T17:22:25.418Z,1755883345.418 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.771943
2025-08-22T17:22:25.671Z,1755883345.671 [DAT](INFO): DAT read: Rx Time:17:22:26.1918

2025-08-22T17:22:25.672Z,1755883345.672 [DAT](INFO): Rx dataTimestamp_ set to:1755883345.671852
2025-08-22T17:22:25.673Z,1755883345.673 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.026464
2025-08-22T17:22:25.927Z,1755883345.927 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.280450
2025-08-22T17:22:26.181Z,1755883346.181 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-22T17:22:26.182Z,1755883346.182 [DAT](INFO): DAT read: user:657>

2025-08-22T17:22:26.183Z,1755883346.183 [DAT](INFO): DAT read: Tx time:17:22:27.2849

2025-08-22T17:22:26.184Z,1755883346.184 [DAT](INFO): Ping request sent.
2025-08-22T17:22:26.184Z,1755883346.184 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:26.184Z,1755883346.184 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-22T17:22:26.184Z,1755883346.184 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:26.192Z,1755883346.192 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:26.193Z,1755883346.193 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.009250
2025-08-22T17:22:26.276Z,1755883346.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:26.279Z,1755883346.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.535320 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:22:26.280Z,1755883346.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-08-22T17:22:26.431Z,1755883346.431 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.246844
2025-08-22T17:22:26.683Z,1755883346.683 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.499047
2025-08-22T17:22:26.936Z,1755883346.936 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.751911
2025-08-22T17:22:27.187Z,1755883347.187 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.003149
2025-08-22T17:22:27.439Z,1755883347.439 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.254990
2025-08-22T17:22:27.691Z,1755883347.691 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.507216
2025-08-22T17:22:27.943Z,1755883347.943 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.759206
2025-08-22T17:22:28.195Z,1755883348.195 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.011262
2025-08-22T17:22:28.288Z,1755883348.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:28.447Z,1755883348.447 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.262945
2025-08-22T17:22:28.699Z,1755883348.699 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.514935
2025-08-22T17:22:28.951Z,1755883348.951 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.766938
2025-08-22T17:22:29.203Z,1755883349.203 [DAT](INFO): DAT read: Rx Time:17:22:29.6919

2025-08-22T17:22:29.203Z,1755883349.203 [DAT](INFO): Rx dataTimestamp_ set to:1755883349.202819
2025-08-22T17:22:29.204Z,1755883349.204 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.020010
2025-08-22T17:22:29.455Z,1755883349.455 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.271082
2025-08-22T17:22:29.712Z,1755883349.712 [DAT](INFO): DAT read: 17:22:29.6919 LVL= 17296, 19105, 14674, 29843, AGC= 43, IDX= 443,-0.33,-2.477,-0.959,-2.798,-1.210, PHS=-1.165, 0.296,-1.632, RAW= 343.4,  26.9, CAL= 342.8,  31.8, ROT= 167.2, -31.8

2025-08-22T17:22:29.714Z,1755883349.714 [DAT](INFO): got valid direction response:
 17:22:29.6919 LVL= 17296, 19105, 14674, 29843, AGC= 43, IDX= 443,-0.33,-2.477,-0.959,-2.798,-1.210, PHS=-1.165, 0.296,-1.632, RAW= 343.4,  26.9, CAL= 342.8,  31.8, ROT= 167.2, -31.8

2025-08-22T17:22:29.715Z,1755883349.715 [DAT](INFO): DAT read: Bearing 300.8,  11.9 (Local)

2025-08-22T17:22:29.715Z,1755883349.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,  11.9 (Local)

2025-08-22T17:22:29.724Z,1755883349.724 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-22T17:22:29.725Z,1755883349.725 [DAT](INFO): DAT read: user:658>

2025-08-22T17:22:29.731Z,1755883349.731 [DAT](INFO): DAT read: Tx time:17:22:30.7849

2025-08-22T17:22:29.731Z,1755883349.731 [DAT](INFO): Ping request sent.
2025-08-22T17:22:29.732Z,1755883349.732 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:29.732Z,1755883349.732 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T17:22:29.734Z,1755883349.734 [DAT](INFO): direction in FSK: [-0.828772,0.188292,0.526956]
2025-08-22T17:22:29.734Z,1755883349.734 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:29.735Z,1755883349.735 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:29.744Z,1755883349.744 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:29.745Z,1755883349.745 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:29.768Z,1755883349.768 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.036511
2025-08-22T17:22:29.959Z,1755883349.959 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.226948
2025-08-22T17:22:30.068Z,1755883350.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527947 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:22:30.070Z,1755883350.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086461 m,
      bearing: 162.193848 deg,
      lat: 36.779504 deg,
      lon: -121.859653 deg,
      deltaT: 10.592246 s,
      deltaX: -0.000012 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-22T17:22:30.211Z,1755883350.211 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.479047
2025-08-22T17:22:30.433Z,1755883350.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:30.463Z,1755883350.463 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.731101
2025-08-22T17:22:30.715Z,1755883350.715 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.983363
2025-08-22T17:22:30.967Z,1755883350.967 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.235276
2025-08-22T17:22:31.227Z,1755883351.227 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.495020
2025-08-22T17:22:31.478Z,1755883351.478 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.746872
2025-08-22T17:22:31.732Z,1755883351.732 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.000490
2025-08-22T17:22:31.983Z,1755883351.983 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.250996
2025-08-22T17:22:32.234Z,1755883352.234 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.502850
2025-08-22T17:22:32.438Z,1755883352.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:32.487Z,1755883352.487 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.755631
2025-08-22T17:22:32.739Z,1755883352.739 [DAT](INFO): DAT read: Rx Time:17:22:33.1919

2025-08-22T17:22:32.739Z,1755883352.739 [DAT](INFO): Rx dataTimestamp_ set to:1755883352.738799
2025-08-22T17:22:32.740Z,1755883352.740 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.008061
2025-08-22T17:22:32.991Z,1755883352.991 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.259646
2025-08-22T17:22:33.248Z,1755883353.248 [DAT](INFO): DAT read: 17:22:33.1919 LVL= 25536, 16305, 25138, 32755, AGC= 46, IDX= 442, 0.06,-2.352,-1.329,-2.084,-0.791, PHS=-1.459,-0.493,-1.337, RAW= 323.4,  51.9, CAL= 323.3,  55.7, ROT= 186.7, -55.7

2025-08-22T17:22:33.249Z,1755883353.249 [DAT](INFO): got valid direction response:
 17:22:33.1919 LVL= 25536, 16305, 25138, 32755, AGC= 46, IDX= 442, 0.06,-2.352,-1.329,-2.084,-0.791, PHS=-1.459,-0.493,-1.337, RAW= 323.4,  51.9, CAL= 323.3,  55.7, ROT= 186.7, -55.7

2025-08-22T17:22:33.258Z,1755883353.258 [DAT](INFO): DAT read: Bearing 280.3,  -1.7 (Local)

2025-08-22T17:22:33.259Z,1755883353.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.3,  -1.7 (Local)

2025-08-22T17:22:33.260Z,1755883353.260 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-22T17:22:33.261Z,1755883353.261 [DAT](INFO): DAT read: user:659>

2025-08-22T17:22:33.261Z,1755883353.261 [DAT](INFO): DAT read: Tx time:17:22:34.2849

2025-08-22T17:22:33.262Z,1755883353.262 [DAT](INFO): Ping request sent.
2025-08-22T17:22:33.262Z,1755883353.262 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:33.262Z,1755883353.262 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T17:22:33.263Z,1755883353.263 [DAT](INFO): direction in FSK: [-0.559678,-0.065747,0.826098]
2025-08-22T17:22:33.263Z,1755883353.263 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:33.264Z,1755883353.264 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:33.298Z,1755883353.298 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:33.299Z,1755883353.299 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:33.304Z,1755883353.304 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.042499
2025-08-22T17:22:33.495Z,1755883353.495 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.233107
2025-08-22T17:22:33.719Z,1755883353.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.535761 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:22:33.727Z,1755883353.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086461 m,
      bearing: 185.786850 deg,
      lat: 36.779497 deg,
      lon: -121.859650 deg,
      deltaT: 3.535761 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T17:22:33.747Z,1755883353.747 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.484654
2025-08-22T17:22:33.999Z,1755883353.999 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.737525
2025-08-22T17:22:34.251Z,1755883354.251 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.988696
2025-08-22T17:22:34.455Z,1755883354.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:34.503Z,1755883354.503 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.241421
2025-08-22T17:22:34.754Z,1755883354.754 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.492598
2025-08-22T17:22:35.011Z,1755883355.011 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.749269
2025-08-22T17:22:35.258Z,1755883355.258 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.996534
2025-08-22T17:22:35.511Z,1755883355.511 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.248633
2025-08-22T17:22:35.763Z,1755883355.763 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.500711
2025-08-22T17:22:36.015Z,1755883356.015 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.753240
2025-08-22T17:22:36.266Z,1755883356.266 [DAT](INFO): DAT read: Rx Time:17:22:36.6923

2025-08-22T17:22:36.267Z,1755883356.267 [DAT](INFO): Rx dataTimestamp_ set to:1755883356.266676
2025-08-22T17:22:36.267Z,1755883356.267 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.005652
2025-08-22T17:22:36.479Z,1755883356.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:36.519Z,1755883356.519 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.257312
2025-08-22T17:22:36.771Z,1755883356.771 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-08-22T17:22:36.772Z,1755883356.772 [DAT](INFO): DAT read: user:660>

2025-08-22T17:22:36.773Z,1755883356.773 [DAT](INFO): DAT read: Tx time:17:22:37.7848

2025-08-22T17:22:36.773Z,1755883356.773 [DAT](INFO): Ping request sent.
2025-08-22T17:22:36.773Z,1755883356.773 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:36.774Z,1755883356.774 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-22T17:22:36.774Z,1755883356.774 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:36.774Z,1755883356.774 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:36.775Z,1755883356.775 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.001954
2025-08-22T17:22:36.919Z,1755883356.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.500000 m,
      deltaT: 3.527937 s,
      deltaX: 0.400000 m,
      approachRate: 0.113381 m/s,
      rangeRepo size: 4

2025-08-22T17:22:36.920Z,1755883356.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-08-22T17:22:37.023Z,1755883357.023 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.249840
2025-08-22T17:22:37.275Z,1755883357.275 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.501454
2025-08-22T17:22:37.314Z,1755883357.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-08-22T17:22:37.528Z,1755883357.528 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.754039
2025-08-22T17:22:37.779Z,1755883357.779 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.005267
2025-08-22T17:22:37.918Z,1755883357.918 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:22:38.031Z,1755883358.031 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.257680
2025-08-22T17:22:38.123Z,1755883358.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-08-22T17:22:38.283Z,1755883358.283 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.509274
2025-08-22T17:22:38.488Z,1755883358.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:38.491Z,1755883358.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-08-22T17:22:38.535Z,1755883358.535 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.761728
2025-08-22T17:22:38.787Z,1755883358.787 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.013550
2025-08-22T17:22:38.917Z,1755883358.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-08-22T17:22:38.931Z,1755883358.931 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:22:39.039Z,1755883359.039 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.265281
2025-08-22T17:22:39.291Z,1755883359.291 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.517347
2025-08-22T17:22:39.315Z,1755883359.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.50 m.
2025-08-22T17:22:39.543Z,1755883359.543 [DAT](INFO): DAT read: Rx Time:17:22:40.1927

2025-08-22T17:22:39.543Z,1755883359.543 [DAT](INFO): Rx dataTimestamp_ set to:1755883359.542730
2025-08-22T17:22:39.544Z,1755883359.544 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.770298
2025-08-22T17:22:39.795Z,1755883359.795 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.021421
2025-08-22T17:22:40.051Z,1755883360.051 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.277312
2025-08-22T17:22:40.203Z,1755883360.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.50 m.
2025-08-22T17:22:40.305Z,1755883360.305 [DAT](INFO): DAT read: 17:22:40.1927 LVL= 26304, 20369, 31858, 32755, AGC= 51, IDX= 450, 0.18, 2.547,-2.872, 2.580,-2.455, PHS=-1.180,-0.372,-1.292, RAW= 336.4,  49.1, CAL= 335.6,  53.1, ROT= 174.4, -53.1

2025-08-22T17:22:40.306Z,1755883360.306 [DAT](INFO): got valid direction response:
 17:22:40.1927 LVL= 26304, 20369, 31858, 32755, AGC= 51, IDX= 450, 0.18, 2.547,-2.872, 2.580,-2.455, PHS=-1.180,-0.372,-1.292, RAW= 336.4,  49.1, CAL= 335.6,  53.1, ROT= 174.4, -53.1

2025-08-22T17:22:40.307Z,1755883360.307 [DAT](INFO): DAT read: Bearing 277.8,   3.1 (Local)

2025-08-22T17:22:40.307Z,1755883360.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.8,   3.1 (Local)

2025-08-22T17:22:40.309Z,1755883360.309 [DAT](INFO): DAT read: Range 11 to 50 : 2.8 m  (Round-trip  3.8 ms) speed -0.3 m/s

2025-08-22T17:22:40.310Z,1755883360.310 [DAT](INFO): DAT read: user:661>

2025-08-22T17:22:40.310Z,1755883360.310 [DAT](INFO): DAT read: Tx time:17:22:41.2848

2025-08-22T17:22:40.311Z,1755883360.311 [DAT](INFO): Ping request sent.
2025-08-22T17:22:40.311Z,1755883360.311 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:40.311Z,1755883360.311 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T17:22:40.312Z,1755883360.312 [DAT](INFO): direction in FSK: [-0.597555,0.058591,0.799685]
2025-08-22T17:22:40.312Z,1755883360.312 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:40.312Z,1755883360.312 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:40.316Z,1755883360.316 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:40.316Z,1755883360.316 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:40.320Z,1755883360.320 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.008905
2025-08-22T17:22:40.551Z,1755883360.551 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.239882
2025-08-22T17:22:40.585Z,1755883360.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.800000 m,
      deltaT: 3.528376 s,
      deltaX: 0.300000 m,
      approachRate: 0.085025 m/s,
      rangeRepo size: 4

2025-08-22T17:22:40.591Z,1755883360.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.781924 m,
      bearing: 161.620527 deg,
      lat: 36.779497 deg,
      lon: -121.859649 deg,
      deltaT: 7.056313 s,
      deltaX: 0.695463 m,
      approachRate: 0.098559 m/s,
      posRepo size: 4

2025-08-22T17:22:40.592Z,1755883360.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.80 m.
2025-08-22T17:22:40.803Z,1755883360.803 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.491767
2025-08-22T17:22:40.975Z,1755883360.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:40.990Z,1755883360.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.80 m.
2025-08-22T17:22:41.056Z,1755883361.056 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.744896
2025-08-22T17:22:41.307Z,1755883361.307 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.995876
2025-08-22T17:22:41.363Z,1755883361.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.80 m.
2025-08-22T17:22:41.558Z,1755883361.558 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.247698
2025-08-22T17:22:41.830Z,1755883361.830 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.502370
2025-08-22T17:22:42.064Z,1755883362.064 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.753140
2025-08-22T17:22:42.217Z,1755883362.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.80 m.
2025-08-22T17:22:42.315Z,1755883362.315 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.004304
2025-08-22T17:22:42.567Z,1755883362.567 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.256154
2025-08-22T17:22:42.618Z,1755883362.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.80 m.
2025-08-22T17:22:42.821Z,1755883362.821 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.510150
2025-08-22T17:22:43.037Z,1755883363.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:43.044Z,1755883363.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.80 m.
2025-08-22T17:22:43.071Z,1755883363.071 [DAT](INFO): DAT read: Rx Time:17:22:43.6930

2025-08-22T17:22:43.071Z,1755883363.071 [DAT](INFO): Rx dataTimestamp_ set to:1755883363.070744
2025-08-22T17:22:43.072Z,1755883363.072 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.760920
2025-08-22T17:22:43.322Z,1755883363.322 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.011813
2025-08-22T17:22:43.411Z,1755883363.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.80 m.
2025-08-22T17:22:43.575Z,1755883363.575 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed -0.1 m/s

2025-08-22T17:22:43.576Z,1755883363.576 [DAT](INFO): DAT read: user:662>

2025-08-22T17:22:43.576Z,1755883363.576 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-08-22T17:22:43.579Z,1755883363.579 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.267359
2025-08-22T17:22:43.845Z,1755883363.845 [DAT](INFO): DAT read: Tx time:17:22:44.7848

2025-08-22T17:22:43.847Z,1755883363.847 [DAT](INFO): Ping request sent.
2025-08-22T17:22:43.847Z,1755883363.847 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:43.848Z,1755883363.848 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:43.853Z,1755883363.853 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.005483
2025-08-22T17:22:43.878Z,1755883363.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 3.275586 s,
      deltaX: 0.200000 m,
      approachRate: 0.061058 m/s,
      rangeRepo size: 4

2025-08-22T17:22:44.094Z,1755883364.094 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.247954
2025-08-22T17:22:44.298Z,1755883364.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-08-22T17:22:44.347Z,1755883364.347 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.500769
2025-08-22T17:22:44.599Z,1755883364.599 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.752084
2025-08-22T17:22:44.630Z,1755883364.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2025-08-22T17:22:44.855Z,1755883364.855 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.008377
2025-08-22T17:22:45.072Z,1755883365.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:45.103Z,1755883365.103 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.255999
2025-08-22T17:22:45.355Z,1755883365.355 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.507975
2025-08-22T17:22:45.607Z,1755883365.607 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.759991
2025-08-22T17:22:45.862Z,1755883365.862 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.014897
2025-08-22T17:22:46.111Z,1755883366.111 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.264143
2025-08-22T17:22:46.363Z,1755883366.363 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.516492
2025-08-22T17:22:46.616Z,1755883366.616 [DAT](INFO): DAT read: Rx Time:17:22:47.1935

2025-08-22T17:22:46.617Z,1755883366.617 [DAT](INFO): Rx dataTimestamp_ set to:1755883366.616436
2025-08-22T17:22:46.619Z,1755883366.619 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.771845
2025-08-22T17:22:46.866Z,1755883366.866 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.019934
2025-08-22T17:22:47.128Z,1755883367.128 [DAT](INFO): DAT read: 17:22:47.1935 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 427, 0.14,-1.645, 0.092,-1.314,-0.088, PHS=-1.455, 0.225,-1.270, RAW= 324.3,  29.0, CAL= 324.0,  34.2, ROT= 186.0, -34.2

2025-08-22T17:22:47.131Z,1755883367.131 [DAT](INFO): got valid direction response:
 17:22:47.1935 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 427, 0.14,-1.645, 0.092,-1.314,-0.088, PHS=-1.455, 0.225,-1.270, RAW= 324.3,  29.0, CAL= 324.0,  34.2, ROT= 186.0, -34.2

2025-08-22T17:22:47.132Z,1755883367.132 [DAT](INFO): DAT read: Bearing 283.1,  -0.9 (Local)

2025-08-22T17:22:47.133Z,1755883367.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.1,  -0.9 (Local)

2025-08-22T17:22:47.135Z,1755883367.135 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.5 ms) speed  0.0 m/s

2025-08-22T17:22:47.137Z,1755883367.137 [DAT](INFO): DAT read: user:663>

2025-08-22T17:22:47.171Z,1755883367.171 [DAT](INFO): DAT read: Tx time:17:22:48.2848

2025-08-22T17:22:47.171Z,1755883367.171 [DAT](INFO): Ping request sent.
2025-08-22T17:22:47.172Z,1755883367.172 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:47.172Z,1755883367.172 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T17:22:47.179Z,1755883367.179 [DAT](INFO): direction in FSK: [-0.822550,-0.086453,0.562083]
2025-08-22T17:22:47.179Z,1755883367.179 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:47.180Z,1755883367.180 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:47.200Z,1755883367.200 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:47.200Z,1755883367.200 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:47.215Z,1755883367.215 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.043910
2025-08-22T17:22:47.273Z,1755883367.273 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -95,   +3,A
2025-08-22T17:22:47.319Z,1755883367.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.544767 s,
      deltaX: 0.300000 m,
      approachRate: 0.084632 m/s,
      rangeRepo size: 4

2025-08-22T17:22:47.321Z,1755883367.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.278577 m,
      bearing: 162.588784 deg,
      lat: 36.779497 deg,
      lon: -121.859649 deg,
      deltaT: 6.820353 s,
      deltaX: 0.496653 m,
      approachRate: 0.072819 m/s,
      posRepo size: 4

2025-08-22T17:22:47.372Z,1755883367.372 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.199995
2025-08-22T17:22:47.624Z,1755883367.624 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.452653
2025-08-22T17:22:47.741Z,1755883367.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:47.879Z,1755883367.879 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.706883
2025-08-22T17:22:48.127Z,1755883368.127 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.955488
2025-08-22T17:22:48.379Z,1755883368.379 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.207882
2025-08-22T17:22:48.632Z,1755883368.632 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.460574
2025-08-22T17:22:48.886Z,1755883368.886 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.713497
2025-08-22T17:22:49.135Z,1755883369.135 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.963476
2025-08-22T17:22:49.387Z,1755883369.387 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.215150
2025-08-22T17:22:49.639Z,1755883369.639 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.467156
2025-08-22T17:22:49.786Z,1755883369.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:49.896Z,1755883369.896 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.721772
2025-08-22T17:22:50.143Z,1755883370.143 [DAT](INFO): DAT read: Rx Time:17:22:50.6933

2025-08-22T17:22:50.143Z,1755883370.143 [DAT](INFO): Rx dataTimestamp_ set to:1755883370.142885
2025-08-22T17:22:50.144Z,1755883370.144 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.972272
2025-08-22T17:22:50.395Z,1755883370.395 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.223108
2025-08-22T17:22:50.660Z,1755883370.660 [DAT](INFO): DAT read: 17:22:50.6933 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 442, 0.24, 2.389,-2.125, 2.774,-2.302, PHS=-1.490, 0.222,-1.251, RAW= 322.6,  29.0, CAL= 322.4,  34.2, ROT= 187.6, -34.2

2025-08-22T17:22:50.661Z,1755883370.661 [DAT](INFO): got valid direction response:
 17:22:50.6933 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 442, 0.24, 2.389,-2.125, 2.774,-2.302, PHS=-1.490, 0.222,-1.251, RAW= 322.6,  29.0, CAL= 322.4,  34.2, ROT= 187.6, -34.2

2025-08-22T17:22:50.662Z,1755883370.662 [DAT](INFO): DAT read: Bearing 275.9,  -3.4 (Local)

2025-08-22T17:22:50.663Z,1755883370.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.9,  -3.4 (Local)

2025-08-22T17:22:50.664Z,1755883370.664 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.4 ms) speed  0.0 m/s

2025-08-22T17:22:50.665Z,1755883370.665 [DAT](INFO): DAT read: user:664>

2025-08-22T17:22:50.666Z,1755883370.666 [DAT](INFO): DAT read: Tx time:17:22:51.7847

2025-08-22T17:22:50.666Z,1755883370.666 [DAT](INFO): Ping request sent.
2025-08-22T17:22:50.666Z,1755883370.666 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:50.667Z,1755883370.667 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T17:22:50.668Z,1755883370.668 [DAT](INFO): direction in FSK: [-0.819815,-0.109387,0.562083]
2025-08-22T17:22:50.668Z,1755883370.668 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:50.668Z,1755883370.668 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:50.676Z,1755883370.676 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:50.676Z,1755883370.676 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:50.687Z,1755883370.687 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.020936
2025-08-22T17:22:50.710Z,1755883370.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.527304 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:22:50.712Z,1755883370.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.278543 m,
      bearing: 155.679895 deg,
      lat: 36.779503 deg,
      lon: -121.859649 deg,
      deltaT: 3.527304 s,
      deltaX: -0.000035 m,
      approachRate: -0.000010 m/s,
      posRepo size: 4

2025-08-22T17:22:50.903Z,1755883370.903 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.235488
2025-08-22T17:22:51.151Z,1755883371.151 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.484032
2025-08-22T17:22:51.403Z,1755883371.403 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.736074
2025-08-22T17:22:51.655Z,1755883371.655 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.987978
2025-08-22T17:22:51.812Z,1755883371.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:51.911Z,1755883371.911 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.244328
2025-08-22T17:22:52.159Z,1755883372.159 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.492398
2025-08-22T17:22:52.411Z,1755883372.411 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.744342
2025-08-22T17:22:52.663Z,1755883372.663 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.996168
2025-08-22T17:22:52.917Z,1755883372.917 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.249957
2025-08-22T17:22:53.167Z,1755883373.167 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.500497
2025-08-22T17:22:53.419Z,1755883373.419 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.752141
2025-08-22T17:22:53.671Z,1755883373.671 [DAT](INFO): DAT read: Rx Time:17:22:54.1932

2025-08-22T17:22:53.672Z,1755883373.672 [DAT](INFO): Rx dataTimestamp_ set to:1755883373.671498
2025-08-22T17:22:53.672Z,1755883373.672 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.005827
2025-08-22T17:22:53.842Z,1755883373.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:53.925Z,1755883373.925 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.258546
2025-08-22T17:22:54.183Z,1755883374.183 [DAT](INFO): DAT read: 17:22:54.1932 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 442,-0.29, 2.366,-2.063, 2.887,-2.258, PHS=-1.558, 0.240,-1.183, RAW= 318.6,  28.3, CAL= 318.5,  33.5, ROT= 191.5, -33.5

2025-08-22T17:22:54.184Z,1755883374.184 [DAT](INFO): got valid direction response:
 17:22:54.1932 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 442,-0.29, 2.366,-2.063, 2.887,-2.258, PHS=-1.558, 0.240,-1.183, RAW= 318.6,  28.3, CAL= 318.5,  33.5, ROT= 191.5, -33.5

2025-08-22T17:22:54.186Z,1755883374.186 [DAT](INFO): DAT read: Bearing 265.6,  -6.8 (Local)

2025-08-22T17:22:54.187Z,1755883374.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.6,  -6.8 (Local)

2025-08-22T17:22:54.189Z,1755883374.189 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.0 m/s

2025-08-22T17:22:54.189Z,1755883374.189 [DAT](INFO): DAT read: user:665>

2025-08-22T17:22:54.206Z,1755883374.206 [DAT](INFO): DAT read: Tx time:17:22:55.2847

2025-08-22T17:22:54.207Z,1755883374.207 [DAT](INFO): Ping request sent.
2025-08-22T17:22:54.207Z,1755883374.207 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:54.207Z,1755883374.207 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T17:22:54.208Z,1755883374.208 [DAT](INFO): direction in FSK: [-0.817145,-0.166250,0.551937]
2025-08-22T17:22:54.208Z,1755883374.208 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:54.209Z,1755883374.209 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:54.212Z,1755883374.212 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:54.212Z,1755883374.212 [DAT](INFO): publishing direction and range info
2025-08-22T17:22:54.240Z,1755883374.240 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.032661
2025-08-22T17:22:54.366Z,1755883374.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.528334 s,
      deltaX: -0.100000 m,
      approachRate: -0.028342 m/s,
      rangeRepo size: 4

2025-08-22T17:22:54.368Z,1755883374.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.179272 m,
      bearing: 146.865455 deg,
      lat: 36.779503 deg,
      lon: -121.859655 deg,
      deltaT: 3.528334 s,
      deltaX: -0.099271 m,
      approachRate: -0.028135 m/s,
      posRepo size: 4

2025-08-22T17:22:54.427Z,1755883374.427 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.220415
2025-08-22T17:22:54.679Z,1755883374.679 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.471673
2025-08-22T17:22:54.931Z,1755883374.931 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.723705
2025-08-22T17:22:55.183Z,1755883375.183 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.976379
2025-08-22T17:22:55.435Z,1755883375.435 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.227772
2025-08-22T17:22:55.687Z,1755883375.687 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.479712
2025-08-22T17:22:55.853Z,1755883375.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:55.939Z,1755883375.939 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.732560
2025-08-22T17:22:56.191Z,1755883376.191 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.984000
2025-08-22T17:22:56.443Z,1755883376.443 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.235709
2025-08-22T17:22:56.695Z,1755883376.695 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.487922
2025-08-22T17:22:56.948Z,1755883376.948 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.741630
2025-08-22T17:22:57.200Z,1755883377.200 [DAT](INFO): DAT read: Rx Time:17:22:57.6933

2025-08-22T17:22:57.200Z,1755883377.200 [DAT](INFO): Rx dataTimestamp_ set to:1755883377.200123
2025-08-22T17:22:57.201Z,1755883377.201 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.994124
2025-08-22T17:22:57.451Z,1755883377.451 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.243810
2025-08-22T17:22:57.707Z,1755883377.707 [DAT](INFO): DAT read: 17:22:57.6933 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 443,-0.25,-2.081,-0.226,-1.617,-0.426, PHS=-1.552, 0.245,-1.235, RAWCAL= 320.3,  33.6, ROT= 189.7, -33.6

2025-08-22T17:22:57.708Z,1755883377.708 [DAT](INFO): unknown deviceResponse_: 17:22:57.6933 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 443,-0.25,-2.081,-0.226,-1.617,-0.426, PHS=-1.552, 0.245,-1.235, RAWCAL= 320.3,  33.6, ROT= 189.7, -33.6

2025-08-22T17:22:57.710Z,1755883377.710 [DAT](INFO): DAT read: Bearing 251.7,  -4.2 (Local)

2025-08-22T17:22:57.710Z,1755883377.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.7,  -4.2 (Local)

2025-08-22T17:22:57.711Z,1755883377.711 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.4 ms) speed  0.0 m/s

2025-08-22T17:22:57.712Z,1755883377.712 [DAT](INFO): DAT read: user:666>

2025-08-22T17:22:57.713Z,1755883377.713 [DAT](INFO): DAT read: Tx time:17:22:58.7847

2025-08-22T17:22:57.713Z,1755883377.713 [DAT](INFO): Ping request sent.
2025-08-22T17:22:57.713Z,1755883377.713 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:22:57.713Z,1755883377.713 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-08-22T17:22:57.713Z,1755883377.713 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:57.714Z,1755883377.714 [DAT](INFO): publishing transmit ping time
2025-08-22T17:22:57.715Z,1755883377.715 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.001944
2025-08-22T17:22:57.873Z,1755883377.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:22:57.876Z,1755883377.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.527595 s,
      deltaX: 0.100000 m,
      approachRate: 0.028348 m/s,
      rangeRepo size: 4

2025-08-22T17:22:57.955Z,1755883377.955 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.241832
2025-08-22T17:22:58.207Z,1755883378.207 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.493578
2025-08-22T17:22:58.463Z,1755883378.463 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.749748
2025-08-22T17:22:58.711Z,1755883378.711 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.997610
2025-08-22T17:22:58.963Z,1755883378.963 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.250522
2025-08-22T17:22:59.218Z,1755883379.218 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.504969
2025-08-22T17:22:59.467Z,1755883379.467 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.753648
2025-08-22T17:22:59.719Z,1755883379.719 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.005552
2025-08-22T17:22:59.970Z,1755883379.970 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.257378
2025-08-22T17:22:59.983Z,1755883379.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:00.223Z,1755883380.223 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.509588
2025-08-22T17:23:00.475Z,1755883380.475 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.761545
2025-08-22T17:23:00.727Z,1755883380.727 [DAT](INFO): DAT read: Rx Time:17:23:01.1931

2025-08-22T17:23:00.727Z,1755883380.727 [DAT](INFO): Rx dataTimestamp_ set to:1755883380.727074
2025-08-22T17:23:00.728Z,1755883380.728 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.014942
2025-08-22T17:23:00.979Z,1755883380.979 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.265648
2025-08-22T17:23:01.255Z,1755883381.255 [DAT](INFO): DAT read: 17:23:01.1931 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 442,-0.15, 2.286,-2.243, 2.672,-2.401, PHS=-1.494, 0.204,-1.254, RAW= 322.5,  29.5, CAL= 322.3,  34.7, ROT= 187.7, -34.7

2025-08-22T17:23:01.256Z,1755883381.256 [DAT](INFO): got valid direction response:
 17:23:01.1931 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 442,-0.15, 2.286,-2.243, 2.672,-2.401, PHS=-1.494, 0.204,-1.254, RAW= 322.5,  29.5, CAL= 322.3,  34.7, ROT= 187.7, -34.7

2025-08-22T17:23:01.266Z,1755883381.266 [DAT](INFO): DAT read: Bearing 236.7,  -2.6 (Local)

2025-08-22T17:23:01.266Z,1755883381.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.7,  -2.6 (Local)

2025-08-22T17:23:01.268Z,1755883381.268 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.0 m/s

2025-08-22T17:23:01.268Z,1755883381.268 [DAT](INFO): DAT read: user:667>

2025-08-22T17:23:01.269Z,1755883381.269 [DAT](INFO): DAT read: Tx time:17:23:02.2846

2025-08-22T17:23:01.269Z,1755883381.269 [DAT](INFO): Ping request sent.
2025-08-22T17:23:01.269Z,1755883381.269 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:01.270Z,1755883381.270 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T17:23:01.271Z,1755883381.271 [DAT](INFO): direction in FSK: [-0.814731,-0.110156,0.569280]
2025-08-22T17:23:01.271Z,1755883381.271 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:01.271Z,1755883381.271 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:01.282Z,1755883381.282 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:01.283Z,1755883381.283 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:01.291Z,1755883381.291 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.021404
2025-08-22T17:23:01.495Z,1755883381.495 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.225290
2025-08-22T17:23:01.531Z,1755883381.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.540819 s,
      deltaX: -0.100000 m,
      approachRate: -0.028242 m/s,
      rangeRepo size: 4

2025-08-22T17:23:01.534Z,1755883381.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.179189 m,
      bearing: 115.503624 deg,
      lat: 36.779503 deg,
      lon: -121.859655 deg,
      deltaT: 7.068414 s,
      deltaX: -0.000082 m,
      approachRate: -0.000012 m/s,
      posRepo size: 4

2025-08-22T17:23:01.749Z,1755883381.749 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.478922
2025-08-22T17:23:01.000Z,1755883382.000 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.730468
2025-08-22T17:23:02.251Z,1755883382.251 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.981474
2025-08-22T17:23:02.351Z,1755883382.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:02.503Z,1755883382.503 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.233373
2025-08-22T17:23:02.755Z,1755883382.755 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.485309
2025-08-22T17:23:03.007Z,1755883383.007 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.738121
2025-08-22T17:23:03.259Z,1755883383.259 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.989584
2025-08-22T17:23:03.511Z,1755883383.511 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.241285
2025-08-22T17:23:03.763Z,1755883383.763 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.493676
2025-08-22T17:23:04.015Z,1755883384.015 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.745310
2025-08-22T17:23:04.266Z,1755883384.266 [DAT](INFO): DAT read: Rx Time:17:23:04.6931

2025-08-22T17:23:04.267Z,1755883384.267 [DAT](INFO): Rx dataTimestamp_ set to:1755883384.266673
2025-08-22T17:23:04.267Z,1755883384.267 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.998210
2025-08-22T17:23:04.376Z,1755883384.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:04.519Z,1755883384.519 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.249472
2025-08-22T17:23:04.776Z,1755883384.776 [DAT](INFO): DAT read: 17:23:04.6931 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 442,-0.06, 1.417,-2.991, 1.975, 3.124, PHS=-1.605, 0.213,-1.193, RAW= 317.5,  29.0, CAL= 317.6,  34.2, ROT= 192.4, -34.2

2025-08-22T17:23:04.777Z,1755883384.777 [DAT](INFO): got valid direction response:
 17:23:04.6931 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 442,-0.06, 1.417,-2.991, 1.975, 3.124, PHS=-1.605, 0.213,-1.193, RAW= 317.5,  29.0, CAL= 317.6,  34.2, ROT= 192.4, -34.2

2025-08-22T17:23:04.778Z,1755883384.778 [DAT](INFO): DAT read: Bearing 221.2,  -7.3 (Local)

2025-08-22T17:23:04.778Z,1755883384.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.2,  -7.3 (Local)

2025-08-22T17:23:04.780Z,1755883384.780 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.0 m/s

2025-08-22T17:23:04.780Z,1755883384.780 [DAT](INFO): DAT read: user:668>

2025-08-22T17:23:04.781Z,1755883384.781 [DAT](INFO): DAT read: Tx time:17:23:05.7846

2025-08-22T17:23:04.781Z,1755883384.781 [DAT](INFO): Ping request sent.
2025-08-22T17:23:04.781Z,1755883384.781 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:04.782Z,1755883384.782 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T17:23:04.783Z,1755883384.783 [DAT](INFO): direction in FSK: [-0.807787,-0.177603,0.562083]
2025-08-22T17:23:04.783Z,1755883384.783 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:04.783Z,1755883384.783 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:04.786Z,1755883384.786 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:04.786Z,1755883384.786 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:04.790Z,1755883384.790 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.008376
2025-08-22T17:23:04.828Z,1755883384.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.527084 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:23:05.023Z,1755883385.023 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.241103
2025-08-22T17:23:05.275Z,1755883385.275 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.493200
2025-08-22T17:23:05.527Z,1755883385.527 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.745182
2025-08-22T17:23:05.779Z,1755883385.779 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.997214
2025-08-22T17:23:06.031Z,1755883386.031 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.249813
2025-08-22T17:23:06.283Z,1755883386.283 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.501202
2025-08-22T17:23:06.426Z,1755883386.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:06.535Z,1755883386.535 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.753728
2025-08-22T17:23:06.787Z,1755883386.787 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.005411
2025-08-22T17:23:07.039Z,1755883387.039 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.257191
2025-08-22T17:23:07.291Z,1755883387.291 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.509664
2025-08-22T17:23:07.543Z,1755883387.543 [DAT](INFO): DAT read: Rx Time:17:23:08.1931

2025-08-22T17:23:07.543Z,1755883387.543 [DAT](INFO): Rx dataTimestamp_ set to:1755883387.542699
2025-08-22T17:23:07.544Z,1755883387.544 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.762169
2025-08-22T17:23:07.795Z,1755883387.795 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.013193
2025-08-22T17:23:08.051Z,1755883388.051 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.268475
2025-08-22T17:23:08.304Z,1755883388.304 [DAT](INFO): DAT read: 17:23:08.1931 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 442,-0.05, 0.616, 2.466, 1.127, 2.294, PHS=-1.575, 0.218,-1.210, RAW= 318.9,  28.9, CAL= 318.9,  34.2, ROT= 191.1, -34.2

2025-08-22T17:23:08.305Z,1755883388.305 [DAT](INFO): got valid direction response:
 17:23:08.1931 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 442,-0.05, 0.616, 2.466, 1.127, 2.294, PHS=-1.575, 0.218,-1.210, RAW= 318.9,  28.9, CAL= 318.9,  34.2, ROT= 191.1, -34.2

2025-08-22T17:23:08.306Z,1755883388.306 [DAT](INFO): DAT read: Bearing 204.3,  -6.4 (Local)

2025-08-22T17:23:08.307Z,1755883388.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.3,  -6.4 (Local)

2025-08-22T17:23:08.308Z,1755883388.308 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.0 m/s

2025-08-22T17:23:08.309Z,1755883388.309 [DAT](INFO): DAT read: user:669>

2025-08-22T17:23:08.315Z,1755883388.315 [DAT](INFO): DAT read: Tx time:17:23:09.2846

2025-08-22T17:23:08.316Z,1755883388.316 [DAT](INFO): Ping request sent.
2025-08-22T17:23:08.316Z,1755883388.316 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:08.316Z,1755883388.316 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T17:23:08.317Z,1755883388.317 [DAT](INFO): direction in FSK: [-0.811608,-0.159231,0.562083]
2025-08-22T17:23:08.318Z,1755883388.318 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:08.318Z,1755883388.318 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:08.321Z,1755883388.321 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:08.321Z,1755883388.321 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:08.348Z,1755883388.348 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.032578
2025-08-22T17:23:08.501Z,1755883388.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.528380 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:23:08.507Z,1755883388.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.179197 m,
      bearing: 87.668602 deg,
      lat: 36.779500 deg,
      lon: -121.859653 deg,
      deltaT: 7.055464 s,
      deltaX: 0.000007 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-22T17:23:08.551Z,1755883388.551 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.234749
2025-08-22T17:23:08.803Z,1755883388.803 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.486649
2025-08-22T17:23:08.853Z,1755883388.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:09.055Z,1755883389.055 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.739253
2025-08-22T17:23:09.075Z,1755883389.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:23:09.307Z,1755883389.307 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.991208
2025-08-22T17:23:09.559Z,1755883389.559 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.242579
2025-08-22T17:23:09.811Z,1755883389.811 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.494588
2025-08-22T17:23:10.063Z,1755883390.063 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.746761
2025-08-22T17:23:10.078Z,1755883390.078 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:23:10.315Z,1755883390.315 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.998633
2025-08-22T17:23:10.568Z,1755883390.568 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.252070
2025-08-22T17:23:10.819Z,1755883390.819 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.502619
2025-08-22T17:23:11.072Z,1755883391.072 [DAT](INFO): DAT read: Rx Time:17:23:11.6930

2025-08-22T17:23:11.073Z,1755883391.073 [DAT](INFO): Rx dataTimestamp_ set to:1755883391.072574
2025-08-22T17:23:11.074Z,1755883391.074 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.757504
2025-08-22T17:23:11.293Z,1755883391.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:11.323Z,1755883391.323 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.006835
2025-08-22T17:23:11.579Z,1755883391.579 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.262003
2025-08-22T17:23:11.832Z,1755883391.832 [DAT](INFO): DAT read: 17:23:11.6930 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 441,-0.37, 0.030, 1.893, 0.564, 1.771, PHS=-1.639, 0.167,-1.250, RAW= 318.2,  30.3, CAL= 318.3,  35.6, ROT= 191.7, -35.6

2025-08-22T17:23:11.833Z,1755883391.833 [DAT](INFO): got valid direction response:
 17:23:11.6930 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 441,-0.37, 0.030, 1.893, 0.564, 1.771, PHS=-1.639, 0.167,-1.250, RAW= 318.2,  30.3, CAL= 318.3,  35.6, ROT= 191.7, -35.6

2025-08-22T17:23:11.834Z,1755883391.834 [DAT](INFO): DAT read: Bearing 186.7,  -7.6 (Local)

2025-08-22T17:23:11.834Z,1755883391.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.7,  -7.6 (Local)

2025-08-22T17:23:11.836Z,1755883391.836 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.0 m/s

2025-08-22T17:23:11.836Z,1755883391.836 [DAT](INFO): DAT read: user:670>

2025-08-22T17:23:11.837Z,1755883391.837 [DAT](INFO): DAT read: Tx time:17:23:12.7846

2025-08-22T17:23:11.838Z,1755883391.838 [DAT](INFO): Ping request sent.
2025-08-22T17:23:11.838Z,1755883391.838 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:11.838Z,1755883391.838 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T17:23:11.839Z,1755883391.839 [DAT](INFO): direction in FSK: [-0.796207,-0.164886,0.582123]
2025-08-22T17:23:11.839Z,1755883391.839 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:11.840Z,1755883391.840 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:11.864Z,1755883391.864 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:11.864Z,1755883391.864 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:11.873Z,1755883391.873 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.034965
2025-08-22T17:23:12.079Z,1755883392.079 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.241199
2025-08-22T17:23:12.100Z,1755883392.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.527810 s,
      deltaX: -0.100000 m,
      approachRate: -0.028346 m/s,
      rangeRepo size: 4

2025-08-22T17:23:12.102Z,1755883392.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.079820 m,
      bearing: 71.227311 deg,
      lat: 36.779498 deg,
      lon: -121.859653 deg,
      deltaT: 3.527810 s,
      deltaX: -0.099376 m,
      approachRate: -0.028169 m/s,
      posRepo size: 4

2025-08-22T17:23:12.331Z,1755883392.331 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.493468
2025-08-22T17:23:12.584Z,1755883392.584 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.745799
2025-08-22T17:23:12.835Z,1755883392.835 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.996639
2025-08-22T17:23:13.088Z,1755883393.088 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.249384
2025-08-22T17:23:13.339Z,1755883393.339 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.500611
2025-08-22T17:23:13.450Z,1755883393.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:13.592Z,1755883393.592 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.753853
2025-08-22T17:23:13.844Z,1755883393.844 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.005870
2025-08-22T17:23:14.095Z,1755883394.095 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.256734
2025-08-22T17:23:14.347Z,1755883394.347 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.508618
2025-08-22T17:23:14.599Z,1755883394.599 [DAT](INFO): DAT read: Rx Time:17:23:15.1928

2025-08-22T17:23:14.599Z,1755883394.599 [DAT](INFO): Rx dataTimestamp_ set to:1755883394.598878
2025-08-22T17:23:14.600Z,1755883394.600 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.761828
2025-08-22T17:23:14.851Z,1755883394.851 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.013456
2025-08-22T17:23:15.108Z,1755883395.108 [DAT](INFO): DAT read: 17:23:15.1928 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 440,-0.40,-1.128, 0.747,-0.615, 0.662, PHS=-1.688, 0.129,-1.322, RAW= 319.0,  31.5, CAL= 319.1,  36.8, ROT= 190.9, -36.8

2025-08-22T17:23:15.109Z,1755883395.109 [DAT](INFO): got valid direction response:
 17:23:15.1928 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 440,-0.40,-1.128, 0.747,-0.615, 0.662, PHS=-1.688, 0.129,-1.322, RAW= 319.0,  31.5, CAL= 319.1,  36.8, ROT= 190.9, -36.8

2025-08-22T17:23:15.110Z,1755883395.110 [DAT](INFO): DAT read: Bearing 171.4,  -7.6 (Local)

2025-08-22T17:23:15.111Z,1755883395.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.4,  -7.6 (Local)

2025-08-22T17:23:15.112Z,1755883395.112 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed  0.0 m/s

2025-08-22T17:23:15.113Z,1755883395.113 [DAT](INFO): DAT read: user:671>

2025-08-22T17:23:15.115Z,1755883395.115 [DAT](INFO): DAT read: Tx time:17:23:16.2845

2025-08-22T17:23:15.116Z,1755883395.116 [DAT](INFO): Ping request sent.
2025-08-22T17:23:15.117Z,1755883395.117 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:15.118Z,1755883395.118 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T17:23:15.122Z,1755883395.122 [DAT](INFO): direction in FSK: [-0.786285,-0.151415,0.599024]
2025-08-22T17:23:15.122Z,1755883395.122 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:15.122Z,1755883395.122 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:15.125Z,1755883395.125 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:15.126Z,1755883395.126 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:15.129Z,1755883395.129 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.012891
2025-08-22T17:23:15.355Z,1755883395.355 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.238578
2025-08-22T17:23:15.403Z,1755883395.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 3.276245 s,
      deltaX: -0.100000 m,
      approachRate: -0.030523 m/s,
      rangeRepo size: 4

2025-08-22T17:23:15.405Z,1755883395.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.980445 m,
      bearing: 57.542108 deg,
      lat: 36.779497 deg,
      lon: -121.859650 deg,
      deltaT: 3.276245 s,
      deltaX: -0.099376 m,
      approachRate: -0.030332 m/s,
      posRepo size: 4

2025-08-22T17:23:15.609Z,1755883395.609 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.493140
2025-08-22T17:23:15.755Z,1755883395.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:15.859Z,1755883395.859 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.742442
2025-08-22T17:23:16.111Z,1755883396.111 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.994405
2025-08-22T17:23:16.362Z,1755883396.362 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.246389
2025-08-22T17:23:16.615Z,1755883396.615 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.498482
2025-08-22T17:23:16.867Z,1755883396.867 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.750409
2025-08-22T17:23:17.118Z,1755883397.118 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.002380
2025-08-22T17:23:17.377Z,1755883397.377 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.260641
2025-08-22T17:23:17.631Z,1755883397.631 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.515370
2025-08-22T17:23:17.767Z,1755883397.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:17.882Z,1755883397.882 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.766391
2025-08-22T17:23:18.134Z,1755883398.134 [DAT](INFO): DAT read: Rx Time:17:23:18.6928

2025-08-22T17:23:18.135Z,1755883398.135 [DAT](INFO): Rx dataTimestamp_ set to:1755883398.134645
2025-08-22T17:23:18.135Z,1755883398.135 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.019399
2025-08-22T17:23:18.387Z,1755883398.387 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.270544
2025-08-22T17:23:18.644Z,1755883398.644 [DAT](INFO): DAT read: 17:23:18.6928 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 440,-0.08,-2.935,-1.177,-2.592,-1.242, PHS=-1.590, 0.110,-1.394, RAW= 323.9,  32.2, CAL= 323.7,  37.6, ROT= 186.3, -37.6

2025-08-22T17:23:18.645Z,1755883398.645 [DAT](INFO): got valid direction response:
 17:23:18.6928 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 440,-0.08,-2.935,-1.177,-2.592,-1.242, PHS=-1.590, 0.110,-1.394, RAW= 323.9,  32.2, CAL= 323.7,  37.6, ROT= 186.3, -37.6

2025-08-22T17:23:18.646Z,1755883398.646 [DAT](INFO): DAT read: Bearing 158.1,  -3.1 (Local)

2025-08-22T17:23:18.647Z,1755883398.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1,  -3.1 (Local)

2025-08-22T17:23:18.648Z,1755883398.648 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed  0.0 m/s

2025-08-22T17:23:18.649Z,1755883398.649 [DAT](INFO): DAT read: user:672>

2025-08-22T17:23:18.649Z,1755883398.649 [DAT](INFO): DAT read: Tx time:17:23:19.7845

2025-08-22T17:23:18.650Z,1755883398.650 [DAT](INFO): Ping request sent.
2025-08-22T17:23:18.650Z,1755883398.650 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:18.650Z,1755883398.650 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T17:23:18.651Z,1755883398.651 [DAT](INFO): direction in FSK: [-0.787505,-0.086941,0.610145]
2025-08-22T17:23:18.651Z,1755883398.651 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:18.652Z,1755883398.652 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:18.659Z,1755883398.659 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:18.659Z,1755883398.659 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:18.667Z,1755883398.667 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.016620
2025-08-22T17:23:18.772Z,1755883398.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 3.535694 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T17:23:18.782Z,1755883398.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.980390 m,
      bearing: 42.752753 deg,
      lat: 36.779497 deg,
      lon: -121.859648 deg,
      deltaT: 3.535694 s,
      deltaX: -0.000054 m,
      approachRate: -0.000015 m/s,
      posRepo size: 4

2025-08-22T17:23:18.891Z,1755883398.891 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.241256
2025-08-22T17:23:19.143Z,1755883399.143 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.493315
2025-08-22T17:23:19.394Z,1755883399.394 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.744570
2025-08-22T17:23:19.646Z,1755883399.646 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.996536
2025-08-22T17:23:19.872Z,1755883399.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:19.899Z,1755883399.899 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.248751
2025-08-22T17:23:20.151Z,1755883400.151 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500954
2025-08-22T17:23:20.403Z,1755883400.403 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.752883
2025-08-22T17:23:20.655Z,1755883400.655 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004683
2025-08-22T17:23:20.906Z,1755883400.906 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.256549
2025-08-22T17:23:21.159Z,1755883401.159 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.509368
2025-08-22T17:23:21.411Z,1755883401.411 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.760588
2025-08-22T17:23:21.663Z,1755883401.663 [DAT](INFO): DAT read: Rx Time:17:23:22.1929

2025-08-22T17:23:21.663Z,1755883401.663 [DAT](INFO): Rx dataTimestamp_ set to:1755883401.662716
2025-08-22T17:23:21.664Z,1755883401.664 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.013643
2025-08-22T17:23:21.904Z,1755883401.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:21.915Z,1755883401.915 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.264680
2025-08-22T17:23:22.178Z,1755883402.178 [DAT](INFO): DAT read: 17:23:22.1929 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 440, 0.37,-2.855,-1.022,-2.408,-1.162, PHS=-1.591, 0.186,-1.289, RAW= 320.9,  30.0, CAL= 320.8,  35.3, ROT= 189.2, -35.3

2025-08-22T17:23:22.180Z,1755883402.180 [DAT](INFO): got valid direction response:
 17:23:22.1929 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 440, 0.37,-2.855,-1.022,-2.408,-1.162, PHS=-1.591, 0.186,-1.289, RAW= 320.9,  30.0, CAL= 320.8,  35.3, ROT= 189.2, -35.3

2025-08-22T17:23:22.181Z,1755883402.181 [DAT](INFO): DAT read: Bearing 149.8,  -5.4 (Local)

2025-08-22T17:23:22.182Z,1755883402.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8,  -5.4 (Local)

2025-08-22T17:23:22.184Z,1755883402.184 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.0 m/s

2025-08-22T17:23:22.185Z,1755883402.185 [DAT](INFO): DAT read: user:673>

2025-08-22T17:23:22.186Z,1755883402.186 [DAT](INFO): DAT read: Tx time:17:23:23.2845

2025-08-22T17:23:22.187Z,1755883402.187 [DAT](INFO): Ping request sent.
2025-08-22T17:23:22.187Z,1755883402.187 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:22.187Z,1755883402.187 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T17:23:22.189Z,1755883402.189 [DAT](INFO): direction in FSK: [-0.805639,-0.130485,0.577858]
2025-08-22T17:23:22.189Z,1755883402.189 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:22.189Z,1755883402.189 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:22.205Z,1755883402.205 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:22.209Z,1755883402.209 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:22.213Z,1755883402.213 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.026028
2025-08-22T17:23:22.408Z,1755883402.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.528755 s,
      deltaX: 0.100000 m,
      approachRate: 0.028339 m/s,
      rangeRepo size: 4

2025-08-22T17:23:22.422Z,1755883402.422 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.234905
2025-08-22T17:23:22.426Z,1755883402.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.079730 m,
      bearing: 33.007969 deg,
      lat: 36.779497 deg,
      lon: -121.859647 deg,
      deltaT: 3.528755 s,
      deltaX: 0.099339 m,
      approachRate: 0.028151 m/s,
      posRepo size: 4

2025-08-22T17:23:22.671Z,1755883402.671 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.483710
2025-08-22T17:23:22.923Z,1755883402.923 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.735846
2025-08-22T17:23:23.175Z,1755883403.175 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.988311
2025-08-22T17:23:23.427Z,1755883403.427 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.239753
2025-08-22T17:23:23.679Z,1755883403.679 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.492255
2025-08-22T17:23:23.931Z,1755883403.931 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.743875
2025-08-22T17:23:23.937Z,1755883403.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:24.183Z,1755883404.183 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.996418
2025-08-22T17:23:24.437Z,1755883404.437 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.249795
2025-08-22T17:23:24.687Z,1755883404.687 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.499778
2025-08-22T17:23:24.939Z,1755883404.939 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.751972
2025-08-22T17:23:25.191Z,1755883405.191 [DAT](INFO): DAT read: Rx Time:17:23:25.6930

2025-08-22T17:23:25.191Z,1755883405.191 [DAT](INFO): Rx dataTimestamp_ set to:1755883405.190895
2025-08-22T17:23:25.192Z,1755883405.192 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.004964
2025-08-22T17:23:25.445Z,1755883405.445 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.257940
2025-08-22T17:23:25.703Z,1755883405.703 [DAT](INFO): DAT read: 17:23:25.6930 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 442,-0.26, 1.786,-2.668, 2.161,-2.868, PHS=-1.527, 0.245,-1.298, RAW= 323.2,  28.7, CAL= 322.9,  33.9, ROT= 187.1, -33.9

2025-08-22T17:23:25.705Z,1755883405.705 [DAT](INFO): got valid direction response:
 17:23:25.6930 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 442,-0.26, 1.786,-2.668, 2.161,-2.868, PHS=-1.527, 0.245,-1.298, RAW= 323.2,  28.7, CAL= 322.9,  33.9, ROT= 187.1, -33.9

2025-08-22T17:23:25.706Z,1755883405.706 [DAT](INFO): DAT read: Bearing 145.1,  -1.8 (Local)

2025-08-22T17:23:25.707Z,1755883405.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1,  -1.8 (Local)

2025-08-22T17:23:25.708Z,1755883405.708 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.0 m/s

2025-08-22T17:23:25.710Z,1755883405.710 [DAT](INFO): DAT read: user:674>

2025-08-22T17:23:25.712Z,1755883405.712 [DAT](INFO): DAT read: Tx time:17:23:26.7845

2025-08-22T17:23:25.712Z,1755883405.712 [DAT](INFO): Ping request sent.
2025-08-22T17:23:25.712Z,1755883405.712 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:25.713Z,1755883405.713 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T17:23:25.718Z,1755883405.718 [DAT](INFO): direction in FSK: [-0.823648,-0.102591,0.557745]
2025-08-22T17:23:25.718Z,1755883405.718 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:25.719Z,1755883405.719 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:25.732Z,1755883405.732 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:25.732Z,1755883405.732 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:25.746Z,1755883405.746 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.033714
2025-08-22T17:23:25.947Z,1755883405.947 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.234450
2025-08-22T17:23:26.031Z,1755883406.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.527860 s,
      deltaX: 0.100000 m,
      approachRate: 0.028346 m/s,
      rangeRepo size: 4

2025-08-22T17:23:26.033Z,1755883406.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.179043 m,
      bearing: 24.117960 deg,
      lat: 36.779497 deg,
      lon: -121.859646 deg,
      deltaT: 3.527860 s,
      deltaX: 0.099313 m,
      approachRate: 0.028151 m/s,
      posRepo size: 4

2025-08-22T17:23:26.199Z,1755883406.199 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.486492
2025-08-22T17:23:26.430Z,1755883406.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:26.454Z,1755883406.454 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.741990
2025-08-22T17:23:26.704Z,1755883406.704 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.991584
2025-08-22T17:23:26.955Z,1755883406.955 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.243096
2025-08-22T17:23:27.207Z,1755883407.207 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.494450
2025-08-22T17:23:27.463Z,1755883407.463 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.750038
2025-08-22T17:23:27.711Z,1755883407.711 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.998446
2025-08-22T17:23:27.963Z,1755883407.963 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.250382
2025-08-22T17:23:28.215Z,1755883408.215 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.502921
2025-08-22T17:23:28.469Z,1755883408.469 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.756479
2025-08-22T17:23:28.614Z,1755883408.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:28.719Z,1755883408.719 [DAT](INFO): DAT read: Rx Time:17:23:29.1936

2025-08-22T17:23:28.719Z,1755883408.719 [DAT](INFO): Rx dataTimestamp_ set to:1755883408.718743
2025-08-22T17:23:28.720Z,1755883408.720 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.007468
2025-08-22T17:23:28.971Z,1755883408.971 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.258553
2025-08-22T17:23:29.228Z,1755883409.228 [DAT](INFO): DAT read: 17:23:29.1936 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.25, 0.334, 2.147, 0.728, 1.972, PHS=-1.536, 0.220,-1.288, RAW= 322.5,  29.2, CAL= 322.3,  34.5, ROT= 187.7, -34.5

2025-08-22T17:23:29.229Z,1755883409.229 [DAT](INFO): got valid direction response:
 17:23:29.1936 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.25, 0.334, 2.147, 0.728, 1.972, PHS=-1.536, 0.220,-1.288, RAW= 322.5,  29.2, CAL= 322.3,  34.5, ROT= 187.7, -34.5

2025-08-22T17:23:29.230Z,1755883409.230 [DAT](INFO): DAT read: Bearing 137.3,  -2.5 (Local)

2025-08-22T17:23:29.230Z,1755883409.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.3,  -2.5 (Local)

2025-08-22T17:23:29.232Z,1755883409.232 [DAT](INFO): DAT read: Range 11 to 50 : 3.7 m  (Round-trip  5.0 ms) speed  0.0 m/s

2025-08-22T17:23:29.232Z,1755883409.232 [DAT](INFO): DAT read: user:675>

2025-08-22T17:23:29.233Z,1755883409.233 [DAT](INFO): DAT read: Tx time:17:23:30.2844

2025-08-22T17:23:29.252Z,1755883409.252 [DAT](INFO): Ping request sent.
2025-08-22T17:23:29.253Z,1755883409.253 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:29.258Z,1755883409.258 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T17:23:29.259Z,1755883409.259 [DAT](INFO): direction in FSK: [-0.816695,-0.110421,0.566406]
2025-08-22T17:23:29.260Z,1755883409.260 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:29.260Z,1755883409.260 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:29.275Z,1755883409.275 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:29.275Z,1755883409.275 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:29.314Z,1755883409.314 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.062451
2025-08-22T17:23:29.372Z,1755883409.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.700000 m,
      deltaT: 3.527368 s,
      deltaX: 0.500000 m,
      approachRate: 0.141749 m/s,
      rangeRepo size: 4

2025-08-22T17:23:29.381Z,1755883409.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.675842 m,
      bearing: 18.774165 deg,
      lat: 36.779498 deg,
      lon: -121.859645 deg,
      deltaT: 3.527368 s,
      deltaX: 0.496799 m,
      approachRate: 0.140841 m/s,
      posRepo size: 4

2025-08-22T17:23:29.478Z,1755883409.478 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.225180
2025-08-22T17:23:29.727Z,1755883409.727 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.474659
2025-08-22T17:23:29.819Z,1755883409.819 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T17:23:29.978Z,1755883409.978 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.726400
2025-08-22T17:23:30.231Z,1755883410.231 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.978524
2025-08-22T17:23:30.485Z,1755883410.485 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.232660
2025-08-22T17:23:30.735Z,1755883410.735 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.482576
2025-08-22T17:23:30.963Z,1755883410.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:30.987Z,1755883410.987 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.734732
2025-08-22T17:23:31.239Z,1755883411.239 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.987453
2025-08-22T17:23:31.493Z,1755883411.493 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.240904
2025-08-22T17:23:31.742Z,1755883411.742 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.490452
2025-08-22T17:23:31.995Z,1755883411.995 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.742532
2025-08-22T17:23:32.247Z,1755883412.247 [DAT](INFO): DAT read: Rx Time:17:23:32.6931

2025-08-22T17:23:32.248Z,1755883412.248 [DAT](INFO): Rx dataTimestamp_ set to:1755883412.247587
2025-08-22T17:23:32.249Z,1755883412.249 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.996575
2025-08-22T17:23:32.499Z,1755883412.499 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.246572
2025-08-22T17:23:32.772Z,1755883412.772 [DAT](INFO): DAT read: 17:23:32.6931 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 444,-0.12, 2.314,-2.199, 2.694,-2.337, PHS=-1.530, 0.183,-1.296, RAW= 322.7,  30.1, CAL= 322.6,  35.4, ROT= 187.4, -35.4

2025-08-22T17:23:32.775Z,1755883412.775 [DAT](INFO): got valid direction response:
 17:23:32.6931 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 444,-0.12, 2.314,-2.199, 2.694,-2.337, PHS=-1.530, 0.183,-1.296, RAW= 322.7,  30.1, CAL= 322.6,  35.4, ROT= 187.4, -35.4

2025-08-22T17:23:32.776Z,1755883412.776 [DAT](INFO): DAT read: Bearing 129.7,  -2.6 (Local)

2025-08-22T17:23:32.777Z,1755883412.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.7,  -2.6 (Local)

2025-08-22T17:23:32.782Z,1755883412.782 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.5 ms) speed  0.0 m/s

2025-08-22T17:23:32.783Z,1755883412.783 [DAT](INFO): DAT read: user:676>

2025-08-22T17:23:32.784Z,1755883412.784 [DAT](INFO): DAT read: Tx time:17:23:33.7844

2025-08-22T17:23:32.784Z,1755883412.784 [DAT](INFO): Ping request sent.
2025-08-22T17:23:32.784Z,1755883412.784 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:32.784Z,1755883412.784 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T17:23:32.789Z,1755883412.789 [DAT](INFO): direction in FSK: [-0.808339,-0.104985,0.579281]
2025-08-22T17:23:32.790Z,1755883412.790 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:32.790Z,1755883412.790 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:32.793Z,1755883412.793 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:32.798Z,1755883412.798 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:32.801Z,1755883412.801 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.016899
2025-08-22T17:23:33.002Z,1755883413.002 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.218273
2025-08-22T17:23:33.070Z,1755883413.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 3.527990 s,
      deltaX: -0.400000 m,
      approachRate: -0.113379 m/s,
      rangeRepo size: 4

2025-08-22T17:23:33.072Z,1755883413.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.278442 m,
      bearing: 11.751379 deg,
      lat: 36.779499 deg,
      lon: -121.859643 deg,
      deltaT: 3.527990 s,
      deltaX: -0.397400 m,
      approachRate: -0.112642 m/s,
      posRepo size: 4

2025-08-22T17:23:33.255Z,1755883413.255 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.470467
2025-08-22T17:23:33.439Z,1755883413.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:33.514Z,1755883413.514 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.729658
2025-08-22T17:23:33.762Z,1755883413.762 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.978394
2025-08-22T17:23:34.015Z,1755883414.015 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.230764
2025-08-22T17:23:34.267Z,1755883414.267 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.483194
2025-08-22T17:23:34.519Z,1755883414.519 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.734485
2025-08-22T17:23:34.771Z,1755883414.771 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.986562
2025-08-22T17:23:35.024Z,1755883415.024 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.240123
2025-08-22T17:23:35.275Z,1755883415.275 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.490582
2025-08-22T17:23:35.463Z,1755883415.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:35.528Z,1755883415.528 [DAT](INFO): DAT read: Rx Time:17:23:36.1945

2025-08-22T17:23:35.528Z,1755883415.528 [DAT](INFO): Rx dataTimestamp_ set to:1755883415.528136
2025-08-22T17:23:35.530Z,1755883415.530 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.745712
2025-08-22T17:23:35.779Z,1755883415.779 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.994565
2025-08-22T17:23:35.894Z,1755883415.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 3.30 m. Lat: 36.779499 Lon: -121.859643 Reached intercept timeout.
2025-08-22T17:23:35.895Z,1755883415.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-22T17:23:35.895Z,1755883415.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T17:23:35.895Z,1755883415.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-22T17:23:36.032Z,1755883416.032 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.247209
2025-08-22T17:23:36.255Z,1755883416.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-22T17:23:36.255Z,1755883416.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-22T17:23:36.255Z,1755883416.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-22T17:23:36.294Z,1755883416.294 [DAT](INFO): DAT read: 17:23:36.1945 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 449,-0.09, 1.811,-2.705, 2.225,-2.820, PHS=-1.550, 0.160,-1.283, RAW= 321.6,  30.7, CAL= 321.5,  36.0, ROT= 188.5, -36.0

2025-08-22T17:23:36.295Z,1755883416.295 [DAT](INFO): got valid direction response:
 17:23:36.1945 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 449,-0.09, 1.811,-2.705, 2.225,-2.820, PHS=-1.550, 0.160,-1.283, RAW= 321.6,  30.7, CAL= 321.5,  36.0, ROT= 188.5, -36.0

2025-08-22T17:23:36.296Z,1755883416.296 [DAT](INFO): DAT read: Bearing 124.7,  -3.9 (Local)

2025-08-22T17:23:36.297Z,1755883416.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.7,  -3.9 (Local)

2025-08-22T17:23:36.302Z,1755883416.302 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m  (Round-trip  5.9 ms) speed  0.0 m/s

2025-08-22T17:23:36.303Z,1755883416.303 [DAT](INFO): DAT read: user:677>

2025-08-22T17:23:36.303Z,1755883416.303 [DAT](INFO): DAT read: Tx time:17:23:37.2844

2025-08-22T17:23:36.304Z,1755883416.304 [DAT](INFO): Ping request sent.
2025-08-22T17:23:36.304Z,1755883416.304 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:36.304Z,1755883416.304 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T17:23:36.305Z,1755883416.305 [DAT](INFO): direction in FSK: [-0.800131,-0.119580,0.587785]
2025-08-22T17:23:36.310Z,1755883416.310 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:36.310Z,1755883416.310 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:36.313Z,1755883416.313 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:36.313Z,1755883416.313 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:36.325Z,1755883416.325 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.020823
2025-08-22T17:23:36.536Z,1755883416.536 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.231667
2025-08-22T17:23:36.697Z,1755883416.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-22T17:23:36.698Z,1755883416.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T17:23:36.698Z,1755883416.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T17:23:36.699Z,1755883416.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T17:23:36.787Z,1755883416.787 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.482787
2025-08-22T17:23:37.039Z,1755883417.039 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.735205
2025-08-22T17:23:37.091Z,1755883417.091 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T17:23:37.091Z,1755883417.091 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T17:23:37.091Z,1755883417.091 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T17:23:37.091Z,1755883417.091 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T17:23:37.091Z,1755883417.091 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T17:23:37.091Z,1755883417.092 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T17:23:37.092Z,1755883417.092 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-22T17:23:37.092Z,1755883417.092 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T17:23:37.092Z,1755883417.092 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T17:23:37.094Z,1755883417.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T17:23:37.095Z,1755883417.095 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-22T17:23:37.095Z,1755883417.095 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-22T17:23:37.291Z,1755883417.291 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.986775
2025-08-22T17:23:37.462Z,1755883417.462 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-22T17:23:37.462Z,1755883417.462 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-22T17:23:37.544Z,1755883417.544 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.239752
2025-08-22T17:23:37.795Z,1755883417.795 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.490677
2025-08-22T17:23:37.894Z,1755883417.894 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T17:23:37.895Z,1755883417.895 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T17:23:37.895Z,1755883417.895 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-22T17:23:37.895Z,1755883417.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:38.047Z,1755883418.047 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.743075
2025-08-22T17:23:38.299Z,1755883418.299 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.994712
2025-08-22T17:23:38.551Z,1755883418.551 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.246940
2025-08-22T17:23:38.803Z,1755883418.803 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.498700
2025-08-22T17:23:39.054Z,1755883419.054 [DAT](INFO): DAT read: Rx Time:17:23:39.6932

2025-08-22T17:23:39.055Z,1755883419.055 [DAT](INFO): Rx dataTimestamp_ set to:1755883419.054608
2025-08-22T17:23:39.055Z,1755883419.055 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.751571
2025-08-22T17:23:39.307Z,1755883419.307 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.002628
2025-08-22T17:23:39.564Z,1755883419.564 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.259345
2025-08-22T17:23:39.820Z,1755883419.820 [DAT](INFO): DAT read: 17:23:39.6932 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 428,-0.43,-2.836,-1.349,-2.663,-1.304, PHS=-1.430, 0.000,-1.403, RAW= 329.0,  35.3, CAL= 328.4,  40.7, ROT= 181.6, -40.7

2025-08-22T17:23:39.821Z,1755883419.821 [DAT](INFO): got valid direction response:
 17:23:39.6932 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 428,-0.43,-2.836,-1.349,-2.663,-1.304, PHS=-1.430, 0.000,-1.403, RAW= 329.0,  35.3, CAL= 328.4,  40.7, ROT= 181.6, -40.7

2025-08-22T17:23:39.822Z,1755883419.822 [DAT](INFO): DAT read: Bearing 118.4,   3.3 (Local)

2025-08-22T17:23:39.822Z,1755883419.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.4,   3.3 (Local)

2025-08-22T17:23:39.824Z,1755883419.824 [DAT](INFO): DAT read: Range 11 to 50 : 3.4 m  (Round-trip  4.6 ms) speed  0.0 m/s

2025-08-22T17:23:39.824Z,1755883419.824 [DAT](INFO): DAT read: user:678>

2025-08-22T17:23:39.825Z,1755883419.825 [DAT](INFO): DAT read: Tx time:17:23:40.7844

2025-08-22T17:23:39.826Z,1755883419.826 [DAT](INFO): Ping request sent.
2025-08-22T17:23:39.826Z,1755883419.826 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:39.826Z,1755883419.826 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T17:23:39.827Z,1755883419.827 [DAT](INFO): direction in FSK: [-0.757839,-0.021168,0.652098]
2025-08-22T17:23:39.827Z,1755883419.827 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:39.827Z,1755883419.827 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:39.831Z,1755883419.831 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:39.831Z,1755883419.831 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:39.835Z,1755883419.835 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.008854
2025-08-22T17:23:40.067Z,1755883420.067 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.240913
2025-08-22T17:23:40.199Z,1755883420.199 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:23:40.318Z,1755883420.318 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.492743
2025-08-22T17:23:40.345Z,1755883420.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:40.570Z,1755883420.570 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.744791
2025-08-22T17:23:40.760Z,1755883420.760 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-22T17:23:40.760Z,1755883420.760 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-22T17:23:40.760Z,1755883420.760 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T17:23:40.760Z,1755883420.760 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-22T17:23:40.823Z,1755883420.823 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.997159
2025-08-22T17:23:41.074Z,1755883421.074 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.248792
2025-08-22T17:23:41.121Z,1755883421.121 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-22T17:23:41.121Z,1755883421.121 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T17:23:41.124Z,1755883421.124 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T17:23:41.125Z,1755883421.125 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T17:23:41.202Z,1755883421.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:23:41.326Z,1755883421.326 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.500742
2025-08-22T17:23:41.538Z,1755883421.538 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-22T17:23:41.538Z,1755883421.538 [lineCaptureHoming:Lap:B] Stopped
2025-08-22T17:23:41.538Z,1755883421.538 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-22T17:23:41.539Z,1755883421.539 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-22T17:23:41.579Z,1755883421.579 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.753233
2025-08-22T17:23:41.831Z,1755883421.831 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.005022
2025-08-22T17:23:42.006Z,1755883422.006 [lineCaptureHoming:Lap:C] Stopped
2025-08-22T17:23:42.006Z,1755883422.006 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-22T17:23:42.083Z,1755883422.083 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.256809
2025-08-22T17:23:42.318Z,1755883422.318 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-22T17:23:42.318Z,1755883422.318 [lineCaptureHoming:Lap:D] Stopped
2025-08-22T17:23:42.319Z,1755883422.319 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-22T17:23:42.319Z,1755883422.319 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-22T17:23:42.335Z,1755883422.335 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.508886
2025-08-22T17:23:42.590Z,1755883422.590 [DAT](INFO): DAT read: Rx Time:17:23:43.1927

2025-08-22T17:23:42.592Z,1755883422.592 [DAT](INFO): Rx dataTimestamp_ set to:1755883422.590879
2025-08-22T17:23:42.592Z,1755883422.592 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.766564
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-22T17:23:42.805Z,1755883422.805 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-22T17:23:42.822Z,1755883422.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:23:42.839Z,1755883422.839 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.012911
2025-08-22T17:23:43.106Z,1755883423.106 [DAT](INFO): DAT read: 17:23:43.1927 LVL= 24736, 22513, 26306, 32755, AGC= 52, IDX= 440, 0.01,-3.126,-1.684,-2.955,-1.575, PHS=-1.450,-0.065,-1.425, RAW= 329.1,  37.1, CAL= 328.5,  42.4, ROT= 181.5, -42.4

2025-08-22T17:23:43.107Z,1755883423.107 [DAT](INFO): got valid direction response:
 17:23:43.1927 LVL= 24736, 22513, 26306, 32755, AGC= 52, IDX= 440, 0.01,-3.126,-1.684,-2.955,-1.575, PHS=-1.450,-0.065,-1.425, RAW= 329.1,  37.1, CAL= 328.5,  42.4, ROT= 181.5, -42.4

2025-08-22T17:23:43.108Z,1755883423.108 [DAT](INFO): DAT read: Bearing 112.7,   3.5 (Local)

2025-08-22T17:23:43.108Z,1755883423.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 112.7,   3.5 (Local)

2025-08-22T17:23:43.118Z,1755883423.118 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.0 m/s

2025-08-22T17:23:43.119Z,1755883423.119 [DAT](INFO): DAT read: user:679>

2025-08-22T17:23:43.119Z,1755883423.119 [DAT](INFO): DAT read: Tx time:17:23:44.2843

2025-08-22T17:23:43.120Z,1755883423.120 [DAT](INFO): Ping request sent.
2025-08-22T17:23:43.120Z,1755883423.120 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:43.120Z,1755883423.120 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T17:23:43.121Z,1755883423.121 [DAT](INFO): direction in FSK: [-0.738202,-0.019330,0.674302]
2025-08-22T17:23:43.139Z,1755883423.139 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:43.140Z,1755883423.140 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:43.147Z,1755883423.147 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:43.147Z,1755883423.147 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:43.155Z,1755883423.155 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.035575
2025-08-22T17:23:43.214Z,1755883423.214 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T17:23:43.214Z,1755883423.214 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-22T17:23:43.214Z,1755883423.214 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-22T17:23:43.215Z,1755883423.215 [lineCaptureHoming:restartDHCP] Stopped
2025-08-22T17:23:43.215Z,1755883423.215 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-22T17:23:43.232Z,1755883423.232 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T17:23:43.343Z,1755883423.343 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.223606
2025-08-22T17:23:43.574Z,1755883423.574 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-22T17:23:43.574Z,1755883423.574 [lineCaptureHoming:Lap:E] Stopped
2025-08-22T17:23:43.574Z,1755883423.574 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-22T17:23:43.574Z,1755883423.574 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-22T17:23:43.575Z,1755883423.575 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-22T17:23:43.575Z,1755883423.575 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-22T17:23:43.595Z,1755883423.595 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.474804
2025-08-22T17:23:43.807Z,1755883423.807 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-22UTC172343_sh
  
2025-08-22T17:23:43.847Z,1755883423.847 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.727432
2025-08-22T17:23:44.025Z,1755883424.025 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-22T17:23:44.025Z,1755883424.025 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-22T17:23:44.034Z,1755883424.034 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-22T17:23:44.099Z,1755883424.099 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.979086
2025-08-22T17:23:44.338Z,1755883424.338 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-22T17:23:44.339Z,1755883424.339 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-22T17:23:44.350Z,1755883424.350 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.230639
2025-08-22T17:23:44.603Z,1755883424.603 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.483012
2025-08-22T17:23:44.794Z,1755883424.794 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-22T17:23:44.795Z,1755883424.795 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-22T17:23:44.795Z,1755883424.795 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-22T17:23:44.795Z,1755883424.795 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T17:23:44.855Z,1755883424.855 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.734829
2025-08-22T17:23:45.106Z,1755883425.106 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.986657
2025-08-22T17:23:45.160Z,1755883425.160 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-22T17:23:45.161Z,1755883425.161 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-22T17:23:45.359Z,1755883425.359 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.238728
2025-08-22T17:23:45.611Z,1755883425.611 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.490789
2025-08-22T17:23:45.611Z,1755883425.611 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:23:45.863Z,1755883425.863 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.742727
2025-08-22T17:23:45.863Z,1755883425.863 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:23:46.038Z,1755883426.038 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T17:23:46.115Z,1755883426.115 [DAT](INFO): DAT read: Rx Time:17:23:46.6926

2025-08-22T17:23:46.115Z,1755883426.115 [DAT](INFO): Rx dataTimestamp_ set to:1755883426.115132
2025-08-22T17:23:46.116Z,1755883426.116 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.996254
2025-08-22T17:23:46.116Z,1755883426.116 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:23:46.162Z,1755883426.162 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T17:23:46.367Z,1755883426.367 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.246919
2025-08-22T17:23:46.619Z,1755883426.619 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed  0.0 m/s

2025-08-22T17:23:46.620Z,1755883426.620 [DAT](INFO): DAT read: user:680>

2025-08-22T17:23:46.621Z,1755883426.621 [DAT](INFO): DAT read: Tx time:17:23:47.7843

2025-08-22T17:23:46.621Z,1755883426.621 [DAT](INFO): Ping request sent.
2025-08-22T17:23:46.621Z,1755883426.621 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:23:46.622Z,1755883426.622 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-22T17:23:46.622Z,1755883426.622 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:46.623Z,1755883426.623 [DAT](INFO): publishing transmit ping time
2025-08-22T17:23:46.624Z,1755883426.624 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.002221
2025-08-22T17:23:46.871Z,1755883426.871 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.249576
2025-08-22T17:23:47.123Z,1755883427.123 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.501225
2025-08-22T17:23:47.375Z,1755883427.375 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.753264
2025-08-22T17:23:47.627Z,1755883427.627 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.005195
2025-08-22T17:23:47.879Z,1755883427.879 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.257260
2025-08-22T17:23:48.130Z,1755883428.130 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.509130
2025-08-22T17:23:48.383Z,1755883428.383 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.761201
2025-08-22T17:23:48.635Z,1755883428.635 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.013256
2025-08-22T17:23:48.887Z,1755883428.887 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.265295
2025-08-22T17:23:49.139Z,1755883429.139 [DAT](INFO): DAT read: Rx Time:17:23:49.9176 

2025-08-22T17:23:49.139Z,1755883429.139 [DAT](INFO): Rx dataTimestamp_ set to:1755883429.138921
2025-08-22T17:23:49.140Z,1755883429.140 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:49.141Z,1755883429.141 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-22T17:23:49.142Z,1755883429.142 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.520657
2025-08-22T17:23:49.392Z,1755883429.392 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.770655
2025-08-22T17:23:49.643Z,1755883429.643 [DAT](INFO): DAT read: Rx Time:17:23:50.4175 

2025-08-22T17:23:49.643Z,1755883429.643 [DAT](INFO): Rx dataTimestamp_ set to:1755883429.642949
2025-08-22T17:23:49.644Z,1755883429.644 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:49.645Z,1755883429.645 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-22T17:23:49.647Z,1755883429.647 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.025300
2025-08-22T17:23:49.677Z,1755883429.677 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T17:23:49.895Z,1755883429.895 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.273204
2025-08-22T17:23:50.147Z,1755883430.147 [DAT](INFO): DAT read: Rx Time:17:23:50.9176 

2025-08-22T17:23:50.147Z,1755883430.147 [DAT](INFO): Rx dataTimestamp_ set to:1755883430.146899
2025-08-22T17:23:50.148Z,1755883430.148 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:50.149Z,1755883430.149 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-22T17:23:50.158Z,1755883430.158 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.536931
2025-08-22T17:23:50.399Z,1755883430.399 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.777217
2025-08-22T17:23:50.651Z,1755883430.651 [DAT](INFO): DAT read: Rx Time:17:23:51.4175 

2025-08-22T17:23:50.652Z,1755883430.652 [DAT](INFO): Rx dataTimestamp_ set to:1755883430.651534
2025-08-22T17:23:50.653Z,1755883430.653 [DAT](INFO): DAT read: Bearing 113.2,  21.8 (Local)

2025-08-22T17:23:50.653Z,1755883430.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.2,  21.8 (Local)

2025-08-22T17:23:50.655Z,1755883430.655 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:50.660Z,1755883430.660 [DAT](INFO): DAT read: 17:23:51.4175 LVL= 20960, 12849, 28322, 30003, AGC= 50, IDX= 502, 0.13,-1.655,-0.335,-2.523,-0.507, PHS=-1.046, 0.217,-2.060, RAW= 356.4,  27.3, CAL= 355.6,  32.3, ROT= 154.4, -32.3

2025-08-22T17:23:50.661Z,1755883430.661 [DAT](INFO): got valid direction response:
 17:23:51.4175 LVL= 20960, 12849, 28322, 30003, AGC= 50, IDX= 502, 0.13,-1.655,-0.335,-2.523,-0.507, PHS=-1.046, 0.217,-2.060, RAW= 356.4,  27.3, CAL= 355.6,  32.3, ROT= 154.4, -32.3

2025-08-22T17:23:50.661Z,1755883430.661 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T17:23:50.663Z,1755883430.663 [DAT](INFO): direction in FSK: [-0.762285,0.365226,0.534352]
2025-08-22T17:23:50.663Z,1755883430.663 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:50.667Z,1755883430.667 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.046059
2025-08-22T17:23:50.903Z,1755883430.903 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.281293
2025-08-22T17:23:51.156Z,1755883431.156 [DAT](INFO): DAT read: Rx Time:17:23:51.9176 

2025-08-22T17:23:51.156Z,1755883431.156 [DAT](INFO): Rx dataTimestamp_ set to:1755883431.156169
2025-08-22T17:23:51.158Z,1755883431.158 [DAT](INFO): DAT read: Bearing 110.4,  18.8 (Local)

2025-08-22T17:23:51.159Z,1755883431.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.4,  18.8 (Local)

2025-08-22T17:23:51.162Z,1755883431.162 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:51.172Z,1755883431.172 [DAT](INFO): DAT read: 17:23:51.9176 LVL= 19680, 12657, 26482, 27187, AGC= 49, IDX= 503, 0.26,-0.444, 0.862,-1.138, 0.788, PHS=-1.130, 0.119,-1.970, RAW= 353.6,  30.1, CAL= 352.5,  35.2, ROT= 157.5, -35.2

2025-08-22T17:23:51.175Z,1755883431.175 [DAT](INFO): got valid direction response:
 17:23:51.9176 LVL= 19680, 12657, 26482, 27187, AGC= 49, IDX= 503, 0.26,-0.444, 0.862,-1.138, 0.788, PHS=-1.130, 0.119,-1.970, RAW= 353.6,  30.1, CAL= 352.5,  35.2, ROT= 157.5, -35.2

2025-08-22T17:23:51.175Z,1755883431.175 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T17:23:51.176Z,1755883431.176 [DAT](INFO): direction in FSK: [-0.754943,0.312708,0.576432]
2025-08-22T17:23:51.177Z,1755883431.177 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:51.202Z,1755883431.202 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=4.580839
2025-08-22T17:23:51.407Z,1755883431.407 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=4.785234
2025-08-22T17:23:51.667Z,1755883431.667 [DAT](INFO): DAT read: Rx Time:17:23:52.4175 

2025-08-22T17:23:51.668Z,1755883431.668 [DAT](INFO): Rx dataTimestamp_ set to:1755883431.667392
2025-08-22T17:23:51.669Z,1755883431.669 [DAT](INFO): DAT read: Bearing 108.3,  18.5 (Local)

2025-08-22T17:23:51.669Z,1755883431.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.3,  18.5 (Local)

2025-08-22T17:23:51.671Z,1755883431.671 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:51.676Z,1755883431.676 [DAT](INFO): DAT read: 17:23:52.4175 LVL= 22560, 13521, 28914, 28579, AGC= 49, IDX= 502, 0.44,-2.221,-0.968,-2.885,-0.960, PHS=-1.159, 0.037,-1.969, RAW= 353.7,  32.0, CAL= 352.3,  37.2, ROT= 157.7, -37.2

2025-08-22T17:23:51.677Z,1755883431.677 [DAT](INFO): got valid direction response:
 17:23:52.4175 LVL= 22560, 13521, 28914, 28579, AGC= 49, IDX= 502, 0.44,-2.221,-0.968,-2.885,-0.960, PHS=-1.159, 0.037,-1.969, RAW= 353.7,  32.0, CAL= 352.3,  37.2, ROT= 157.7, -37.2

2025-08-22T17:23:51.677Z,1755883431.677 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T17:23:51.679Z,1755883431.679 [DAT](INFO): direction in FSK: [-0.736957,0.302248,0.604599]
2025-08-22T17:23:51.679Z,1755883431.679 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:51.682Z,1755883431.682 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.060990
2025-08-22T17:23:51.920Z,1755883431.920 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.298191
2025-08-22T17:23:52.051Z,1755883432.051 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V
2025-08-22T17:23:52.173Z,1755883432.173 [DAT](INFO): DAT read: Rx Time:17:23:52.9176 

2025-08-22T17:23:52.174Z,1755883432.174 [DAT](INFO): Rx dataTimestamp_ set to:1755883432.173617
2025-08-22T17:23:52.176Z,1755883432.176 [DAT](INFO): DAT read: Bearing 106.3,  14.7 (Local)

2025-08-22T17:23:52.176Z,1755883432.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.3,  14.7 (Local)

2025-08-22T17:23:52.179Z,1755883432.179 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:52.192Z,1755883432.192 [DAT](INFO): DAT read: 17:23:52.9176 LVL= 20112, 13761, 23922, 27107, AGC= 49, IDX= 504,-0.37,-2.405,-1.098,-2.887,-1.039, PHS=-1.264,-0.014,-1.892, RAW= 349.2,  34.1, CAL= 347.7,  39.3, ROT= 162.3, -39.3

2025-08-22T17:23:52.194Z,1755883432.194 [DAT](INFO): got valid direction response:
 17:23:52.9176 LVL= 20112, 13761, 23922, 27107, AGC= 49, IDX= 504,-0.37,-2.405,-1.098,-2.887,-1.039, PHS=-1.264,-0.014,-1.892, RAW= 349.2,  34.1, CAL= 347.7,  39.3, ROT= 162.3, -39.3

2025-08-22T17:23:52.194Z,1755883432.194 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T17:23:52.196Z,1755883432.196 [DAT](INFO): direction in FSK: [-0.737208,0.235273,0.633381]
2025-08-22T17:23:52.209Z,1755883432.209 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:52.213Z,1755883432.213 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=5.591613
2025-08-22T17:23:52.423Z,1755883432.423 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=5.801171
2025-08-22T17:23:52.675Z,1755883432.675 [DAT](INFO): DAT read: Rx Time:17:23:53.4175 

2025-08-22T17:23:52.676Z,1755883432.676 [DAT](INFO): Rx dataTimestamp_ set to:1755883432.675652
2025-08-22T17:23:52.678Z,1755883432.678 [DAT](INFO): DAT read: Bearing 103.9,  10.3 (Local)

2025-08-22T17:23:52.679Z,1755883432.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.9,  10.3 (Local)

2025-08-22T17:23:52.682Z,1755883432.682 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:52.689Z,1755883432.689 [DAT](INFO): DAT read: 17:23:53.4175 LVL= 19760, 13585, 21810, 27507, AGC= 49, IDX= 503,-0.25, 2.690,-2.222, 2.406,-2.100, PHS=-1.391,-0.077,-1.822, RAW= 343.7,  36.5, CAL= 342.4,  41.6, ROT= 167.6, -41.6

2025-08-22T17:23:52.703Z,1755883432.703 [DAT](INFO): got valid direction response:
 17:23:53.4175 LVL= 19760, 13585, 21810, 27507, AGC= 49, IDX= 503,-0.25, 2.690,-2.222, 2.406,-2.100, PHS=-1.391,-0.077,-1.822, RAW= 343.7,  36.5, CAL= 342.4,  41.6, ROT= 167.6, -41.6

2025-08-22T17:23:52.703Z,1755883432.703 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T17:23:52.704Z,1755883432.704 [DAT](INFO): direction in FSK: [-0.730354,0.160579,0.663926]
2025-08-22T17:23:52.704Z,1755883432.704 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:52.708Z,1755883432.708 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=6.086671
2025-08-22T17:23:52.927Z,1755883432.927 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=6.305295
2025-08-22T17:23:53.180Z,1755883433.180 [DAT](INFO): DAT read: Rx Time:17:23:53.9176 

2025-08-22T17:23:53.180Z,1755883433.180 [DAT](INFO): Rx dataTimestamp_ set to:1755883433.180067
2025-08-22T17:23:53.182Z,1755883433.182 [DAT](INFO): DAT read: Bearing 101.7,   4.8 (Local)

2025-08-22T17:23:53.183Z,1755883433.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.7,   4.8 (Local)

2025-08-22T17:23:53.186Z,1755883433.186 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:53.191Z,1755883433.191 [DAT](INFO): DAT read: 17:23:53.9176 LVL= 20096, 14049, 20034, 27027, AGC= 49, IDX= 504,-0.16,-1.809,-0.312,-1.853,-0.140, PHS=-1.567,-0.127,-1.757, RAW= 336.1,  38.3, CAL= 335.1,  43.4, ROT= 174.9, -43.4

2025-08-22T17:23:53.192Z,1755883433.192 [DAT](INFO): got valid direction response:
 17:23:53.9176 LVL= 20096, 14049, 20034, 27027, AGC= 49, IDX= 504,-0.16,-1.809,-0.312,-1.853,-0.140, PHS=-1.567,-0.127,-1.757, RAW= 336.1,  38.3, CAL= 335.1,  43.4, ROT= 174.9, -43.4

2025-08-22T17:23:53.192Z,1755883433.192 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T17:23:53.194Z,1755883433.194 [DAT](INFO): direction in FSK: [-0.723698,0.064588,0.687088]
2025-08-22T17:23:53.194Z,1755883433.194 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:53.197Z,1755883433.197 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=6.575905
2025-08-22T17:23:53.431Z,1755883433.431 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=6.809265
2025-08-22T17:23:53.683Z,1755883433.683 [DAT](INFO): DAT read: Rx Time:17:23:54.4175 

2025-08-22T17:23:53.684Z,1755883433.684 [DAT](INFO): Rx dataTimestamp_ set to:1755883433.683661
2025-08-22T17:23:53.685Z,1755883433.685 [DAT](INFO): DAT read: Bearing 101.2,   4.1 (Local)

2025-08-22T17:23:53.686Z,1755883433.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.2,   4.1 (Local)

2025-08-22T17:23:53.688Z,1755883433.688 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:53.692Z,1755883433.692 [DAT](INFO): DAT read: 17:23:54.4175 LVL= 20640, 12945, 21490, 27603, AGC= 49, IDX= 503,-0.08,-2.483,-0.914,-2.494,-0.731, PHS=-1.650,-0.138,-1.807, RAW= 334.9,  38.5, CAL= 334.0,  43.6, ROT= 176.0, -43.6

2025-08-22T17:23:53.693Z,1755883433.693 [DAT](INFO): got valid direction response:
 17:23:54.4175 LVL= 20640, 12945, 21490, 27603, AGC= 49, IDX= 503,-0.08,-2.483,-0.914,-2.494,-0.731, PHS=-1.650,-0.138,-1.807, RAW= 334.9,  38.5, CAL= 334.0,  43.6, ROT= 176.0, -43.6

2025-08-22T17:23:53.694Z,1755883433.694 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T17:23:53.695Z,1755883433.695 [DAT](INFO): direction in FSK: [-0.722408,0.050516,0.689620]
2025-08-22T17:23:53.695Z,1755883433.695 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:53.699Z,1755883433.699 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=7.077476
2025-08-22T17:23:53.935Z,1755883433.935 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=7.313367
2025-08-22T17:23:54.189Z,1755883434.189 [DAT](INFO): DAT read: Rx Time:17:23:54.9176 

2025-08-22T17:23:54.190Z,1755883434.190 [DAT](INFO): Rx dataTimestamp_ set to:1755883434.189347
2025-08-22T17:23:54.191Z,1755883434.191 [DAT](INFO): DAT read: Bearing 102.5,   6.3 (Local)

2025-08-22T17:23:54.191Z,1755883434.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.5,   6.3 (Local)

2025-08-22T17:23:54.193Z,1755883434.193 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:54.210Z,1755883434.210 [DAT](INFO): DAT read: 17:23:54.9176 LVL= 18736, 14065, 20658, 24643, AGC= 50, IDX= 503,-0.03,-1.900,-0.256,-2.008,-0.127, PHS=-1.671,-0.084,-1.925, RAW= 337.3,  37.0, CAL= 336.3,  42.1, ROT= 173.7, -42.1

2025-08-22T17:23:54.212Z,1755883434.212 [DAT](INFO): got valid direction response:
 17:23:54.9176 LVL= 18736, 14065, 20658, 24643, AGC= 50, IDX= 503,-0.03,-1.900,-0.256,-2.008,-0.127, PHS=-1.671,-0.084,-1.925, RAW= 337.3,  37.0, CAL= 336.3,  42.1, ROT= 173.7, -42.1

2025-08-22T17:23:54.212Z,1755883434.212 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T17:23:54.213Z,1755883434.213 [DAT](INFO): direction in FSK: [-0.737495,0.081420,0.670427]
2025-08-22T17:23:54.219Z,1755883434.219 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:54.229Z,1755883434.229 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.607239
2025-08-22T17:23:54.439Z,1755883434.439 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.817520
2025-08-22T17:23:54.691Z,1755883434.691 [DAT](INFO): DAT read: Rx Time:17:23:55.4175 

2025-08-22T17:23:54.691Z,1755883434.691 [DAT](INFO): Rx dataTimestamp_ set to:1755883434.690871
2025-08-22T17:23:54.692Z,1755883434.692 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:54.693Z,1755883434.693 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-22T17:23:54.694Z,1755883434.694 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=8.072525
2025-08-22T17:23:54.943Z,1755883434.943 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=8.321300
2025-08-22T17:23:55.195Z,1755883435.195 [DAT](INFO): DAT read: Rx Time:17:23:55.9176 

2025-08-22T17:23:55.195Z,1755883435.195 [DAT](INFO): Rx dataTimestamp_ set to:1755883435.194793
2025-08-22T17:23:55.196Z,1755883435.196 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:55.197Z,1755883435.197 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-22T17:23:55.198Z,1755883435.198 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.576457
2025-08-22T17:23:55.447Z,1755883435.447 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.825244
2025-08-22T17:23:55.699Z,1755883435.699 [DAT](INFO): DAT read: Rx Time:17:23:56.4175 

2025-08-22T17:23:55.700Z,1755883435.700 [DAT](INFO): Rx dataTimestamp_ set to:1755883435.699350
2025-08-22T17:23:55.701Z,1755883435.701 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:55.702Z,1755883435.702 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-22T17:23:55.703Z,1755883435.703 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=9.082187
2025-08-22T17:23:55.951Z,1755883435.951 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=9.329254
2025-08-22T17:23:56.206Z,1755883436.206 [DAT](INFO): DAT read: Rx Time:17:23:56.9176 

2025-08-22T17:23:56.206Z,1755883436.206 [DAT](INFO): Rx dataTimestamp_ set to:1755883436.205991
2025-08-22T17:23:56.208Z,1755883436.208 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:56.209Z,1755883436.209 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-22T17:23:56.210Z,1755883436.210 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=9.589111
2025-08-22T17:23:56.454Z,1755883436.454 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=9.833059
2025-08-22T17:23:56.707Z,1755883436.707 [DAT](INFO): DAT read: Rx Time:17:23:57.4175 

2025-08-22T17:23:56.707Z,1755883436.707 [DAT](INFO): Rx dataTimestamp_ set to:1755883436.707087
2025-08-22T17:23:56.708Z,1755883436.708 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:56.709Z,1755883436.709 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-08-22T17:23:56.710Z,1755883436.710 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=10.089070
2025-08-22T17:23:56.959Z,1755883436.959 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=10.337323
2025-08-22T17:23:57.211Z,1755883437.211 [DAT](INFO): DAT read: Rx Time:17:23:57.9176 

2025-08-22T17:23:57.212Z,1755883437.212 [DAT](INFO): Rx dataTimestamp_ set to:1755883437.211388
2025-08-22T17:23:57.213Z,1755883437.213 [DAT](INFO): DAT read: Bearing  98.0,  -5.3 (Local)

2025-08-22T17:23:57.213Z,1755883437.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.0,  -5.3 (Local)

2025-08-22T17:23:57.216Z,1755883437.216 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:57.220Z,1755883437.220 [DAT](INFO): DAT read: 17:23:57.9176 LVL= 17200, 16673, 12946, 20275, AGC= 50, IDX= 502, 0.42, 2.860,-1.417,-2.811,-1.288, PHS=-2.032,-0.084,-1.566, RAW= 316.8,  36.5, CAL= 317.2,  41.7, ROT= 192.8, -41.7

2025-08-22T17:23:57.221Z,1755883437.221 [DAT](INFO): got valid direction response:
 17:23:57.9176 LVL= 17200, 16673, 12946, 20275, AGC= 50, IDX= 502, 0.42, 2.860,-1.417,-2.811,-1.288, PHS=-2.032,-0.084,-1.566, RAW= 316.8,  36.5, CAL= 317.2,  41.7, ROT= 192.8, -41.7

2025-08-22T17:23:57.222Z,1755883437.222 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T17:23:57.223Z,1755883437.223 [DAT](INFO): direction in FSK: [-0.728084,-0.165417,0.665230]
2025-08-22T17:23:57.223Z,1755883437.223 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:57.227Z,1755883437.227 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=10.605416
2025-08-22T17:23:57.463Z,1755883437.463 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=10.841780
2025-08-22T17:23:57.715Z,1755883437.715 [DAT](INFO): DAT read: Rx Time:17:23:58.4174 

2025-08-22T17:23:57.716Z,1755883437.716 [DAT](INFO): Rx dataTimestamp_ set to:1755883437.715427
2025-08-22T17:23:57.717Z,1755883437.717 [DAT](INFO): DAT read: Bearing  97.9, -11.0 (Local)

2025-08-22T17:23:57.717Z,1755883437.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9, -11.0 (Local)

2025-08-22T17:23:57.719Z,1755883437.719 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T17:23:57.732Z,1755883437.732 [DAT](INFO): DAT read: 17:23:58.4174 LVL= 19488, 17665, 12738, 18419, AGC= 49, IDX= 502,-0.37, 0.653, 2.802, 1.576, 2.886, PHS=-2.131,-0.040,-1.355, RAW= 308.5,  34.2, CAL= 309.7,  39.5, ROT= 200.3, -39.5

2025-08-22T17:23:57.733Z,1755883437.733 [DAT](INFO): got valid direction response:
 17:23:58.4174 LVL= 19488, 17665, 12738, 18419, AGC= 49, IDX= 502,-0.37, 0.653, 2.802, 1.576, 2.886, PHS=-2.131,-0.040,-1.355, RAW= 308.5,  34.2, CAL= 309.7,  39.5, ROT= 200.3, -39.5

2025-08-22T17:23:57.733Z,1755883437.733 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T17:23:57.734Z,1755883437.734 [DAT](INFO): direction in FSK: [-0.723698,-0.267704,0.636078]
2025-08-22T17:23:57.735Z,1755883437.735 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:57.744Z,1755883437.744 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=11.121115
2025-08-22T17:23:57.967Z,1755883437.967 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=11.345271
2025-08-22T17:23:58.219Z,1755883438.219 [DAT](INFO): DAT read: Rx Time:17:23:58.9175 

2025-08-22T17:23:58.220Z,1755883438.220 [DAT](INFO): Rx dataTimestamp_ set to:1755883438.219468
2025-08-22T17:23:58.221Z,1755883438.221 [DAT](INFO): DAT read: Bearing  99.8, -15.6 (Local)

2025-08-22T17:23:58.221Z,1755883438.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.8, -15.6 (Local)

2025-08-22T17:23:58.223Z,1755883438.223 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-08-22T17:23:58.228Z,1755883438.228 [DAT](INFO): DAT read: 17:23:58.9175 LVL= 23184, 19233, 16802, 19395, AGC= 49, IDX= 503,-0.17, 2.448,-1.666,-2.752,-1.713, PHS=-2.020, 0.093,-1.082, RAW= 303.7,  30.1, CAL= 304.9,  35.7, ROT= 205.1, -35.7

2025-08-22T17:23:58.229Z,1755883438.229 [DAT](INFO): got valid direction response:
 17:23:58.9175 LVL= 23184, 19233, 16802, 19395, AGC= 49, IDX= 503,-0.17, 2.448,-1.666,-2.752,-1.713, PHS=-2.020, 0.093,-1.082, RAW= 303.7,  30.1, CAL= 304.9,  35.7, ROT= 205.1, -35.7

2025-08-22T17:23:58.229Z,1755883438.229 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T17:23:58.230Z,1755883438.230 [DAT](INFO): direction in FSK: [-0.735397,-0.344485,0.583541]
2025-08-22T17:23:58.231Z,1755883438.231 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:58.242Z,1755883438.242 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=11.620827
2025-08-22T17:23:58.471Z,1755883438.471 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=11.849329
2025-08-22T17:23:58.724Z,1755883438.724 [DAT](INFO): DAT read: Rx Time:17:23:59.4174 

2025-08-22T17:23:58.724Z,1755883438.724 [DAT](INFO): Rx dataTimestamp_ set to:1755883438.724190
2025-08-22T17:23:58.726Z,1755883438.726 [DAT](INFO): DAT read: Bearing 100.7, -19.0 (Local)

2025-08-22T17:23:58.726Z,1755883438.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.7, -19.0 (Local)

2025-08-22T17:23:58.728Z,1755883438.728 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed -0.1

2025-08-22T17:23:58.737Z,1755883438.737 [DAT](INFO): DAT read: 17:23:59.4174 LVL= 20416, 16417, 14738, 20723, AGC= 48, IDX= 502, 0.07, 2.152,-2.016,-2.966,-2.140, PHS=-1.889, 0.169,-0.870, RAW= 300.3,  27.2, CAL= 301.2,  33.0, ROT= 208.8, -33.0

2025-08-22T17:23:58.738Z,1755883438.738 [DAT](INFO): got valid direction response:
 17:23:59.4174 LVL= 20416, 16417, 14738, 20723, AGC= 48, IDX= 502, 0.07, 2.152,-2.016,-2.966,-2.140, PHS=-1.889, 0.169,-0.870, RAW= 300.3,  27.2, CAL= 301.2,  33.0, ROT= 208.8, -33.0

2025-08-22T17:23:58.739Z,1755883438.739 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T17:23:58.740Z,1755883438.740 [DAT](INFO): direction in FSK: [-0.734933,-0.404033,0.544639]
2025-08-22T17:23:58.740Z,1755883438.740 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:58.744Z,1755883438.744 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=12.122944
2025-08-22T17:23:58.984Z,1755883438.984 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=12.362172
2025-08-22T17:23:59.235Z,1755883439.235 [DAT](INFO): DAT read: Rx Time:17:23:59.9176 

2025-08-22T17:23:59.236Z,1755883439.236 [DAT](INFO): Rx dataTimestamp_ set to:1755883439.235333
2025-08-22T17:23:59.237Z,1755883439.237 [DAT](INFO): DAT read: Bearing 104.4, -24.5 (Local)

2025-08-22T17:23:59.237Z,1755883439.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.4, -24.5 (Local)

2025-08-22T17:23:59.239Z,1755883439.239 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:23:59.244Z,1755883439.244 [DAT](INFO): DAT read: 17:23:59.9176 LVL= 28400, 21857, 20018, 22515, AGC= 49, IDX= 504,-0.46, 0.839, 3.077, 2.173, 2.744, PHS=-1.804, 0.377,-0.616, RAW= 297.0,  20.9, CAL= 296.5,  27.3, ROT= 213.5, -27.3

2025-08-22T17:23:59.245Z,1755883439.245 [DAT](INFO): got valid direction response:
 17:23:59.9176 LVL= 28400, 21857, 20018, 22515, AGC= 49, IDX= 504,-0.46, 0.839, 3.077, 2.173, 2.744, PHS=-1.804, 0.377,-0.616, RAW= 297.0,  20.9, CAL= 296.5,  27.3, ROT= 213.5, -27.3

2025-08-22T17:23:59.245Z,1755883439.245 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T17:23:59.247Z,1755883439.247 [DAT](INFO): direction in FSK: [-0.741005,-0.490461,0.458650]
2025-08-22T17:23:59.247Z,1755883439.247 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:59.251Z,1755883439.251 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=12.629194
2025-08-22T17:23:59.488Z,1755883439.488 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=12.865929
2025-08-22T17:23:59.739Z,1755883439.739 [DAT](INFO): DAT read: Rx Time:17:24:00.4175 

2025-08-22T17:23:59.740Z,1755883439.740 [DAT](INFO): Rx dataTimestamp_ set to:1755883439.739257
2025-08-22T17:23:59.741Z,1755883439.741 [DAT](INFO): DAT read: Bearing 105.4, -28.1 (Local)

2025-08-22T17:23:59.741Z,1755883439.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.4, -28.1 (Local)

2025-08-22T17:23:59.743Z,1755883439.743 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.1

2025-08-22T17:23:59.748Z,1755883439.748 [DAT](INFO): DAT read: 17:24:00.4175 LVL= 26656, 21521, 22002, 22819, AGC= 49, IDX= 503,-0.05,-1.973, 0.274,-0.538,-0.130, PHS=-1.742, 0.448,-0.452, RAW= 294.1,  17.9, CAL= 292.8,  24.7, ROT= 217.2, -24.7

2025-08-22T17:23:59.749Z,1755883439.749 [DAT](INFO): got valid direction response:
 17:24:00.4175 LVL= 26656, 21521, 22002, 22819, AGC= 49, IDX= 503,-0.05,-1.973, 0.274,-0.538,-0.130, PHS=-1.742, 0.448,-0.452, RAW= 294.1,  17.9, CAL= 292.8,  24.7, ROT= 217.2, -24.7

2025-08-22T17:23:59.749Z,1755883439.749 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T17:23:59.750Z,1755883439.750 [DAT](INFO): direction in FSK: [-0.723654,-0.549283,0.417867]
2025-08-22T17:23:59.750Z,1755883439.750 [DAT](INFO): publishing direction and range info
2025-08-22T17:23:59.757Z,1755883439.757 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=13.134941
2025-08-22T17:23:59.992Z,1755883439.992 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=13.370308
2025-08-22T17:24:00.243Z,1755883440.243 [DAT](INFO): DAT read: Rx Time:17:24:00.9176 

2025-08-22T17:24:00.243Z,1755883440.243 [DAT](INFO): Rx dataTimestamp_ set to:1755883440.243200
2025-08-22T17:24:00.245Z,1755883440.245 [DAT](INFO): DAT read: Bearing 104.1, -31.2 (Local)

2025-08-22T17:24:00.245Z,1755883440.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.1, -31.2 (Local)

2025-08-22T17:24:00.247Z,1755883440.247 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:24:00.251Z,1755883440.251 [DAT](INFO): DAT read: 17:24:00.9176 LVL= 28272, 20961, 23794, 28275, AGC= 49, IDX= 504, 0.21, 0.433, 2.688, 2.016, 2.301, PHS=-1.766, 0.432,-0.329, RAW= 289.9,  16.9, CAL= 288.5,  23.9, ROT= 221.5, -23.9

2025-08-22T17:24:00.252Z,1755883440.252 [DAT](INFO): got valid direction response:
 17:24:00.9176 LVL= 28272, 20961, 23794, 28275, AGC= 49, IDX= 504, 0.21, 0.433, 2.688, 2.016, 2.301, PHS=-1.766, 0.432,-0.329, RAW= 289.9,  16.9, CAL= 288.5,  23.9, ROT= 221.5, -23.9

2025-08-22T17:24:00.253Z,1755883440.253 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T17:24:00.254Z,1755883440.254 [DAT](INFO): direction in FSK: [-0.684736,-0.605803,0.405142]
2025-08-22T17:24:00.254Z,1755883440.254 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:00.262Z,1755883440.262 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=13.640602
2025-08-22T17:24:00.495Z,1755883440.495 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=13.873345
2025-08-22T17:24:00.748Z,1755883440.748 [DAT](INFO): DAT read: Rx Time:17:24:01.4175 

2025-08-22T17:24:00.748Z,1755883440.748 [DAT](INFO): Rx dataTimestamp_ set to:1755883440.748207
2025-08-22T17:24:00.759Z,1755883440.759 [DAT](INFO): DAT read: Bearing 104.6, -33.9 (Local)

2025-08-22T17:24:00.759Z,1755883440.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.6, -33.9 (Local)

2025-08-22T17:24:00.762Z,1755883440.762 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.1

2025-08-22T17:24:00.775Z,1755883440.775 [DAT](INFO): DAT read: 17:24:01.4175 LVL= 25520, 20593, 25266, 23283, AGC= 49, IDX= 504,-0.33,-2.979,-0.637,-1.242,-1.083, PHS=-1.793, 0.491,-0.203, RAW= 287.2,  14.7, CAL= 285.4,  21.8, ROT= 224.6, -21.8

2025-08-22T17:24:00.777Z,1755883440.777 [DAT](INFO): got valid direction response:
 17:24:01.4175 LVL= 25520, 20593, 25266, 23283, AGC= 49, IDX= 504,-0.33,-2.979,-0.637,-1.242,-1.083, PHS=-1.793, 0.491,-0.203, RAW= 287.2,  14.7, CAL= 285.4,  21.8, ROT= 224.6, -21.8

2025-08-22T17:24:00.777Z,1755883440.777 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T17:24:00.783Z,1755883440.783 [DAT](INFO): direction in FSK: [-0.661106,-0.651939,0.371368]
2025-08-22T17:24:00.783Z,1755883440.783 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:00.795Z,1755883440.795 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=14.173878
2025-08-22T17:24:00.999Z,1755883440.999 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=14.378115
2025-08-22T17:24:01.251Z,1755883441.251 [DAT](INFO): DAT read: Rx Time:17:24:01.9176 

2025-08-22T17:24:01.252Z,1755883441.252 [DAT](INFO): Rx dataTimestamp_ set to:1755883441.251368
2025-08-22T17:24:01.253Z,1755883441.253 [DAT](INFO): DAT read: Bearing 103.8, -35.9 (Local)

2025-08-22T17:24:01.253Z,1755883441.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.8, -35.9 (Local)

2025-08-22T17:24:01.256Z,1755883441.256 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.1

2025-08-22T17:24:01.263Z,1755883441.263 [DAT](INFO): DAT read: 17:24:01.9176 LVL= 31984, 22705, 30130, 28195, AGC= 50, IDX= 504,-0.04,-2.988,-0.641,-1.137,-1.079, PHS=-1.807, 0.482,-0.102, RAW= 284.2,  13.8, CAL= 282.5,  21.0, ROT= 227.5, -21.0

2025-08-22T17:24:01.265Z,1755883441.265 [DAT](INFO): got valid direction response:
 17:24:01.9176 LVL= 31984, 22705, 30130, 28195, AGC= 50, IDX= 504,-0.04,-2.988,-0.641,-1.137,-1.079, PHS=-1.807, 0.482,-0.102, RAW= 284.2,  13.8, CAL= 282.5,  21.0, ROT= 227.5, -21.0

2025-08-22T17:24:01.265Z,1755883441.265 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T17:24:01.267Z,1755883441.267 [DAT](INFO): direction in FSK: [-0.630718,-0.688308,0.358368]
2025-08-22T17:24:01.267Z,1755883441.267 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:01.273Z,1755883441.273 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=14.651458
2025-08-22T17:24:01.503Z,1755883441.503 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=14.881447
2025-08-22T17:24:01.755Z,1755883441.755 [DAT](INFO): DAT read: Rx Time:17:24:02.4175 

2025-08-22T17:24:01.756Z,1755883441.756 [DAT](INFO): Rx dataTimestamp_ set to:1755883441.755296
2025-08-22T17:24:01.757Z,1755883441.757 [DAT](INFO): DAT read: Bearing 102.5, -37.4 (Local)

2025-08-22T17:24:01.757Z,1755883441.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.5, -37.4 (Local)

2025-08-22T17:24:01.759Z,1755883441.759 [DAT](INFO): DAT read: Range 11 to 50 :     3.0 m (trip time 2.0 ms) speed -0.1

2025-08-22T17:24:01.764Z,1755883441.764 [DAT](INFO): DAT read: 17:24:02.4175 LVL= 32752, 24049, 32754, 32755, AGC= 51, IDX= 503, 0.23,-2.755,-0.455,-0.827,-0.842, PHS=-1.810, 0.432,-0.029, RAW= 281.2,  13.6, CAL= 279.8,  20.9, ROT= 230.2, -20.9

2025-08-22T17:24:01.765Z,1755883441.765 [DAT](INFO): got valid direction response:
 17:24:02.4175 LVL= 32752, 24049, 32754, 32755, AGC= 51, IDX= 503, 0.23,-2.755,-0.455,-0.827,-0.842, PHS=-1.810, 0.432,-0.029, RAW= 281.2,  13.6, CAL= 279.8,  20.9, ROT= 230.2, -20.9

2025-08-22T17:24:01.765Z,1755883441.765 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T17:24:01.766Z,1755883441.766 [DAT](INFO): direction in FSK: [-0.597993,-0.717734,0.356738]
2025-08-22T17:24:01.766Z,1755883441.766 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:01.780Z,1755883441.780 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=15.159052
2025-08-22T17:24:02.007Z,1755883442.007 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=15.385589
2025-08-22T17:24:02.260Z,1755883442.260 [DAT](INFO): DAT read: Rx Time:17:24:02.9176 

2025-08-22T17:24:02.261Z,1755883442.261 [DAT](INFO): Rx dataTimestamp_ set to:1755883442.260435
2025-08-22T17:24:02.263Z,1755883442.263 [DAT](INFO): DAT read: Bearing 102.2, -37.0 (Local)

2025-08-22T17:24:02.263Z,1755883442.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.2, -37.0 (Local)

2025-08-22T17:24:02.265Z,1755883442.265 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:24:02.271Z,1755883442.271 [DAT](INFO): DAT read: 17:24:02.9176 LVL= 32752, 25137, 32754, 32755, AGC= 50, IDX= 505,-0.33, 2.540,-1.510,-1.847,-1.873, PHS=-1.768, 0.408,-0.018, RAW= 280.7,  13.7, CAL= 279.3,  20.9, ROT= 230.7, -20.9

2025-08-22T17:24:02.273Z,1755883442.273 [DAT](INFO): got valid direction response:
 17:24:02.9176 LVL= 32752, 25137, 32754, 32755, AGC= 50, IDX= 505,-0.33, 2.540,-1.510,-1.847,-1.873, PHS=-1.768, 0.408,-0.018, RAW= 280.7,  13.7, CAL= 279.3,  20.9, ROT= 230.7, -20.9

2025-08-22T17:24:02.273Z,1755883442.273 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T17:24:02.275Z,1755883442.275 [DAT](INFO): direction in FSK: [-0.591707,-0.722925,0.356738]
2025-08-22T17:24:02.275Z,1755883442.275 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:02.281Z,1755883442.281 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=15.659646
2025-08-22T17:24:02.294Z,1755883442.294 [MassServo](FAULT): Overload Error
2025-08-22T17:24:02.294Z,1755883442.294 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:02.294Z,1755883442.294 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:02.407Z,1755883442.407 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:02.511Z,1755883442.511 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=15.889316
2025-08-22T17:24:02.655Z,1755883442.655 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:02.655Z,1755883442.655 [MassServo](INFO): Powering down
2025-08-22T17:24:02.763Z,1755883442.763 [DAT](INFO): DAT read: Rx Time:17:24:03.4176 

2025-08-22T17:24:02.764Z,1755883442.764 [DAT](INFO): Rx dataTimestamp_ set to:1755883442.763578
2025-08-22T17:24:02.765Z,1755883442.765 [DAT](INFO): DAT read: Bearing 102.2, -37.8 (Local)

2025-08-22T17:24:02.766Z,1755883442.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.2, -37.8 (Local)

2025-08-22T17:24:02.767Z,1755883442.767 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.1

2025-08-22T17:24:02.776Z,1755883442.776 [DAT](INFO): DAT read: 17:24:03.4176 LVL=25921, 29842, 32755, AGC= 48, IDX= 504,-0.02, 1.170,-2.955, 3.059, 2.981, PHS=-1.708, 0.393, 0.035, RAW= 279.2,  13.1, CAL= 277.9,  20.1, ROT= 232.1, -20.1

2025-08-22T17:24:02.776Z,1755883442.776 [DAT](INFO): unknown deviceResponse_: 17:24:03.4176 LVL=25921, 29842, 32755, AGC= 48, IDX= 504,-0.02, 1.170,-2.955, 3.059, 2.981, PHS=-1.708, 0.393, 0.035, RAW= 279.2,  13.1, CAL= 277.9,  20.1, ROT= 232.1, -20.1

2025-08-22T17:24:02.777Z,1755883442.777 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-08-22T17:24:02.778Z,1755883442.778 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=16.156967
2025-08-22T17:24:03.018Z,1755883443.018 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=16.395723
2025-08-22T17:24:03.267Z,1755883443.267 [DAT](INFO): DAT read: Rx Time:17:24:03.9177 

2025-08-22T17:24:03.268Z,1755883443.268 [DAT](INFO): Rx dataTimestamp_ set to:1755883443.267348
2025-08-22T17:24:03.269Z,1755883443.269 [DAT](INFO): DAT read: Bearing 100.9, -36.0 (Local)

2025-08-22T17:24:03.269Z,1755883443.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.9, -36.0 (Local)

2025-08-22T17:24:03.271Z,1755883443.271 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.0

2025-08-22T17:24:03.276Z,1755883443.276 [DAT](INFO): DAT read: 17:24:03.9177 LVL= 32752, 25361, 27602, 32755, AGC= 47, IDX= 505, 0.26, 2.772,-1.433,-1.697,-1.725, PHS=-1.684, 0.337,-0.016, RAW= 279.4,  14.4, CAL= 278.4,  21.6, ROT= 231.6, -21.6

2025-08-22T17:24:03.277Z,1755883443.277 [DAT](INFO): got valid direction response:
 17:24:03.9177 LVL= 32752, 25361, 27602, 32755, AGC= 47, IDX= 505, 0.26, 2.772,-1.433,-1.697,-1.725, PHS=-1.684, 0.337,-0.016, RAW= 279.4,  14.4, CAL= 278.4,  21.6, ROT= 231.6, -21.6

2025-08-22T17:24:03.277Z,1755883443.277 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T17:24:03.291Z,1755883443.291 [DAT](INFO): direction in FSK: [-0.577529,-0.728660,0.368125]
2025-08-22T17:24:03.291Z,1755883443.291 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:03.299Z,1755883443.299 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=16.677544
2025-08-22T17:24:03.507Z,1755883443.507 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:03.519Z,1755883443.519 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=16.897194
2025-08-22T17:24:03.629Z,1755883443.629 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:03.640Z,1755883443.640 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:03.640Z,1755883443.640 [MassServo] No Fault, FailCount= 1
2025-08-22T17:24:03.771Z,1755883443.771 [DAT](INFO): DAT read: Rx Time:17:24:04.4176 

2025-08-22T17:24:03.772Z,1755883443.772 [DAT](INFO): Rx dataTimestamp_ set to:1755883443.771303
2025-08-22T17:24:03.773Z,1755883443.773 [DAT](INFO): DAT read: Bearing 100.3, -31.7 (Local)

2025-08-22T17:24:03.773Z,1755883443.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 100.3, -31.7 (Local)

2025-08-22T17:24:03.775Z,1755883443.775 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:24:03.780Z,1755883443.780 [DAT](INFO): DAT read: 17:24:04.4176 LVL= 32752, 21921, 27794, 32755, AGC= 47, IDX= 505,-0.30,-0.958, 1.097, 0.727, 0.816, PHS=-1.672, 0.326,-0.133, RAW= 282.7,  16.1, CAL= 281.7,  23.4, ROT= 228.3, -23.4

2025-08-22T17:24:03.781Z,1755883443.781 [DAT](INFO): got valid direction response:
 17:24:04.4176 LVL= 32752, 21921, 27794, 32755, AGC= 47, IDX= 505,-0.30,-0.958, 1.097, 0.727, 0.816, PHS=-1.672, 0.326,-0.133, RAW= 282.7,  16.1, CAL= 281.7,  23.4, ROT= 228.3, -23.4

2025-08-22T17:24:03.781Z,1755883443.781 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T17:24:03.782Z,1755883443.782 [DAT](INFO): direction in FSK: [-0.610518,-0.685231,0.397148]
2025-08-22T17:24:03.783Z,1755883443.783 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:03.786Z,1755883443.786 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=17.164764
2025-08-22T17:24:04.023Z,1755883444.023 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=17.401842
2025-08-22T17:24:04.276Z,1755883444.276 [DAT](INFO): DAT read: Rx Time:17:24:04.9177 

2025-08-22T17:24:04.277Z,1755883444.277 [DAT](INFO): Rx dataTimestamp_ set to:1755883444.276503
2025-08-22T17:24:04.278Z,1755883444.278 [DAT](INFO): DAT read: Bearing  99.0, -26.8 (Local)

2025-08-22T17:24:04.278Z,1755883444.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.0, -26.8 (Local)

2025-08-22T17:24:04.280Z,1755883444.280 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:04.289Z,1755883444.289 [DAT](INFO): DAT read: 17:24:04.9177 LVL= 32752, 22433, 28770, 32755, AGC= 48, IDX= 506,-0.06, 0.337, 2.341, 1.875, 2.109, PHS=-1.670, 0.277,-0.278, RAW= 286.1,  18.8, CAL= 285.5,  25.9, ROT= 224.5, -25.9

2025-08-22T17:24:04.295Z,1755883444.295 [DAT](INFO): got valid direction response:
 17:24:04.9177 LVL= 32752, 22433, 28770, 32755, AGC= 48, IDX= 506,-0.06, 0.337, 2.341, 1.875, 2.109, PHS=-1.670, 0.277,-0.278, RAW= 286.1,  18.8, CAL= 285.5,  25.9, ROT= 224.5, -25.9

2025-08-22T17:24:04.295Z,1755883444.295 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T17:24:04.296Z,1755883444.296 [DAT](INFO): direction in FSK: [-0.641610,-0.630508,0.436802]
2025-08-22T17:24:04.296Z,1755883444.296 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:04.300Z,1755883444.300 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=17.678772
2025-08-22T17:24:04.527Z,1755883444.527 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=17.905384
2025-08-22T17:24:04.779Z,1755883444.779 [DAT](INFO): DAT read: Rx Time:17:24:05.4177 

2025-08-22T17:24:04.780Z,1755883444.780 [DAT](INFO): Rx dataTimestamp_ set to:1755883444.779249
2025-08-22T17:24:04.781Z,1755883444.781 [DAT](INFO): DAT read: Bearing  97.7, -24.4 (Local)

2025-08-22T17:24:04.781Z,1755883444.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.7, -24.4 (Local)

2025-08-22T17:24:04.783Z,1755883444.783 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:04.788Z,1755883444.788 [DAT](INFO): DAT read: 17:24:05.4177 LVL= 32752, 18417, 25650, 32755, AGC= 48, IDX= 505, 0.15, 0.419, 2.446, 1.943, 2.245, PHS=-1.724, 0.246,-0.346, RAW= 287.0,  20.2, CAL= 286.8,  27.3, ROT= 223.2, -27.3

2025-08-22T17:24:04.789Z,1755883444.789 [DAT](INFO): got valid direction response:
 17:24:05.4177 LVL= 32752, 18417, 25650, 32755, AGC= 48, IDX= 505, 0.15, 0.419, 2.446, 1.943, 2.245, PHS=-1.724, 0.246,-0.346, RAW= 287.0,  20.2, CAL= 286.8,  27.3, ROT= 223.2, -27.3

2025-08-22T17:24:04.789Z,1755883444.789 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T17:24:04.796Z,1755883444.796 [DAT](INFO): direction in FSK: [-0.647774,-0.608300,0.458650]
2025-08-22T17:24:04.796Z,1755883444.796 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:04.800Z,1755883444.800 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=18.178196
2025-08-22T17:24:05.033Z,1755883445.033 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=18.411102
2025-08-22T17:24:05.283Z,1755883445.283 [DAT](INFO): DAT read: Rx Time:17:24:05.9177 

2025-08-22T17:24:05.284Z,1755883445.284 [DAT](INFO): Rx dataTimestamp_ set to:1755883445.283273
2025-08-22T17:24:05.285Z,1755883445.285 [DAT](INFO): DAT read: Bearing  96.6, -22.1 (Local)

2025-08-22T17:24:05.285Z,1755883445.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.6, -22.1 (Local)

2025-08-22T17:24:05.287Z,1755883445.287 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:05.292Z,1755883445.292 [DAT](INFO): DAT read: 17:24:05.9177 LVL= 32752, 18561, 26162, 32755, AGC= 49, IDX= 505, 0.39, 0.214, 2.262, 1.717, 2.093, PHS=-1.777, 0.213,-0.420, RAW= 288.1,  21.7, CAL= 288.3,  28.7, ROT= 221.7, -28.7

2025-08-22T17:24:05.293Z,1755883445.293 [DAT](INFO): got valid direction response:
 17:24:05.9177 LVL= 32752, 18561, 26162, 32755, AGC= 49, IDX= 505, 0.39, 0.214, 2.262, 1.717, 2.093, PHS=-1.777, 0.213,-0.420, RAW= 288.1,  21.7, CAL= 288.3,  28.7, ROT= 221.7, -28.7

2025-08-22T17:24:05.293Z,1755883445.293 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T17:24:05.294Z,1755883445.294 [DAT](INFO): direction in FSK: [-0.654911,-0.583504,0.480224]
2025-08-22T17:24:05.294Z,1755883445.294 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:05.299Z,1755883445.299 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=18.677214
2025-08-22T17:24:05.535Z,1755883445.535 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=18.913216
2025-08-22T17:24:05.787Z,1755883445.787 [DAT](INFO): DAT read: Rx Time:17:24:06.4176 

2025-08-22T17:24:05.788Z,1755883445.788 [DAT](INFO): Rx dataTimestamp_ set to:1755883445.787353
2025-08-22T17:24:05.789Z,1755883445.789 [DAT](INFO): DAT read: Bearing  94.1, -19.8 (Local)

2025-08-22T17:24:05.789Z,1755883445.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.1, -19.8 (Local)

2025-08-22T17:24:05.791Z,1755883445.791 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.0

2025-08-22T17:24:05.796Z,1755883445.796 [DAT](INFO): DAT read: 17:24:06.4176 LVL= 32752, 22833, 30962, 32755, AGC= 51, IDX= 505,-0.31,-2.481,-0.434,-0.987,-0.516, PHS=-1.863, 0.127,-0.514, RAW= 288.4,  24.3, CAL= 289.3,  31.2, ROT= 220.7, -31.2

2025-08-22T17:24:05.797Z,1755883445.797 [DAT](INFO): got valid direction response:
 17:24:06.4176 LVL= 32752, 22833, 30962, 32755, AGC= 51, IDX= 505,-0.31,-2.481,-0.434,-0.987,-0.516, PHS=-1.863, 0.127,-0.514, RAW= 288.4,  24.3, CAL= 289.3,  31.2, ROT= 220.7, -31.2

2025-08-22T17:24:05.797Z,1755883445.797 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T17:24:05.798Z,1755883445.798 [DAT](INFO): direction in FSK: [-0.648481,-0.557782,0.518027]
2025-08-22T17:24:05.798Z,1755883445.798 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:05.822Z,1755883445.822 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=19.200911
2025-08-22T17:24:06.042Z,1755883446.042 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=19.419514
2025-08-22T17:24:06.291Z,1755883446.291 [DAT](INFO): DAT read: Rx Time:17:24:06.9177 

2025-08-22T17:24:06.291Z,1755883446.291 [DAT](INFO): Rx dataTimestamp_ set to:1755883446.291210
2025-08-22T17:24:06.293Z,1755883446.293 [DAT](INFO): DAT read: Bearing  93.8, -21.5 (Local)

2025-08-22T17:24:06.293Z,1755883446.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.8, -21.5 (Local)

2025-08-22T17:24:06.295Z,1755883446.295 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:06.300Z,1755883446.300 [DAT](INFO): DAT read: 17:24:06.9177 LVL= 32752, 18097, 28274, 32755, AGC= 49, IDX= 506,-0.13, 0.007, 2.117, 1.613, 2.024, PHS=-1.916, 0.138,-0.455, RAW= 286.3,  23.3, CAL= 287.0,  30.4, ROT= 223.0, -30.4

2025-08-22T17:24:06.301Z,1755883446.301 [DAT](INFO): got valid direction response:
 17:24:06.9177 LVL= 32752, 18097, 28274, 32755, AGC= 49, IDX= 506,-0.13, 0.007, 2.117, 1.613, 2.024, PHS=-1.916, 0.138,-0.455, RAW= 286.3,  23.3, CAL= 287.0,  30.4, ROT= 223.0, -30.4

2025-08-22T17:24:06.301Z,1755883446.301 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T17:24:06.303Z,1755883446.303 [DAT](INFO): direction in FSK: [-0.630803,-0.588233,0.506034]
2025-08-22T17:24:06.303Z,1755883446.303 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:06.307Z,1755883446.307 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=19.685286
2025-08-22T17:24:06.542Z,1755883446.542 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=19.921125
2025-08-22T17:24:06.795Z,1755883446.795 [DAT](INFO): DAT read: Rx Time:17:24:07.4176 

2025-08-22T17:24:06.796Z,1755883446.796 [DAT](INFO): Rx dataTimestamp_ set to:1755883446.795315
2025-08-22T17:24:06.797Z,1755883446.797 [DAT](INFO): DAT read: Bearing  92.9, -23.0 (Local)

2025-08-22T17:24:06.797Z,1755883446.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.9, -23.0 (Local)

2025-08-22T17:24:06.799Z,1755883446.799 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed -0.1

2025-08-22T17:24:06.804Z,1755883446.804 [DAT](INFO): DAT read: 17:24:07.4176 LVL= 32752, 21297, 25490, 32755, AGC= 48, IDX= 505,-0.01, 0.297, 2.422, 1.991, 2.348, PHS=-1.949, 0.119,-0.401, RAW= 284.0,  22.9, CAL= 284.7,  30.2, ROT= 225.3, -30.2

2025-08-22T17:24:06.805Z,1755883446.805 [DAT](INFO): got valid direction response:
 17:24:07.4176 LVL= 32752, 21297, 25490, 32755, AGC= 48, IDX= 505,-0.01, 0.297, 2.422, 1.991, 2.348, PHS=-1.949, 0.119,-0.401, RAW= 284.0,  22.9, CAL= 284.7,  30.2, ROT= 225.3, -30.2

2025-08-22T17:24:06.805Z,1755883446.805 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T17:24:06.807Z,1755883446.807 [DAT](INFO): direction in FSK: [-0.607926,-0.614326,0.503020]
2025-08-22T17:24:06.807Z,1755883446.807 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:06.811Z,1755883446.811 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=20.189445
2025-08-22T17:24:07.049Z,1755883447.049 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=20.427210
2025-08-22T17:24:07.160Z,1755883447.160 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +43.18,      +717   -3.40,   9.08,  0.00
2025-08-22T17:24:07.299Z,1755883447.299 [DAT](INFO): DAT read: Rx Time:17:24:07.9178 

2025-08-22T17:24:07.300Z,1755883447.300 [DAT](INFO): Rx dataTimestamp_ set to:1755883447.299226
2025-08-22T17:24:07.301Z,1755883447.301 [DAT](INFO): DAT read: Bearing  92.3, -24.7 (Local)

2025-08-22T17:24:07.301Z,1755883447.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -24.7 (Local)

2025-08-22T17:24:07.303Z,1755883447.303 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.0

2025-08-22T17:24:07.308Z,1755883447.308 [DAT](INFO): DAT read: 17:24:07.9178 LVL= 32752, 22161, 22306, 32755, AGC= 47, IDX= 506, 0.08,-2.494,-0.394,-0.744,-0.465, PHS=-1.927, 0.115,-0.323, RAW= 281.8,  22.1, CAL= 282.4,  29.5, ROT= 227.6, -29.5

2025-08-22T17:24:07.309Z,1755883447.309 [DAT](INFO): got valid direction response:
 17:24:07.9178 LVL= 32752, 22161, 22306, 32755, AGC= 47, IDX= 506, 0.08,-2.494,-0.394,-0.744,-0.465, PHS=-1.927, 0.115,-0.323, RAW= 281.8,  22.1, CAL= 282.4,  29.5, ROT= 227.6, -29.5

2025-08-22T17:24:07.310Z,1755883447.310 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T17:24:07.311Z,1755883447.311 [DAT](INFO): direction in FSK: [-0.586883,-0.642719,0.492424]
2025-08-22T17:24:07.311Z,1755883447.311 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:07.315Z,1755883447.315 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=20.693325
2025-08-22T17:24:07.551Z,1755883447.551 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=20.929354
2025-08-22T17:24:07.803Z,1755883447.803 [DAT](INFO): DAT read: Rx Time:17:24:08.4177 

2025-08-22T17:24:07.804Z,1755883447.804 [DAT](INFO): Rx dataTimestamp_ set to:1755883447.803239
2025-08-22T17:24:07.805Z,1755883447.805 [DAT](INFO): DAT read: Bearing  91.4, -25.5 (Local)

2025-08-22T17:24:07.805Z,1755883447.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.4, -25.5 (Local)

2025-08-22T17:24:07.807Z,1755883447.807 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:07.816Z,1755883447.816 [DAT](INFO): DAT read: 17:24:08.4177 LVL= 32752, 26225, 23234, 32755, AGC= 46, IDX= 505, 0.21,-1.825, 0.228,-0.062, 0.179, PHS=-1.902, 0.094,-0.286, RAW= 280.3,  22.0, CAL= 281.0,  29.4, ROT= 229.0, -29.4

2025-08-22T17:24:07.818Z,1755883447.818 [DAT](INFO): got valid direction response:
 17:24:08.4177 LVL= 32752, 26225, 23234, 32755, AGC= 46, IDX= 505, 0.21,-1.825, 0.228,-0.062, 0.179, PHS=-1.902, 0.094,-0.286, RAW= 280.3,  22.0, CAL= 281.0,  29.4, ROT= 229.0, -29.4

2025-08-22T17:24:07.818Z,1755883447.818 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T17:24:07.819Z,1755883447.819 [DAT](INFO): direction in FSK: [-0.571568,-0.657513,0.490904]
2025-08-22T17:24:07.819Z,1755883447.819 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:07.823Z,1755883447.823 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=21.201576
2025-08-22T17:24:08.061Z,1755883448.061 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=21.439198
2025-08-22T17:24:08.307Z,1755883448.307 [DAT](INFO): DAT read: Rx Time:17:24:08.9179 

2025-08-22T17:24:08.308Z,1755883448.308 [DAT](INFO): Rx dataTimestamp_ set to:1755883448.307386
2025-08-22T17:24:08.309Z,1755883448.309 [DAT](INFO): DAT read: Bearing  91.1, -27.3 (Local)

2025-08-22T17:24:08.309Z,1755883448.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.1, -27.3 (Local)

2025-08-22T17:24:08.312Z,1755883448.312 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed -0.1

2025-08-22T17:24:08.317Z,1755883448.317 [DAT](INFO): DAT read: 17:24:08.9179 LVL= 32752, 25441, 21650, 32755, AGC= 46, IDX= 507,-0.45,-1.558, 0.490, 0.272, 0.438, PHS=-1.894, 0.096,-0.211, RAW= 278.2,  20.9, CAL= 278.8,  28.4, ROT= 231.2, -28.4

2025-08-22T17:24:08.318Z,1755883448.318 [DAT](INFO): got valid direction response:
 17:24:08.9179 LVL= 32752, 25441, 21650, 32755, AGC= 46, IDX= 507,-0.45,-1.558, 0.490, 0.272, 0.438, PHS=-1.894, 0.096,-0.211, RAW= 278.2,  20.9, CAL= 278.8,  28.4, ROT= 231.2, -28.4

2025-08-22T17:24:08.318Z,1755883448.318 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T17:24:08.319Z,1755883448.319 [DAT](INFO): direction in FSK: [-0.551191,-0.685543,0.475624]
2025-08-22T17:24:08.319Z,1755883448.319 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:08.323Z,1755883448.323 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=21.701807
2025-08-22T17:24:08.559Z,1755883448.559 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=21.937187
2025-08-22T17:24:08.811Z,1755883448.811 [DAT](INFO): DAT read: Rx Time:17:24:09.4178 

2025-08-22T17:24:08.812Z,1755883448.812 [DAT](INFO): Rx dataTimestamp_ set to:1755883448.811386
2025-08-22T17:24:08.813Z,1755883448.813 [DAT](INFO): DAT read: Bearing  92.3, -26.2 (Local)

2025-08-22T17:24:08.813Z,1755883448.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -26.2 (Local)

2025-08-22T17:24:08.815Z,1755883448.815 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.0

2025-08-22T17:24:08.820Z,1755883448.820 [DAT](INFO): DAT read: 17:24:09.4178 LVL= 32752, 25297, 24802, 32755, AGC= 48, IDX= 506,-0.05, 2.207,-2.081,-2.355,-2.190, PHS=-1.784, 0.154,-0.209, RAW= 280.1,  20.0, CAL= 280.4,  27.4, ROT= 229.6, -27.4

2025-08-22T17:24:08.821Z,1755883448.821 [DAT](INFO): got valid direction response:
 17:24:09.4178 LVL= 32752, 25297, 24802, 32755, AGC= 48, IDX= 506,-0.05, 2.207,-2.081,-2.355,-2.190, PHS=-1.784, 0.154,-0.209, RAW= 280.1,  20.0, CAL= 280.4,  27.4, ROT= 229.6, -27.4

2025-08-22T17:24:08.821Z,1755883448.821 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T17:24:08.822Z,1755883448.822 [DAT](INFO): direction in FSK: [-0.575411,-0.676105,0.460200]
2025-08-22T17:24:08.823Z,1755883448.823 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:08.832Z,1755883448.832 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=22.210363
2025-08-22T17:24:09.065Z,1755883449.065 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=22.443274
2025-08-22T17:24:09.315Z,1755883449.315 [DAT](INFO): DAT read: Rx Time:17:24:09.9178 

2025-08-22T17:24:09.315Z,1755883449.315 [DAT](INFO): Rx dataTimestamp_ set to:1755883449.315207
2025-08-22T17:24:09.317Z,1755883449.317 [DAT](INFO): DAT read: Bearing  92.1, -24.2 (Local)

2025-08-22T17:24:09.317Z,1755883449.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.1, -24.2 (Local)

2025-08-22T17:24:09.319Z,1755883449.319 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.1

2025-08-22T17:24:09.324Z,1755883449.324 [DAT](INFO): DAT read: 17:24:09.9178 LVL= 32752, 25057, 21682, 32755, AGC= 49, IDX= 506, 0.33, 2.485,-1.829,-2.161,-1.948, PHS=-1.748, 0.164,-0.257, RAW= 282.1,  20.5, CAL= 282.3,  27.8, ROT= 227.7, -27.8

2025-08-22T17:24:09.325Z,1755883449.325 [DAT](INFO): got valid direction response:
 17:24:09.9178 LVL= 32752, 25057, 21682, 32755, AGC= 49, IDX= 506, 0.33, 2.485,-1.829,-2.161,-1.948, PHS=-1.748, 0.164,-0.257, RAW= 282.1,  20.5, CAL= 282.3,  27.8, ROT= 227.7, -27.8

2025-08-22T17:24:09.325Z,1755883449.325 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T17:24:09.326Z,1755883449.326 [DAT](INFO): direction in FSK: [-0.595334,-0.654264,0.466387]
2025-08-22T17:24:09.326Z,1755883449.326 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:09.330Z,1755883449.330 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=22.708607
2025-08-22T17:24:09.569Z,1755883449.569 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=22.947603
2025-08-22T17:24:09.820Z,1755883449.820 [DAT](INFO): DAT read: Rx Time:17:24:10.4177 

2025-08-22T17:24:09.820Z,1755883449.820 [DAT](INFO): Rx dataTimestamp_ set to:1755883449.819709
2025-08-22T17:24:09.821Z,1755883449.821 [DAT](INFO): DAT read: Bearing  91.6, -20.9 (Local)

2025-08-22T17:24:09.822Z,1755883449.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.6, -20.9 (Local)

2025-08-22T17:24:09.824Z,1755883449.824 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed -0.1

2025-08-22T17:24:09.828Z,1755883449.828 [DAT](INFO): DAT read: 17:24:10.4177 LVL= 32752, 21425, 23026, 32755, AGC= 47, IDX= 506,-0.14,-1.243, 0.715, 0.287, 0.592, PHS=-1.733, 0.168,-0.349, RAW= 285.3,  21.7, CAL= 285.5,  28.8, ROT= 224.5, -28.8

2025-08-22T17:24:09.829Z,1755883449.829 [DAT](INFO): got valid direction response:
 17:24:10.4177 LVL= 32752, 21425, 23026, 32755, AGC= 47, IDX= 506,-0.14,-1.243, 0.715, 0.287, 0.592, PHS=-1.733, 0.168,-0.349, RAW= 285.3,  21.7, CAL= 285.5,  28.8, ROT= 224.5, -28.8

2025-08-22T17:24:09.830Z,1755883449.830 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T17:24:09.831Z,1755883449.831 [DAT](INFO): direction in FSK: [-0.625026,-0.614211,0.481754]
2025-08-22T17:24:09.831Z,1755883449.831 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:09.847Z,1755883449.847 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=23.226105
2025-08-22T17:24:10.074Z,1755883450.074 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=23.451870
2025-08-22T17:24:10.323Z,1755883450.323 [DAT](INFO): DAT read: Rx Time:17:24:10.9179 

2025-08-22T17:24:10.324Z,1755883450.324 [DAT](INFO): Rx dataTimestamp_ set to:1755883450.323359
2025-08-22T17:24:10.325Z,1755883450.325 [DAT](INFO): DAT read: Bearing  90.1, -23.7 (Local)

2025-08-22T17:24:10.325Z,1755883450.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.1, -23.7 (Local)

2025-08-22T17:24:10.327Z,1755883450.327 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.0

2025-08-22T17:24:10.332Z,1755883450.332 [DAT](INFO): DAT read: 17:24:10.9179 LVL= 32752, 23937, 29426, 32755, AGC= 47, IDX= 507, 0.07, 1.512,-2.710,-3.044,-2.803, PHS=-1.866, 0.138,-0.286, RAW= 281.6,  21.3, CAL= 282.0,  28.7, ROT= 228.0, -28.7

2025-08-22T17:24:10.333Z,1755883450.333 [DAT](INFO): got valid direction response:
 17:24:10.9179 LVL= 32752, 23937, 29426, 32755, AGC= 47, IDX= 507, 0.07, 1.512,-2.710,-3.044,-2.803, PHS=-1.866, 0.138,-0.286, RAW= 281.6,  21.3, CAL= 282.0,  28.7, ROT= 228.0, -28.7

2025-08-22T17:24:10.333Z,1755883450.333 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T17:24:10.336Z,1755883450.336 [DAT](INFO): direction in FSK: [-0.586925,-0.651847,0.480224]
2025-08-22T17:24:10.336Z,1755883450.336 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:10.340Z,1755883450.340 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=23.718168
2025-08-22T17:24:10.578Z,1755883450.578 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=23.956381
2025-08-22T17:24:10.827Z,1755883450.827 [DAT](INFO): DAT read: Rx Time:17:24:11.4178 

2025-08-22T17:24:10.828Z,1755883450.828 [DAT](INFO): Rx dataTimestamp_ set to:1755883450.827275
2025-08-22T17:24:10.829Z,1755883450.829 [DAT](INFO): DAT read: Bearing  87.4, -24.9 (Local)

2025-08-22T17:24:10.829Z,1755883450.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.4, -24.9 (Local)

2025-08-22T17:24:10.831Z,1755883450.831 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed -0.1

2025-08-22T17:24:10.836Z,1755883450.836 [DAT](INFO): DAT read: 17:24:11.4178 LVL= 32752, 25073, 24674, 32755, AGC= 45, IDX= 506, 0.16,-2.988,-0.931,-1.173,-0.944, PHS=-1.942, 0.058,-0.273, RAW= 278.9,  22.3, CAL= 279.7,  29.9, ROT= 230.3, -29.9

2025-08-22T17:24:10.837Z,1755883450.837 [DAT](INFO): got valid direction response:
 17:24:11.4178 LVL= 32752, 25073, 24674, 32755, AGC= 45, IDX= 506, 0.16,-2.988,-0.931,-1.173,-0.944, PHS=-1.942, 0.058,-0.273, RAW= 278.9,  22.3, CAL= 279.7,  29.9, ROT= 230.3, -29.9

2025-08-22T17:24:10.837Z,1755883450.837 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T17:24:10.851Z,1755883450.851 [DAT](INFO): direction in FSK: [-0.553746,-0.666990,0.498488]
2025-08-22T17:24:10.851Z,1755883450.851 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:10.860Z,1755883450.860 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=24.238701
2025-08-22T17:24:11.085Z,1755883451.085 [DAT](INFO): DAT read: Rx Time:17:24:11.9180 

2025-08-22T17:24:11.091Z,1755883451.091 [DAT](INFO): Rx dataTimestamp_ set to:1755883451.089554
2025-08-22T17:24:11.095Z,1755883451.095 [DAT](INFO): DAT read: Bearing  86.4, -26.5 (Local)

2025-08-22T17:24:11.097Z,1755883451.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.4, -26.5 (Local)

2025-08-22T17:24:11.171Z,1755883451.171 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.0

2025-08-22T17:24:11.185Z,1755883451.185 [DAT](INFO): DAT read: 17:24:11.9180 LVL= 32752, 23601, 26274, 32755, AGC= 43, IDX= 508,-0.48,-3.082,-1.002,-1.178,-0.995, PHS=-1.985, 0.038,-0.226, RAW= 276.9,  22.0, CAL= 277.8,  29.5, ROT= 232.2, -29.5

2025-08-22T17:24:11.194Z,1755883451.194 [DAT](INFO): got valid direction response:
 17:24:11.9180 LVL= 32752, 23601, 26274, 32755, AGC= 43, IDX= 508,-0.48,-3.082,-1.002,-1.178,-0.995, PHS=-1.985, 0.038,-0.226, RAW= 276.9,  22.0, CAL= 277.8,  29.5, ROT= 232.2, -29.5

2025-08-22T17:24:11.195Z,1755883451.195 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T17:24:11.196Z,1755883451.196 [DAT](INFO): direction in FSK: [-0.533447,-0.687716,0.492424]
2025-08-22T17:24:11.196Z,1755883451.196 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:11.212Z,1755883451.212 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.590326
2025-08-22T17:24:11.331Z,1755883451.331 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.709345
2025-08-22T17:24:11.338Z,1755883451.338 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T17:24:11.587Z,1755883451.587 [DAT](INFO): DAT read: Rx Time:17:24:12.4180 

2025-08-22T17:24:11.588Z,1755883451.588 [DAT](INFO): Rx dataTimestamp_ set to:1755883451.587343
2025-08-22T17:24:11.591Z,1755883451.591 [DAT](INFO): DAT read: Bearing  84.6, -27.3 (Local)

2025-08-22T17:24:11.592Z,1755883451.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.6, -27.3 (Local)

2025-08-22T17:24:11.595Z,1755883451.595 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.972898
2025-08-22T17:24:11.836Z,1755883451.836 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.0

2025-08-22T17:24:11.840Z,1755883451.840 [DAT](INFO): DAT read: 17:24:12.4180 LVL= 32752, 28209, 32402, 32755, AGC= 42, IDX= 507,-0.08, 1.490,-2.753,-2.863,-2.700, PHS=-1.991,-0.008,-0.207, RAW= 275.2,  22.4, CAL= 276.3,  30.1, ROT= 233.7, -30.1

2025-08-22T17:24:11.842Z,1755883451.842 [DAT](INFO): got valid direction response:
 17:24:12.4180 LVL= 32752, 28209, 32402, 32755, AGC= 42, IDX= 507,-0.08, 1.490,-2.753,-2.863,-2.700, PHS=-1.991,-0.008,-0.207, RAW= 275.2,  22.4, CAL= 276.3,  30.1, ROT= 233.7, -30.1

2025-08-22T17:24:11.842Z,1755883451.842 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T17:24:11.843Z,1755883451.843 [DAT](INFO): direction in FSK: [-0.512181,-0.697250,0.501511]
2025-08-22T17:24:11.843Z,1755883451.843 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:11.847Z,1755883451.847 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=25.225348
2025-08-22T17:24:12.092Z,1755883452.092 [DAT](INFO): DAT read: Rx Time:17:24:12.9181 

2025-08-22T17:24:12.094Z,1755883452.094 [DAT](INFO): Rx dataTimestamp_ set to:1755883452.092544
2025-08-22T17:24:12.098Z,1755883452.098 [DAT](INFO): DAT read: Bearing  85.7, -28.8 (Local)

2025-08-22T17:24:12.100Z,1755883452.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.7, -28.8 (Local)

2025-08-22T17:24:12.115Z,1755883452.115 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.0

2025-08-22T17:24:12.134Z,1755883452.134 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-08-22T17:24:12.143Z,1755883452.143 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=25.515423
2025-08-22T17:24:12.342Z,1755883452.342 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T17:24:12.350Z,1755883452.350 [DAT](INFO): DAT read: 17:24:12.9181 LVL= 32752, 28721, 30546, 32755, AGC= 41, IDX= 508, 0.36, 2.138,-2.138,-2.223,-2.140, PHS=-1.903, 0.047,-0.127, RAW= 274.6,  20.6, CAL= 275.4,  28.0, ROT= 234.6, -28.0

2025-08-22T17:24:12.351Z,1755883452.351 [DAT](INFO): got valid direction response:
 17:24:12.9181 LVL= 32752, 28721, 30546, 32755, AGC= 41, IDX= 508, 0.36, 2.138,-2.138,-2.223,-2.140, PHS=-1.903, 0.047,-0.127, RAW= 274.6,  20.6, CAL= 275.4,  28.0, ROT= 234.6, -28.0

2025-08-22T17:24:12.352Z,1755883452.352 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-08-22T17:24:12.353Z,1755883452.353 [DAT](INFO): direction in FSK: [-0.511475,-0.719715,0.469472]
2025-08-22T17:24:12.356Z,1755883452.356 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=25.734516
2025-08-22T17:24:12.594Z,1755883452.594 [DAT](INFO): DAT read: Rx Time:17:24:13.4179 

2025-08-22T17:24:12.596Z,1755883452.596 [DAT](INFO): Rx dataTimestamp_ set to:1755883452.594497
2025-08-22T17:24:12.599Z,1755883452.599 [DAT](INFO): DAT read: Bearing  87.0, -26.8 (Local)

2025-08-22T17:24:12.600Z,1755883452.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.0, -26.8 (Local)

2025-08-22T17:24:12.604Z,1755883452.604 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.0

2025-08-22T17:24:12.626Z,1755883452.626 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-22T17:24:12.646Z,1755883452.646 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=26.007923
2025-08-22T17:24:12.846Z,1755883452.846 [DAT](INFO): DAT read: 17:24:13.4179 LVL= 32752, 27041, 25426, 32755, AGC= 43, IDX= 508,-0.05, 3.109,-1.183,-1.374,-1.261, PHS=-1.811, 0.123,-0.157, RAW= 277.7,  19.8, CAL= 278.1,  27.2, ROT= 231.9, -27.2

2025-08-22T17:24:12.847Z,1755883452.847 [DAT](INFO): got valid direction response:
 17:24:13.4179 LVL= 32752, 27041, 25426, 32755, AGC= 43, IDX= 508,-0.05, 3.109,-1.183,-1.374,-1.261, PHS=-1.811, 0.123,-0.157, RAW= 277.7,  19.8, CAL= 278.1,  27.2, ROT= 231.9, -27.2

2025-08-22T17:24:12.848Z,1755883452.848 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-08-22T17:24:12.849Z,1755883452.849 [DAT](INFO): direction in FSK: [-0.548802,-0.699913,0.457098]
2025-08-22T17:24:12.852Z,1755883452.852 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=26.230663
2025-08-22T17:24:13.099Z,1755883453.099 [DAT](INFO): DAT read: Rx Time:17:24:13.9180 

2025-08-22T17:24:13.101Z,1755883453.101 [DAT](INFO): Rx dataTimestamp_ set to:1755883453.099598
2025-08-22T17:24:13.105Z,1755883453.105 [DAT](INFO): DAT read: Bearing  85.9, -28.0 (Local)

2025-08-22T17:24:13.115Z,1755883453.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.9, -28.0 (Local)

2025-08-22T17:24:13.159Z,1755883453.159 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.0

2025-08-22T17:24:13.195Z,1755883453.195 [DAT](INFO): DAT read: 17:24:13.9180 LVL= 32752, 31857, 23826, 32755, AGC= 42, IDX= 509, 0.24,-0.802, 1.192, 1.054, 1.130, PHS=-1.831, 0.106,-0.120, RAW= 276.1,  19.6, CAL= 276.6,  26.9, ROT= 233.4, -26.9

2025-08-22T17:24:13.196Z,1755883453.196 [DAT](INFO): got valid direction response:
 17:24:13.9180 LVL= 32752, 31857, 23826, 32755, AGC= 42, IDX= 509, 0.24,-0.802, 1.192, 1.054, 1.130, PHS=-1.831, 0.106,-0.120, RAW= 276.1,  19.6, CAL= 276.6,  26.9, ROT= 233.4, -26.9

2025-08-22T17:24:13.196Z,1755883453.196 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T17:24:13.197Z,1755883453.197 [DAT](INFO): direction in FSK: [-0.531712,-0.715951,0.452435]
2025-08-22T17:24:13.210Z,1755883453.210 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:13.213Z,1755883453.213 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=26.591736
2025-08-22T17:24:13.347Z,1755883453.347 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=26.725286
2025-08-22T17:24:13.603Z,1755883453.603 [DAT](INFO): DAT read: Rx Time:17:24:14.4179 

2025-08-22T17:24:13.605Z,1755883453.605 [DAT](INFO): Rx dataTimestamp_ set to:1755883453.603566
2025-08-22T17:24:13.609Z,1755883453.609 [DAT](INFO): DAT read: Bearing  85.9, -26.8 (Local)

2025-08-22T17:24:13.610Z,1755883453.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.9, -26.8 (Local)

2025-08-22T17:24:13.643Z,1755883453.643 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.0

2025-08-22T17:24:13.655Z,1755883453.655 [DAT](INFO): DAT read: 17:24:14.4179 LVL= 32752, 30657, 21426, 32755, AGC= 42, IDX= 509,-0.33, 2.046,-2.278,-2.463,-2.363, PHS=-1.773, 0.130,-0.144, RAW= 277.7,  19.5, CAL= 278.0,  26.9, ROT= 232.0, -26.9

2025-08-22T17:24:13.656Z,1755883453.656 [DAT](INFO): got valid direction response:
 17:24:14.4179 LVL= 32752, 30657, 21426, 32755, AGC= 42, IDX= 509,-0.33, 2.046,-2.278,-2.463,-2.363, PHS=-1.773, 0.130,-0.144, RAW= 277.7,  19.5, CAL= 278.0,  26.9, ROT= 232.0, -26.9

2025-08-22T17:24:13.657Z,1755883453.657 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T17:24:13.672Z,1755883453.672 [DAT](INFO): direction in FSK: [-0.549045,-0.702746,0.452435]
2025-08-22T17:24:13.673Z,1755883453.673 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:13.708Z,1755883453.708 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=27.087009
2025-08-22T17:24:13.851Z,1755883453.851 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=27.229172
2025-08-22T17:24:14.108Z,1755883454.108 [DAT](INFO): DAT read: Rx Time:17:24:14.9181 

2025-08-22T17:24:14.111Z,1755883454.111 [DAT](INFO): Rx dataTimestamp_ set to:1755883454.109012
2025-08-22T17:24:14.119Z,1755883454.119 [DAT](INFO): DAT read: Bearing  85.2, -27.4 (Local)

2025-08-22T17:24:14.120Z,1755883454.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.2, -27.4 (Local)

2025-08-22T17:24:14.178Z,1755883454.178 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.0

2025-08-22T17:24:14.191Z,1755883454.191 [DAT](INFO): DAT read: 17:24:14.9181 LVL= 32752, 27425, 18642, 32755, AGC= 41, IDX= 510,-0.09,-2.815,-0.853,-1.013,-0.935, PHS=-1.777, 0.127,-0.121, RAW= 276.9,  19.3, CAL= 277.2,  26.6, ROT= 232.8, -26.6

2025-08-22T17:24:14.193Z,1755883454.193 [DAT](INFO): got valid direction response:
 17:24:14.9181 LVL= 32752, 27425, 18642, 32755, AGC= 41, IDX= 510,-0.09,-2.815,-0.853,-1.013,-0.935, PHS=-1.777, 0.127,-0.121, RAW= 276.9,  19.3, CAL= 277.2,  26.6, ROT= 232.8, -26.6

2025-08-22T17:24:14.193Z,1755883454.193 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T17:24:14.210Z,1755883454.210 [DAT](INFO): direction in FSK: [-0.540605,-0.712221,0.447759]
2025-08-22T17:24:14.210Z,1755883454.210 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:14.222Z,1755883454.222 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=27.592041
2025-08-22T17:24:14.355Z,1755883454.355 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=27.733339
2025-08-22T17:24:14.612Z,1755883454.612 [DAT](INFO): DAT read: Rx Time:17:24:15.4180 

2025-08-22T17:24:14.614Z,1755883454.614 [DAT](INFO): Rx dataTimestamp_ set to:1755883454.613145
2025-08-22T17:24:14.619Z,1755883454.619 [DAT](INFO): DAT read: Bearing  82.7, -27.7 (Local)

2025-08-22T17:24:14.620Z,1755883454.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.7, -27.7 (Local)

2025-08-22T17:24:14.642Z,1755883454.642 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.0

2025-08-22T17:24:14.659Z,1755883454.659 [DAT](INFO): DAT read: 17:24:15.4180 LVL= 32752, 29249, 21618, 32755, AGC= 43, IDX= 509, 0.06,-1.663, 0.277, 0.177, 0.265, PHS=-1.826, 0.057,-0.132, RAW= 275.2,  20.5, CAL= 276.0,  28.0, ROT= 234.0, -28.0

2025-08-22T17:24:14.660Z,1755883454.660 [DAT](INFO): got valid direction response:
 17:24:15.4180 LVL= 32752, 29249, 21618, 32755, AGC= 43, IDX= 509, 0.06,-1.663, 0.277, 0.177, 0.265, PHS=-1.826, 0.057,-0.132, RAW= 275.2,  20.5, CAL= 276.0,  28.0, ROT= 234.0, -28.0

2025-08-22T17:24:14.660Z,1755883454.660 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T17:24:14.661Z,1755883454.661 [DAT](INFO): direction in FSK: [-0.518983,-0.714320,0.469472]
2025-08-22T17:24:14.661Z,1755883454.661 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:14.685Z,1755883454.685 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=28.063675
2025-08-22T17:24:14.859Z,1755883454.859 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=28.237307
2025-08-22T17:24:15.114Z,1755883455.114 [DAT](INFO): DAT read: Rx Time:17:24:15.9181 

2025-08-22T17:24:15.116Z,1755883455.116 [DAT](INFO): Rx dataTimestamp_ set to:1755883455.114980
2025-08-22T17:24:15.120Z,1755883455.120 [DAT](INFO): DAT read: Bearing  81.0, -27.5 (Local)

2025-08-22T17:24:15.122Z,1755883455.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.0, -27.5 (Local)

2025-08-22T17:24:15.145Z,1755883455.145 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.0

2025-08-22T17:24:15.205Z,1755883455.205 [DAT](INFO): DAT read: 17:24:15.9181 LVL= 32752, 28081, 24050, 32755, AGC= 41, IDX= 510, 0.21, 0.457, 2.346, 2.275, 2.376, PHS=-1.816, 0.015,-0.144, RAW= 274.5,  21.4, CAL= 275.4,  28.9, ROT= 234.6, -28.9

2025-08-22T17:24:15.214Z,1755883455.214 [DAT](INFO): got valid direction response:
 17:24:15.9181 LVL= 32752, 28081, 24050, 32755, AGC= 41, IDX= 510, 0.21, 0.457, 2.346, 2.275, 2.376, PHS=-1.816, 0.015,-0.144, RAW= 274.5,  21.4, CAL= 275.4,  28.9, ROT= 234.6, -28.9

2025-08-22T17:24:15.215Z,1755883455.215 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T17:24:15.216Z,1755883455.216 [DAT](INFO): direction in FSK: [-0.507140,-0.713616,0.483282]
2025-08-22T17:24:15.216Z,1755883455.216 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:15.263Z,1755883455.263 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=28.641644
2025-08-22T17:24:15.363Z,1755883455.363 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=28.741337
2025-08-22T17:24:15.618Z,1755883455.618 [DAT](INFO): DAT read: Rx Time:17:24:16.4180 

2025-08-22T17:24:15.620Z,1755883455.620 [DAT](INFO): Rx dataTimestamp_ set to:1755883455.619195
2025-08-22T17:24:15.639Z,1755883455.639 [DAT](INFO): DAT read: Bearing  77.0, -25.9 (Local)

2025-08-22T17:24:15.642Z,1755883455.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0, -25.9 (Local)

2025-08-22T17:24:15.645Z,1755883455.645 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed -0.1

2025-08-22T17:24:15.670Z,1755883455.670 [DAT](INFO): DAT read: 17:24:16.4180 LVL= 32752, 30529, 31330, 32755, AGC= 42, IDX= 509, 0.33, 1.011, 2.840, 2.797, 2.981, PHS=-1.868,-0.096,-0.228, RAW= 273.8,  24.4, CAL= 275.4,  32.2, ROT= 234.6, -32.2

2025-08-22T17:24:15.671Z,1755883455.671 [DAT](INFO): got valid direction response:
 17:24:16.4180 LVL= 32752, 30529, 31330, 32755, AGC= 42, IDX= 509, 0.33, 1.011, 2.840, 2.797, 2.981, PHS=-1.868,-0.096,-0.228, RAW= 273.8,  24.4, CAL= 275.4,  32.2, ROT= 234.6, -32.2

2025-08-22T17:24:15.671Z,1755883455.671 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T17:24:15.672Z,1755883455.672 [DAT](INFO): direction in FSK: [-0.490184,-0.689756,0.532876]
2025-08-22T17:24:15.672Z,1755883455.672 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:15.677Z,1755883455.677 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=29.055513
2025-08-22T17:24:15.867Z,1755883455.867 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=29.245226
2025-08-22T17:24:16.124Z,1755883456.124 [DAT](INFO): DAT read: Rx Time:17:24:16.9182 

2025-08-22T17:24:16.126Z,1755883456.126 [DAT](INFO): Rx dataTimestamp_ set to:1755883456.124724
2025-08-22T17:24:16.130Z,1755883456.130 [DAT](INFO): DAT read: Bearing  73.7, -25.7 (Local)

2025-08-22T17:24:16.132Z,1755883456.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.7, -25.7 (Local)

2025-08-22T17:24:16.138Z,1755883456.138 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed -0.1

2025-08-22T17:24:16.155Z,1755883456.155 [DAT](INFO): DAT read: 17:24:16.9182 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 511,-0.35, 1.355, 3.091, 3.116,-2.959, PHS=-1.867,-0.188,-0.252, RAW= 271.9,  26.3, CAL= 273.9,  34.4, ROT= 236.1, -34.4

2025-08-22T17:24:16.160Z,1755883456.160 [DAT](INFO): got valid direction response:
 17:24:16.9182 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 511,-0.35, 1.355, 3.091, 3.116,-2.959, PHS=-1.867,-0.188,-0.252, RAW= 271.9,  26.3, CAL= 273.9,  34.4, ROT= 236.1, -34.4

2025-08-22T17:24:16.161Z,1755883456.161 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T17:24:16.165Z,1755883456.165 [DAT](INFO): direction in FSK: [-0.460203,-0.684854,0.564967]
2025-08-22T17:24:16.207Z,1755883456.207 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:16.222Z,1755883456.222 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=29.595926
2025-08-22T17:24:16.371Z,1755883456.371 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=29.749258
2025-08-22T17:24:16.628Z,1755883456.628 [DAT](INFO): DAT read: Rx Time:17:24:17.4181 

2025-08-22T17:24:16.630Z,1755883456.630 [DAT](INFO): Rx dataTimestamp_ set to:1755883456.628830
2025-08-22T17:24:16.634Z,1755883456.634 [DAT](INFO): DAT read: Bearing  71.2, -26.0 (Local)

2025-08-22T17:24:16.635Z,1755883456.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2, -26.0 (Local)

2025-08-22T17:24:16.637Z,1755883456.637 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.0

2025-08-22T17:24:16.653Z,1755883456.653 [DAT](INFO): DAT read: 17:24:17.4181 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 510,-0.11, 0.763, 2.463, 2.549, 2.757, PHS=-1.892,-0.249,-0.253, RAW= 270.1,  27.3, CAL= 272.2,  35.6, ROT= 237.8, -35.6

2025-08-22T17:24:16.654Z,1755883456.654 [DAT](INFO): got valid direction response:
 17:24:17.4181 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 510,-0.11, 0.763, 2.463, 2.549, 2.757, PHS=-1.892,-0.249,-0.253, RAW= 270.1,  27.3, CAL= 272.2,  35.6, ROT= 237.8, -35.6

2025-08-22T17:24:16.655Z,1755883456.655 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T17:24:16.656Z,1755883456.656 [DAT](INFO): direction in FSK: [-0.433282,-0.688040,0.582123]
2025-08-22T17:24:16.656Z,1755883456.656 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:16.688Z,1755883456.688 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=30.066364
2025-08-22T17:24:16.874Z,1755883456.874 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=30.253124
2025-08-22T17:24:17.132Z,1755883457.132 [DAT](INFO): DAT read: Rx Time:17:24:17.9182 

2025-08-22T17:24:17.134Z,1755883457.134 [DAT](INFO): Rx dataTimestamp_ set to:1755883457.132613
2025-08-22T17:24:17.135Z,1755883457.135 [DAT](INFO): DAT read: Bearing  69.1, -26.0 (Local)

2025-08-22T17:24:17.136Z,1755883457.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.1, -26.0 (Local)

2025-08-22T17:24:17.139Z,1755883457.139 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.0

2025-08-22T17:24:17.143Z,1755883457.143 [DAT](INFO): DAT read: 17:24:17.9182 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 510, 0.17, 2.288,-2.316,-2.190,-1.971, PHS=-1.922,-0.300,-0.263, RAW= 268.9,  28.2, CAL= 271.1,  36.8, ROT= 238.9, -36.8

2025-08-22T17:24:17.144Z,1755883457.144 [DAT](INFO): got valid direction response:
 17:24:17.9182 LVL= 32752, 32753, 32754, 32755, AGC= 42, IDX= 510, 0.17, 2.288,-2.316,-2.190,-1.971, PHS=-1.922,-0.300,-0.263, RAW= 268.9,  28.2, CAL= 271.1,  36.8, ROT= 238.9, -36.8

2025-08-22T17:24:17.144Z,1755883457.144 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T17:24:17.158Z,1755883457.158 [DAT](INFO): direction in FSK: [-0.413605,-0.685640,0.599024]
2025-08-22T17:24:17.158Z,1755883457.158 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:17.209Z,1755883457.209 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=30.586748
2025-08-22T17:24:17.379Z,1755883457.379 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=30.757866
2025-08-22T17:24:17.635Z,1755883457.635 [DAT](INFO): DAT read: Rx Time:17:24:18.4181 

2025-08-22T17:24:17.635Z,1755883457.635 [DAT](INFO): Rx dataTimestamp_ set to:1755883457.634982
2025-08-22T17:24:17.637Z,1755883457.637 [DAT](INFO): DAT read: Bearing  69.9, -28.3 (Local)

2025-08-22T17:24:17.637Z,1755883457.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.9, -28.3 (Local)

2025-08-22T17:24:17.639Z,1755883457.639 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.0

2025-08-22T17:24:17.643Z,1755883457.643 [DAT](INFO): DAT read: 17:24:18.4181 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 510,-0.21,-2.644,-0.929,-0.740,-0.614, PHS=-1.928,-0.270,-0.170, RAW= 267.1,  26.1, CAL= 269.1,  34.4, ROT= 240.9, -34.4

2025-08-22T17:24:17.644Z,1755883457.644 [DAT](INFO): got valid direction response:
 17:24:18.4181 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 510,-0.21,-2.644,-0.929,-0.740,-0.614, PHS=-1.928,-0.270,-0.170, RAW= 267.1,  26.1, CAL= 269.1,  34.4, ROT= 240.9, -34.4

2025-08-22T17:24:17.645Z,1755883457.645 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T17:24:17.646Z,1755883457.646 [DAT](INFO): direction in FSK: [-0.401282,-0.720961,0.564967]
2025-08-22T17:24:17.646Z,1755883457.646 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:17.649Z,1755883457.649 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=31.028069
2025-08-22T17:24:17.883Z,1755883457.883 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=31.261246
2025-08-22T17:24:18.136Z,1755883458.136 [DAT](INFO): DAT read: Rx Time:17:24:18.9183 

2025-08-22T17:24:18.136Z,1755883458.136 [DAT](INFO): Rx dataTimestamp_ set to:1755883458.136051
2025-08-22T17:24:18.138Z,1755883458.138 [DAT](INFO): DAT read: Bearing  72.6, -31.7 (Local)

2025-08-22T17:24:18.138Z,1755883458.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.6, -31.7 (Local)

2025-08-22T17:24:18.140Z,1755883458.140 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.0

2025-08-22T17:24:18.145Z,1755883458.145 [DAT](INFO): DAT read: 17:24:18.9183 LVL= 32752, 32241, 21698, 32755, AGC= 40, IDX= 511, 0.25,-2.283,-0.516,-0.251,-0.273, PHS=-1.907,-0.197,-0.022, RAW= 265.2,  22.6, CAL= 266.9,  30.2, ROT= 243.1, -30.2

2025-08-22T17:24:18.146Z,1755883458.146 [DAT](INFO): got valid direction response:
 17:24:18.9183 LVL= 32752, 32241, 21698, 32755, AGC= 40, IDX= 511, 0.25,-2.283,-0.516,-0.251,-0.273, PHS=-1.907,-0.197,-0.022, RAW= 265.2,  22.6, CAL= 266.9,  30.2, ROT= 243.1, -30.2

2025-08-22T17:24:18.146Z,1755883458.146 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T17:24:18.147Z,1755883458.147 [DAT](INFO): direction in FSK: [-0.391028,-0.770758,0.503020]
2025-08-22T17:24:18.147Z,1755883458.147 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:18.189Z,1755883458.189 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=31.566549
2025-08-22T17:24:18.387Z,1755883458.387 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=31.765171
2025-08-22T17:24:18.640Z,1755883458.640 [DAT](INFO): DAT read: Rx Time:17:24:19.4182 

2025-08-22T17:24:18.641Z,1755883458.641 [DAT](INFO): Rx dataTimestamp_ set to:1755883458.640204
2025-08-22T17:24:18.642Z,1755883458.642 [DAT](INFO): DAT read: Bearing  73.0, -31.6 (Local)

2025-08-22T17:24:18.643Z,1755883458.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.0, -31.6 (Local)

2025-08-22T17:24:18.645Z,1755883458.645 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.0

2025-08-22T17:24:18.666Z,1755883458.666 [DAT](INFO): DAT read: 17:24:19.4182 LVL= 30896, 26385, 19282, 32755, AGC= 39, IDX= 511,-0.15, 0.213, 1.979, 2.238, 2.200, PHS=-1.885,-0.175,-0.006, RAW= 265.3,  22.1, CAL= 267.0,  29.6, ROT= 243.0, -29.6

2025-08-22T17:24:18.667Z,1755883458.667 [DAT](INFO): got valid direction response:
 17:24:19.4182 LVL= 30896, 26385, 19282, 32755, AGC= 39, IDX= 511,-0.15, 0.213, 1.979, 2.238, 2.200, PHS=-1.885,-0.175,-0.006, RAW= 265.3,  22.1, CAL= 267.0,  29.6, ROT= 243.0, -29.6

2025-08-22T17:24:18.668Z,1755883458.668 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T17:24:18.669Z,1755883458.669 [DAT](INFO): direction in FSK: [-0.394743,-0.774726,0.493942]
2025-08-22T17:24:18.669Z,1755883458.669 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:18.681Z,1755883458.681 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=32.059303
2025-08-22T17:24:18.890Z,1755883458.890 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=32.269131
2025-08-22T17:24:19.143Z,1755883459.143 [DAT](INFO): DAT read: Rx Time:17:24:19.9183 

2025-08-22T17:24:19.144Z,1755883459.144 [DAT](INFO): Rx dataTimestamp_ set to:1755883459.143251
2025-08-22T17:24:19.145Z,1755883459.145 [DAT](INFO): DAT read: Bearing  72.4, -26.8 (Local)

2025-08-22T17:24:19.145Z,1755883459.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.4, -26.8 (Local)

2025-08-22T17:24:19.147Z,1755883459.147 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.0

2025-08-22T17:24:19.152Z,1755883459.152 [DAT](INFO): DAT read: 17:24:19.9183 LVL= 30352, 25585, 20002, 32755, AGC= 38, IDX= 512, 0.18, 1.682,-2.788,-2.690,-2.590, PHS=-1.909,-0.153,-0.144, RAW= 269.7,  23.9, CAL= 271.4,  31.8, ROT= 238.6, -31.8

2025-08-22T17:24:19.154Z,1755883459.154 [DAT](INFO): got valid direction response:
 17:24:19.9183 LVL= 30352, 25585, 20002, 32755, AGC= 38, IDX= 512, 0.18, 1.682,-2.788,-2.690,-2.590, PHS=-1.909,-0.153,-0.144, RAW= 269.7,  23.9, CAL= 271.4,  31.8, ROT= 238.6, -31.8

2025-08-22T17:24:19.154Z,1755883459.154 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T17:24:19.155Z,1755883459.155 [DAT](INFO): direction in FSK: [-0.442802,-0.725427,0.526956]
2025-08-22T17:24:19.156Z,1755883459.156 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:19.162Z,1755883459.162 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=32.540417
2025-08-22T17:24:19.395Z,1755883459.395 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=32.773300
2025-08-22T17:24:19.647Z,1755883459.647 [DAT](INFO): DAT read: Rx Time:17:24:20.4183 

2025-08-22T17:24:19.648Z,1755883459.648 [DAT](INFO): Rx dataTimestamp_ set to:1755883459.647335
2025-08-22T17:24:19.649Z,1755883459.649 [DAT](INFO): DAT read: Bearing  75.3, -36.6 (Local)

2025-08-22T17:24:19.649Z,1755883459.649 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.3, -36.6 (Local)

2025-08-22T17:24:19.651Z,1755883459.651 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.0

2025-08-22T17:24:19.656Z,1755883459.656 [DAT](INFO): DAT read: 17:24:20.4183 LVL= 23408, 20881, 18610, 30291, AGC= 37, IDX= 512,-0.36,-1.229, 0.630, 1.100, 0.837, PHS=-1.964,-0.162, 0.219, RAW= 260.6,  18.5, CAL= 262.6,  24.6, ROT= 247.4, -24.6

2025-08-22T17:24:19.657Z,1755883459.657 [DAT](INFO): got valid direction response:
 17:24:20.4183 LVL= 23408, 20881, 18610, 30291, AGC= 37, IDX= 512,-0.36,-1.229, 0.630, 1.100, 0.837, PHS=-1.964,-0.162, 0.219, RAW= 260.6,  18.5, CAL= 262.6,  24.6, ROT= 247.4, -24.6

2025-08-22T17:24:19.657Z,1755883459.657 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T17:24:19.658Z,1755883459.658 [DAT](INFO): direction in FSK: [-0.349415,-0.839416,0.416281]
2025-08-22T17:24:19.658Z,1755883459.658 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:19.662Z,1755883459.662 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=33.040817
2025-08-22T17:24:19.899Z,1755883459.899 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=33.277672
2025-08-22T17:24:20.152Z,1755883460.152 [DAT](INFO): DAT read: Rx Time:17:24:20.9184 

2025-08-22T17:24:20.152Z,1755883460.152 [DAT](INFO): Rx dataTimestamp_ set to:1755883460.151820
2025-08-22T17:24:20.154Z,1755883460.154 [DAT](INFO): DAT read: Bearing  80.1, -38.2 (Local)

2025-08-22T17:24:20.154Z,1755883460.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.1, -38.2 (Local)

2025-08-22T17:24:20.157Z,1755883460.157 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.1

2025-08-22T17:24:20.242Z,1755883460.242 [DAT](INFO): DAT read: 17:24:20.9184 LVL= 21984, 18993, 16066, 25763, AGC= 36, IDX= 513,-0.02, 1.484,-2.882,-2.398,-2.803, PHS=-1.895,-0.034, 0.361, RAW= 260.6,  14.9, CAL= 262.5,  20.1, ROT= 247.5, -20.1

2025-08-22T17:24:20.254Z,1755883460.254 [DAT](INFO): got valid direction response:
 17:24:20.9184 LVL= 21984, 18993, 16066, 25763, AGC= 36, IDX= 513,-0.02, 1.484,-2.882,-2.398,-2.803, PHS=-1.895,-0.034, 0.361, RAW= 260.6,  14.9, CAL= 262.5,  20.1, ROT= 247.5, -20.1

2025-08-22T17:24:20.255Z,1755883460.255 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T17:24:20.274Z,1755883460.274 [DAT](INFO): direction in FSK: [-0.359376,-0.867610,0.343660]
2025-08-22T17:24:20.274Z,1755883460.274 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:20.286Z,1755883460.286 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=33.656094
2025-08-22T17:24:20.403Z,1755883460.403 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=33.781364
2025-08-22T17:24:20.655Z,1755883460.655 [DAT](INFO): DAT read: Rx Time:17:24:21.4184 

2025-08-22T17:24:20.656Z,1755883460.656 [DAT](INFO): Rx dataTimestamp_ set to:1755883460.655309
2025-08-22T17:24:20.657Z,1755883460.657 [DAT](INFO): DAT read: Bearing  77.0, -36.1 (Local)

2025-08-22T17:24:20.657Z,1755883460.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0, -36.1 (Local)

2025-08-22T17:24:20.660Z,1755883460.660 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.1

2025-08-22T17:24:20.666Z,1755883460.666 [DAT](INFO): DAT read: 17:24:21.4184 LVL= 21616, 19665, 15522, 25075, AGC= 36, IDX= 512, 0.31, 2.542,-1.916,-1.477,-1.777, PHS=-1.862,-0.094, 0.256, RAW= 261.1,  17.0, CAL= 263.0,  22.8, ROT= 247.0, -22.8

2025-08-22T17:24:20.668Z,1755883460.668 [DAT](INFO): got valid direction response:
 17:24:21.4184 LVL= 21616, 19665, 15522, 25075, AGC= 36, IDX= 512, 0.31, 2.542,-1.916,-1.477,-1.777, PHS=-1.862,-0.094, 0.256, RAW= 261.1,  17.0, CAL= 263.0,  22.8, ROT= 247.0, -22.8

2025-08-22T17:24:20.668Z,1755883460.668 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T17:24:20.670Z,1755883460.670 [DAT](INFO): direction in FSK: [-0.360201,-0.848579,0.387516]
2025-08-22T17:24:20.670Z,1755883460.670 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:20.675Z,1755883460.675 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=34.053391
2025-08-22T17:24:20.908Z,1755883460.908 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=34.285824
2025-08-22T17:24:21.160Z,1755883461.160 [DAT](INFO): DAT read: Rx Time:17:24:21.9184 

2025-08-22T17:24:21.161Z,1755883461.161 [DAT](INFO): Rx dataTimestamp_ set to:1755883461.160302
2025-08-22T17:24:21.163Z,1755883461.163 [DAT](INFO): DAT read: Bearing  77.0, -32.7 (Local)

2025-08-22T17:24:21.163Z,1755883461.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.0, -32.7 (Local)

2025-08-22T17:24:21.170Z,1755883461.170 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed -0.1

2025-08-22T17:24:21.192Z,1755883461.192 [DAT](INFO): DAT read: 17:24:21.9184 LVL= 20800, 18673, 13346, 23027, AGC= 35, IDX= 513,-0.16, 0.300, 2.323, 2.643, 2.415, PHS=-2.013,-0.047, 0.184, RAW= 264.5,  17.6, CAL= 266.0,  24.0, ROT= 244.0, -24.0

2025-08-22T17:24:21.193Z,1755883461.193 [DAT](INFO): got valid direction response:
 17:24:21.9184 LVL= 20800, 18673, 13346, 23027, AGC= 35, IDX= 513,-0.16, 0.300, 2.323, 2.643, 2.415, PHS=-2.013,-0.047, 0.184, RAW= 264.5,  17.6, CAL= 266.0,  24.0, ROT= 244.0, -24.0

2025-08-22T17:24:21.193Z,1755883461.193 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T17:24:21.206Z,1755883461.206 [DAT](INFO): direction in FSK: [-0.400472,-0.821089,0.406737]
2025-08-22T17:24:21.206Z,1755883461.206 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:21.219Z,1755883461.219 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=34.597317
2025-08-22T17:24:21.411Z,1755883461.411 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=34.789242
2025-08-22T17:24:21.663Z,1755883461.663 [DAT](INFO): DAT read: Rx Time:17:24:22.4183 

2025-08-22T17:24:21.664Z,1755883461.664 [DAT](INFO): Rx dataTimestamp_ set to:1755883461.663361
2025-08-22T17:24:21.665Z,1755883461.665 [DAT](INFO): DAT read: Bearing  73.2, -27.5 (Local)

2025-08-22T17:24:21.665Z,1755883461.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2, -27.5 (Local)

2025-08-22T17:24:21.667Z,1755883461.667 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed -0.1

2025-08-22T17:24:21.672Z,1755883461.672 [DAT](INFO): DAT read: 17:24:22.4183 LVL= 20624, 19169, 12402, 22963, AGC= 35, IDX= 512, 0.18, 1.435,-2.913,-2.740,-2.758, PHS=-1.988,-0.109,-0.025, RAW= 267.8,  21.3, CAL= 269.2,  28.8, ROT= 240.8, -28.8

2025-08-22T17:24:21.673Z,1755883461.673 [DAT](INFO): got valid direction response:
 17:24:22.4183 LVL= 20624, 19169, 12402, 22963, AGC= 35, IDX= 512, 0.18, 1.435,-2.913,-2.740,-2.758, PHS=-1.988,-0.109,-0.025, RAW= 267.8,  21.3, CAL= 269.2,  28.8, ROT= 240.8, -28.8

2025-08-22T17:24:21.673Z,1755883461.673 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T17:24:21.674Z,1755883461.674 [DAT](INFO): direction in FSK: [-0.427515,-0.764948,0.481754]
2025-08-22T17:24:21.675Z,1755883461.675 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:21.682Z,1755883461.682 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=35.060902
2025-08-22T17:24:21.915Z,1755883461.915 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=35.293259
2025-08-22T17:24:22.168Z,1755883462.168 [DAT](INFO): DAT read: Rx Time:17:24:22.9185 

2025-08-22T17:24:22.169Z,1755883462.169 [DAT](INFO): Rx dataTimestamp_ set to:1755883462.168404
2025-08-22T17:24:22.171Z,1755883462.171 [DAT](INFO): DAT read: Bearing  70.0, -31.4 (Local)

2025-08-22T17:24:22.171Z,1755883462.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.0, -31.4 (Local)

2025-08-22T17:24:22.174Z,1755883462.174 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed -0.1

2025-08-22T17:24:22.185Z,1755883462.185 [DAT](INFO): DAT read: 17:24:22.9185 LVL= 14192, 11329,  9650, 15507, AGC= 37, IDX=   2,-0.27, 2.012,-2.530,-2.113,-2.223, PHS=-1.946,-0.262, 0.066, RAW= 261.2,  22.0, CAL= 263.3,  29.2, ROT= 246.7, -29.2

2025-08-22T17:24:22.187Z,1755883462.187 [DAT](INFO): got valid direction response:
 17:24:22.9185 LVL= 14192, 11329,  9650, 15507, AGC= 37, IDX=   2,-0.27, 2.012,-2.530,-2.113,-2.223, PHS=-1.946,-0.262, 0.066, RAW= 261.2,  22.0, CAL= 263.3,  29.2, ROT= 246.7, -29.2

2025-08-22T17:24:22.187Z,1755883462.187 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T17:24:22.189Z,1755883462.189 [DAT](INFO): direction in FSK: [-0.345281,-0.801732,0.487860]
2025-08-22T17:24:22.189Z,1755883462.189 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:22.193Z,1755883462.193 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.571541
2025-08-22T17:24:22.419Z,1755883462.419 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.797180
2025-08-22T17:24:22.672Z,1755883462.672 [DAT](INFO): DAT read: Rx Time:17:24:23.4184 

2025-08-22T17:24:22.673Z,1755883462.673 [DAT](INFO): Rx dataTimestamp_ set to:1755883462.672181
2025-08-22T17:24:22.675Z,1755883462.675 [DAT](INFO): DAT read: Bearing  70.3, -30.2 (Local)

2025-08-22T17:24:22.675Z,1755883462.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.3, -30.2 (Local)

2025-08-22T17:24:22.678Z,1755883462.678 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.0

2025-08-22T17:24:22.708Z,1755883462.708 [DAT](INFO): DAT read: 17:24:23.4184 LVL= 20208, 19441, 11938, 23523, AGC= 35, IDX= 497, 0.06, 2.695,-1.820,-1.442,-1.536, PHS=-1.950,-0.239, 0.050, RAW= 262.3,  22.0, CAL= 264.3,  29.2, ROT= 245.7, -29.2

2025-08-22T17:24:22.709Z,1755883462.709 [DAT](INFO): got valid direction response:
 17:24:23.4184 LVL= 20208, 19441, 11938, 23523, AGC= 35, IDX= 497, 0.06, 2.695,-1.820,-1.442,-1.536, PHS=-1.950,-0.239, 0.050, RAW= 262.3,  22.0, CAL= 264.3,  29.2, ROT= 245.7, -29.2

2025-08-22T17:24:22.721Z,1755883462.721 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T17:24:22.726Z,1755883462.726 [DAT](INFO): direction in FSK: [-0.359220,-0.795584,0.487860]
2025-08-22T17:24:22.726Z,1755883462.726 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:22.742Z,1755883462.742 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=36.120548
2025-08-22T17:24:22.923Z,1755883462.923 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=36.301853
2025-08-22T17:24:22.970Z,1755883462.970 [MassServo](FAULT): Overload Error
2025-08-22T17:24:22.970Z,1755883462.970 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:22.970Z,1755883462.970 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:23.093Z,1755883463.093 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:23.176Z,1755883463.176 [DAT](INFO): DAT read: Rx Time:17:24:23.9186 

2025-08-22T17:24:23.177Z,1755883463.177 [DAT](INFO): Rx dataTimestamp_ set to:1755883463.176306
2025-08-22T17:24:23.179Z,1755883463.179 [DAT](INFO): DAT read: Bearing  70.4, -30.1 (Local)

2025-08-22T17:24:23.179Z,1755883463.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.4, -30.1 (Local)

2025-08-22T17:24:23.187Z,1755883463.187 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.0

2025-08-22T17:24:23.192Z,1755883463.192 [DAT](INFO): DAT read: 17:24:23.9186 LVL= 16528, 13441, 11250, 18115, AGC= 38, IDX=   2, 0.46,-2.840,-1.083,-0.692,-0.801, PHS=-1.937,-0.237, 0.065, RAW= 261.9,  21.7, CAL= 264.0,  28.9, ROT= 246.0, -28.9

2025-08-22T17:24:23.193Z,1755883463.193 [DAT](INFO): got valid direction response:
 17:24:23.9186 LVL= 16528, 13441, 11250, 18115, AGC= 38, IDX=   2, 0.46,-2.840,-1.083,-0.692,-0.801, PHS=-1.937,-0.237, 0.065, RAW= 261.9,  21.7, CAL= 264.0,  28.9, ROT= 246.0, -28.9

2025-08-22T17:24:23.193Z,1755883463.193 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T17:24:23.194Z,1755883463.194 [DAT](INFO): direction in FSK: [-0.356084,-0.799777,0.483282]
2025-08-22T17:24:23.194Z,1755883463.194 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:23.199Z,1755883463.199 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=36.577484
2025-08-22T17:24:23.432Z,1755883463.432 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=36.810230
2025-08-22T17:24:23.440Z,1755883463.440 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:23.440Z,1755883463.440 [MassServo](INFO): Powering down
2025-08-22T17:24:23.679Z,1755883463.679 [DAT](INFO): DAT read: Rx Time:17:24:24.4185 

2025-08-22T17:24:23.680Z,1755883463.680 [DAT](INFO): Rx dataTimestamp_ set to:1755883463.679353
2025-08-22T17:24:23.681Z,1755883463.681 [DAT](INFO): DAT read: Bearing  70.9, -30.0 (Local)

2025-08-22T17:24:23.681Z,1755883463.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9, -30.0 (Local)

2025-08-22T17:24:23.683Z,1755883463.683 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.0

2025-08-22T17:24:23.688Z,1755883463.688 [DAT](INFO): DAT read: 17:24:24.4185 LVL= 21280, 20593, 13730, 26067, AGC= 34, IDX= 498,-0.10, 0.944, 2.721, 3.117, 2.990, PHS=-1.944,-0.224, 0.083, RAW= 261.9,  21.3, CAL= 263.9,  28.3, ROT= 246.1, -28.3

2025-08-22T17:24:23.689Z,1755883463.689 [DAT](INFO): got valid direction response:
 17:24:24.4185 LVL= 21280, 20593, 13730, 26067, AGC= 34, IDX= 498,-0.10, 0.944, 2.721, 3.117, 2.990, PHS=-1.944,-0.224, 0.083, RAW= 261.9,  21.3, CAL= 263.9,  28.3, ROT= 246.1, -28.3

2025-08-22T17:24:23.689Z,1755883463.689 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T17:24:23.690Z,1755883463.690 [DAT](INFO): direction in FSK: [-0.356718,-0.804980,0.474088]
2025-08-22T17:24:23.690Z,1755883463.690 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:23.698Z,1755883463.698 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=37.076832
2025-08-22T17:24:23.932Z,1755883463.932 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=37.310486
2025-08-22T17:24:24.185Z,1755883464.185 [DAT](INFO): DAT read: Rx Time:17:24:24.9185 

2025-08-22T17:24:24.186Z,1755883464.186 [DAT](INFO): Rx dataTimestamp_ set to:1755883464.185187
2025-08-22T17:24:24.187Z,1755883464.187 [DAT](INFO): DAT read: Bearing  71.1, -29.5 (Local)

2025-08-22T17:24:24.188Z,1755883464.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1, -29.5 (Local)

2025-08-22T17:24:24.190Z,1755883464.190 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.0

2025-08-22T17:24:24.200Z,1755883464.200 [DAT](INFO): DAT read: 17:24:24.9185 LVL= 21744, 20721, 14114, 26339, AGC= 34, IDX= 498, 0.17, 2.918,-1.588,-1.204,-1.332, PHS=-1.931,-0.210, 0.084, RAW= 262.2,  21.1, CAL= 264.2,  28.1, ROT= 245.8, -28.1

2025-08-22T17:24:24.201Z,1755883464.201 [DAT](INFO): got valid direction response:
 17:24:24.9185 LVL= 21744, 20721, 14114, 26339, AGC= 34, IDX= 498, 0.17, 2.918,-1.588,-1.204,-1.332, PHS=-1.931,-0.210, 0.084, RAW= 262.2,  21.1, CAL= 264.2,  28.1, ROT= 245.8, -28.1

2025-08-22T17:24:24.201Z,1755883464.201 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T17:24:24.202Z,1755883464.202 [DAT](INFO): direction in FSK: [-0.361604,-0.804606,0.471012]
2025-08-22T17:24:24.202Z,1755883464.202 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:24.272Z,1755883464.272 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:24.391Z,1755883464.391 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:24.396Z,1755883464.396 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:24.396Z,1755883464.396 [MassServo] No Fault, FailCount= 1
2025-08-22T17:24:24.687Z,1755883464.687 [DAT](INFO): DAT read: Rx Time:17:24:25.4185 

2025-08-22T17:24:24.688Z,1755883464.688 [DAT](INFO): Rx dataTimestamp_ set to:1755883464.687274
2025-08-22T17:24:24.689Z,1755883464.689 [DAT](INFO): DAT read: Bearing  71.8, -29.2 (Local)

2025-08-22T17:24:24.689Z,1755883464.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.8, -29.2 (Local)

2025-08-22T17:24:24.691Z,1755883464.691 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.0

2025-08-22T17:24:24.696Z,1755883464.696 [DAT](INFO): DAT read: 17:24:25.4185 LVL= 20784, 18769, 13170, 23987, AGC= 35, IDX= 498,-0.40, 0.102, 1.918, 2.290, 2.148, PHS=-1.945,-0.185, 0.097, RAW= 262.7,  20.6, CAL= 264.5,  27.5, ROT= 245.5, -27.5

2025-08-22T17:24:24.697Z,1755883464.697 [DAT](INFO): got valid direction response:
 17:24:25.4185 LVL= 20784, 18769, 13170, 23987, AGC= 35, IDX= 498,-0.40, 0.102, 1.918, 2.290, 2.148, PHS=-1.945,-0.185, 0.097, RAW= 262.7,  20.6, CAL= 264.5,  27.5, ROT= 245.5, -27.5

2025-08-22T17:24:24.697Z,1755883464.697 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-08-22T17:24:24.698Z,1755883464.698 [DAT](INFO): direction in FSK: [-0.367837,-0.807146,0.461749]
2025-08-22T17:24:24.698Z,1755883464.698 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:25.191Z,1755883465.191 [DAT](INFO): DAT read: Rx Time:17:24:25.9186 

2025-08-22T17:24:25.192Z,1755883465.192 [DAT](INFO): Rx dataTimestamp_ set to:1755883465.191304
2025-08-22T17:24:25.193Z,1755883465.193 [DAT](INFO): DAT read: Bearing  72.2, -29.2 (Local)

2025-08-22T17:24:25.193Z,1755883465.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.2, -29.2 (Local)

2025-08-22T17:24:25.195Z,1755883465.195 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.0

2025-08-22T17:24:25.200Z,1755883465.200 [DAT](INFO): DAT read: 17:24:25.9186 LVL= 20784, 18577, 13682, 23971, AGC= 35, IDX= 499,-0.04, 1.151, 2.969,-2.939,-3.097, PHS=-1.933,-0.172, 0.114, RAW= 262.6,  20.1, CAL= 264.4,  26.9, ROT= 245.6, -26.9

2025-08-22T17:24:25.201Z,1755883465.201 [DAT](INFO): got valid direction response:
 17:24:25.9186 LVL= 20784, 18577, 13682, 23971, AGC= 35, IDX= 499,-0.04, 1.151, 2.969,-2.939,-3.097, PHS=-1.933,-0.172, 0.114, RAW= 262.6,  20.1, CAL= 264.4,  26.9, ROT= 245.6, -26.9

2025-08-22T17:24:25.201Z,1755883465.201 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-08-22T17:24:25.202Z,1755883465.202 [DAT](INFO): direction in FSK: [-0.368406,-0.812145,0.452435]
2025-08-22T17:24:25.202Z,1755883465.202 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:25.696Z,1755883465.696 [DAT](INFO): DAT read: Rx Time:17:24:26.4185 

2025-08-22T17:24:25.696Z,1755883465.696 [DAT](INFO): Rx dataTimestamp_ set to:1755883465.696047
2025-08-22T17:24:25.698Z,1755883465.698 [DAT](INFO): DAT read: Bearing  72.2, -29.4 (Local)

2025-08-22T17:24:25.698Z,1755883465.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.2, -29.4 (Local)

2025-08-22T17:24:25.700Z,1755883465.700 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.0

2025-08-22T17:24:25.704Z,1755883465.704 [DAT](INFO): DAT read: 17:24:26.4185 LVL= 22368, 20113, 15058, 26579, AGC= 34, IDX= 498, 0.29, 1.352,-3.129,-2.738,-2.912, PHS=-1.918,-0.173, 0.129, RAW= 262.1,  19.9, CAL= 264.0,  26.6, ROT= 246.0, -26.6

2025-08-22T17:24:25.730Z,1755883465.730 [DAT](INFO): got valid direction response:
 17:24:26.4185 LVL= 22368, 20113, 15058, 26579, AGC= 34, IDX= 498, 0.29, 1.352,-3.129,-2.738,-2.912, PHS=-1.918,-0.173, 0.129, RAW= 262.1,  19.9, CAL= 264.0,  26.6, ROT= 246.0, -26.6

2025-08-22T17:24:25.732Z,1755883465.732 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-22T17:24:25.736Z,1755883465.736 [DAT](INFO): direction in FSK: [-0.363685,-0.816851,0.447759]
2025-08-22T17:24:25.789Z,1755883465.789 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:25.899Z,1755883465.899 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T17:14:25.8Z
2025-08-22T17:24:25.899Z,1755883465.899 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T17:24:25.899Z,1755883465.899 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:24:25.900Z,1755883465.900 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T17:24:25.900Z,1755883465.900 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:24:25.900Z,1755883465.900 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T17:24:26.199Z,1755883466.199 [DAT](INFO): DAT read: Rx Time:17:24:26.9187 

2025-08-22T17:24:26.200Z,1755883466.200 [DAT](INFO): Rx dataTimestamp_ set to:1755883466.199358
2025-08-22T17:24:26.201Z,1755883466.201 [DAT](INFO): DAT read: Bearing  72.8, -29.5 (Local)

2025-08-22T17:24:26.201Z,1755883466.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.8, -29.5 (Local)

2025-08-22T17:24:26.203Z,1755883466.203 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.1

2025-08-22T17:24:26.209Z,1755883466.209 [DAT](INFO): DAT read: 17:24:26.9187 LVL= 20720, 17665, 14322, 23971, AGC= 35, IDX= 500,-0.17, 0.014, 1.838, 2.237, 2.039, PHS=-1.923,-0.156, 0.154, RAW= 262.1,  19.3, CAL= 263.9,  25.9, ROT= 246.1, -25.9

2025-08-22T17:24:26.210Z,1755883466.210 [DAT](INFO): got valid direction response:
 17:24:26.9187 LVL= 20720, 17665, 14322, 23971, AGC= 35, IDX= 500,-0.17, 0.014, 1.838, 2.237, 2.039, PHS=-1.923,-0.156, 0.154, RAW= 262.1,  19.3, CAL= 263.9,  25.9, ROT= 246.1, -25.9

2025-08-22T17:24:26.210Z,1755883466.210 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-08-22T17:24:26.211Z,1755883466.211 [DAT](INFO): direction in FSK: [-0.364448,-0.822424,0.436802]
2025-08-22T17:24:26.212Z,1755883466.212 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:26.383Z,1755883466.383 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T17:24:26.383Z,1755883466.383 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T17:24:26.383Z,1755883466.383 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T17:24:26.383Z,1755883466.383 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:24:26.383Z,1755883466.383 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T17:24:26.703Z,1755883466.703 [DAT](INFO): DAT read: Rx Time:17:24:27.4186 

2025-08-22T17:24:26.704Z,1755883466.704 [DAT](INFO): Rx dataTimestamp_ set to:1755883466.703394
2025-08-22T17:24:26.705Z,1755883466.705 [DAT](INFO): DAT read: Bearing  72.7, -29.7 (Local)

2025-08-22T17:24:26.705Z,1755883466.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.7, -29.7 (Local)

2025-08-22T17:24:26.707Z,1755883466.707 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.1

2025-08-22T17:24:26.712Z,1755883466.712 [DAT](INFO): DAT read: 17:24:27.4186 LVL= 20464, 17617, 14770, 23699, AGC= 35, IDX= 499, 0.19, 0.846, 2.657, 3.076, 2.865, PHS=-1.917,-0.163, 0.167, RAW= 261.5,  19.2, CAL= 263.5,  25.7, ROT= 246.5, -25.7

2025-08-22T17:24:26.713Z,1755883466.713 [DAT](INFO): got valid direction response:
 17:24:27.4186 LVL= 20464, 17617, 14770, 23699, AGC= 35, IDX= 499, 0.19, 0.846, 2.657, 3.076, 2.865, PHS=-1.917,-0.163, 0.167, RAW= 261.5,  19.2, CAL= 263.5,  25.7, ROT= 246.5, -25.7

2025-08-22T17:24:26.713Z,1755883466.713 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-08-22T17:24:26.714Z,1755883466.714 [DAT](INFO): direction in FSK: [-0.359304,-0.826342,0.433659]
2025-08-22T17:24:26.715Z,1755883466.715 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:27.207Z,1755883467.207 [DAT](INFO): DAT read: Rx Time:17:24:27.9188 

2025-08-22T17:24:27.208Z,1755883467.208 [DAT](INFO): Rx dataTimestamp_ set to:1755883467.207422
2025-08-22T17:24:27.209Z,1755883467.209 [DAT](INFO): DAT read: Bearing  73.1, -30.6 (Local)

2025-08-22T17:24:27.209Z,1755883467.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.1, -30.6 (Local)

2025-08-22T17:24:27.211Z,1755883467.211 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.1

2025-08-22T17:24:27.216Z,1755883467.216 [DAT](INFO): DAT read: 17:24:27.9188 LVL= 20592, 17105, 15314, 23171, AGC= 35, IDX= 501,-0.21,-0.502, 1.309, 1.765, 1.515, PHS=-1.915,-0.160, 0.206, RAW= 260.7,  18.6, CAL= 262.7,  24.8, ROT= 247.3, -24.8

2025-08-22T17:24:27.217Z,1755883467.217 [DAT](INFO): got valid direction response:
 17:24:27.9188 LVL= 20592, 17105, 15314, 23171, AGC= 35, IDX= 501,-0.21,-0.502, 1.309, 1.765, 1.515, PHS=-1.915,-0.160, 0.206, RAW= 260.7,  18.6, CAL= 262.7,  24.8, ROT= 247.3, -24.8

2025-08-22T17:24:27.226Z,1755883467.226 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-08-22T17:24:27.227Z,1755883467.227 [DAT](INFO): direction in FSK: [-0.350317,-0.837459,0.419452]
2025-08-22T17:24:27.227Z,1755883467.227 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:27.712Z,1755883467.712 [DAT](INFO): DAT read: Rx Time:17:24:28.4186 

2025-08-22T17:24:27.712Z,1755883467.712 [DAT](INFO): Rx dataTimestamp_ set to:1755883467.711791
2025-08-22T17:24:27.714Z,1755883467.714 [DAT](INFO): DAT read: Bearing  73.0, -31.2 (Local)

2025-08-22T17:24:27.715Z,1755883467.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.0, -31.2 (Local)

2025-08-22T17:24:27.718Z,1755883467.718 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.1

2025-08-22T17:24:27.724Z,1755883467.724 [DAT](INFO): DAT read: 17:24:28.4186 LVL= 20848, 17057, 15538, 22675, AGC= 35, IDX= 500, 0.18, 0.283, 2.086, 2.579, 2.306, PHS=-1.921,-0.175, 0.229, RAW= 259.8,  18.4, CAL= 262.0,  24.5, ROT= 248.0, -24.5

2025-08-22T17:24:27.725Z,1755883467.725 [DAT](INFO): got valid direction response:
 17:24:28.4186 LVL= 20848, 17057, 15538, 22675, AGC= 35, IDX= 500, 0.18, 0.283, 2.086, 2.579, 2.306, PHS=-1.921,-0.175, 0.229, RAW= 259.8,  18.4, CAL= 262.0,  24.5, ROT= 248.0, -24.5

2025-08-22T17:24:27.726Z,1755883467.726 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-08-22T17:24:27.727Z,1755883467.727 [DAT](INFO): direction in FSK: [-0.340878,-0.843701,0.414693]
2025-08-22T17:24:27.728Z,1755883467.728 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:28.216Z,1755883468.216 [DAT](INFO): DAT read: Rx Time:17:24:28.9187 

2025-08-22T17:24:28.217Z,1755883468.217 [DAT](INFO): Rx dataTimestamp_ set to:1755883468.216236
2025-08-22T17:24:28.219Z,1755883468.219 [DAT](INFO): DAT read: Bearing  73.4, -32.7 (Local)

2025-08-22T17:24:28.219Z,1755883468.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.4, -32.7 (Local)

2025-08-22T17:24:28.227Z,1755883468.227 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.1

2025-08-22T17:24:28.245Z,1755883468.245 [DAT](INFO): DAT read: 17:24:28.9187 LVL= 21712, 17985, 15026, 23779, AGC= 34, IDX= 501,-0.18,-2.195,-0.413, 0.145,-0.183, PHS=-1.910,-0.184, 0.284, RAW= 258.3,  17.7, CAL= 260.6,  23.4, ROT= 249.4, -23.4

2025-08-22T17:24:28.258Z,1755883468.258 [DAT](INFO): got valid direction response:
 17:24:28.9187 LVL= 21712, 17985, 15026, 23779, AGC= 34, IDX= 501,-0.18,-2.195,-0.413, 0.145,-0.183, PHS=-1.910,-0.184, 0.284, RAW= 258.3,  17.7, CAL= 260.6,  23.4, ROT= 249.4, -23.4

2025-08-22T17:24:28.259Z,1755883468.259 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-08-22T17:24:28.260Z,1755883468.260 [DAT](INFO): direction in FSK: [-0.322905,-0.859073,0.397148]
2025-08-22T17:24:28.260Z,1755883468.260 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:28.719Z,1755883468.719 [DAT](INFO): DAT read: Rx Time:17:24:29.4186 

2025-08-22T17:24:28.720Z,1755883468.720 [DAT](INFO): Rx dataTimestamp_ set to:1755883468.719340
2025-08-22T17:24:28.721Z,1755883468.721 [DAT](INFO): DAT read: Bearing  73.3, -33.7 (Local)

2025-08-22T17:24:28.721Z,1755883468.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.3, -33.7 (Local)

2025-08-22T17:24:28.723Z,1755883468.723 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed -0.1

2025-08-22T17:24:28.728Z,1755883468.728 [DAT](INFO): DAT read: 17:24:29.4186 LVL= 22752, 15409, 13298, 21731, AGC= 35, IDX= 500, 0.20,-0.801, 0.981, 1.593, 1.230, PHS=-1.928,-0.204, 0.320, RAW= 257.1,  17.5, CAL= 259.6,  22.9, ROT= 250.4, -22.9

2025-08-22T17:24:28.729Z,1755883468.729 [DAT](INFO): got valid direction response:
 17:24:29.4186 LVL= 22752, 15409, 13298, 21731, AGC= 35, IDX= 500, 0.20,-0.801, 0.981, 1.593, 1.230, PHS=-1.928,-0.204, 0.320, RAW= 257.1,  17.5, CAL= 259.6,  22.9, ROT= 250.4, -22.9

2025-08-22T17:24:28.729Z,1755883468.729 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-08-22T17:24:28.730Z,1755883468.730 [DAT](INFO): direction in FSK: [-0.309013,-0.867809,0.389124]
2025-08-22T17:24:28.730Z,1755883468.730 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:29.223Z,1755883469.223 [DAT](INFO): DAT read: Rx Time:17:24:29.9188 

2025-08-22T17:24:29.224Z,1755883469.224 [DAT](INFO): Rx dataTimestamp_ set to:1755883469.223364
2025-08-22T17:24:29.225Z,1755883469.225 [DAT](INFO): DAT read: Bearing  74.3, -36.0 (Local)

2025-08-22T17:24:29.225Z,1755883469.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.3, -36.0 (Local)

2025-08-22T17:24:29.227Z,1755883469.227 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.1

2025-08-22T17:24:29.232Z,1755883469.232 [DAT](INFO): DAT read: 17:24:29.9188 LVL= 24304, 16033, 14530, 22307, AGC= 34, IDX= 502,-0.15,-1.068, 0.684, 1.384, 0.942, PHS=-1.908,-0.214, 0.398, RAW= 255.2,  16.4, CAL= 257.8,  21.2, ROT= 252.2, -21.2

2025-08-22T17:24:29.233Z,1755883469.233 [DAT](INFO): got valid direction response:
 17:24:29.9188 LVL= 24304, 16033, 14530, 22307, AGC= 34, IDX= 502,-0.15,-1.068, 0.684, 1.384, 0.942, PHS=-1.908,-0.214, 0.398, RAW= 255.2,  16.4, CAL= 257.8,  21.2, ROT= 252.2, -21.2

2025-08-22T17:24:29.233Z,1755883469.233 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-08-22T17:24:29.234Z,1755883469.234 [DAT](INFO): direction in FSK: [-0.285007,-0.887693,0.361625]
2025-08-22T17:24:29.235Z,1755883469.235 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:29.727Z,1755883469.727 [DAT](INFO): DAT read: Rx Time:17:24:30.4187 

2025-08-22T17:24:29.727Z,1755883469.727 [DAT](INFO): Rx dataTimestamp_ set to:1755883469.727150
2025-08-22T17:24:29.729Z,1755883469.729 [DAT](INFO): DAT read: Bearing  74.3, -36.7 (Local)

2025-08-22T17:24:29.729Z,1755883469.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.3, -36.7 (Local)

2025-08-22T17:24:29.731Z,1755883469.731 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed -0.1

2025-08-22T17:24:29.735Z,1755883469.735 [DAT](INFO): DAT read: 17:24:30.4187 LVL= 23120, 15841, 14002, 21587, AGC= 34, IDX= 501, 0.28,-0.129, 1.592, 2.320, 1.857, PHS=-1.884,-0.220, 0.418, RAW= 254.4,  16.1, CAL= 257.1,  20.7, ROT= 252.9, -20.7

2025-08-22T17:24:29.736Z,1755883469.736 [DAT](INFO): got valid direction response:
 17:24:30.4187 LVL= 23120, 15841, 14002, 21587, AGC= 34, IDX= 501, 0.28,-0.129, 1.592, 2.320, 1.857, PHS=-1.884,-0.220, 0.418, RAW= 254.4,  16.1, CAL= 257.1,  20.7, ROT= 252.9, -20.7

2025-08-22T17:24:29.737Z,1755883469.737 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-08-22T17:24:29.738Z,1755883469.738 [DAT](INFO): direction in FSK: [-0.275058,-0.894091,0.353475]
2025-08-22T17:24:29.738Z,1755883469.738 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:30.231Z,1755883470.231 [DAT](INFO): DAT read: Rx Time:17:24:30.9189 

2025-08-22T17:24:30.234Z,1755883470.234 [DAT](INFO): Rx dataTimestamp_ set to:1755883470.232307
2025-08-22T17:24:30.238Z,1755883470.238 [DAT](INFO): DAT read: Bearing  75.0, -38.8 (Local)

2025-08-22T17:24:30.239Z,1755883470.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.0, -38.8 (Local)

2025-08-22T17:24:30.256Z,1755883470.256 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed -0.1

2025-08-22T17:24:30.265Z,1755883470.265 [DAT](INFO): DAT read: 17:24:30.9189 LVL= 20624, 16145, 13442, 20243, AGC= 34, IDX= 503,-0.06,-0.334, 1.358, 2.152, 1.630, PHS=-1.862,-0.228, 0.477, RAW= 252.9,  15.3, CAL= 255.5,  19.2, ROT= 254.5, -19.2

2025-08-22T17:24:30.274Z,1755883470.274 [DAT](INFO): got valid direction response:
 17:24:30.9189 LVL= 20624, 16145, 13442, 20243, AGC= 34, IDX= 503,-0.06,-0.334, 1.358, 2.152, 1.630, PHS=-1.862,-0.228, 0.477, RAW= 252.9,  15.3, CAL= 255.5,  19.2, ROT= 254.5, -19.2

2025-08-22T17:24:30.275Z,1755883470.275 [DAT](INFO): #Rx 132: Read range and direction messages.
2025-08-22T17:24:30.276Z,1755883470.276 [DAT](INFO): direction in FSK: [-0.252374,-0.910030,0.328867]
2025-08-22T17:24:30.276Z,1755883470.276 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:30.638Z,1755883470.638 [MassServo](FAULT): Overload Error
2025-08-22T17:24:30.638Z,1755883470.638 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:30.638Z,1755883470.638 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:30.735Z,1755883470.735 [DAT](INFO): DAT read: Rx Time:17:24:31.4188 

2025-08-22T17:24:30.736Z,1755883470.736 [DAT](INFO): Rx dataTimestamp_ set to:1755883470.735670
2025-08-22T17:24:30.737Z,1755883470.737 [DAT](INFO): DAT read: Bearing  75.0, -39.7 (Local)

2025-08-22T17:24:30.738Z,1755883470.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.0, -39.7 (Local)

2025-08-22T17:24:30.740Z,1755883470.740 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed -0.1

2025-08-22T17:24:30.746Z,1755883470.746 [DAT](INFO): DAT read: 17:24:31.4188 LVL= 18672, 14385, 11554, 17811, AGC= 33, IDX= 502, 0.46,-0.784, 0.882, 1.698, 1.159, PHS=-1.842,-0.232, 0.494, RAW= 252.3,  15.1, CAL= 254.7,  18.7, ROT= 255.3, -18.7

2025-08-22T17:24:30.747Z,1755883470.747 [DAT](INFO): got valid direction response:
 17:24:31.4188 LVL= 18672, 14385, 11554, 17811, AGC= 33, IDX= 502, 0.46,-0.784, 0.882, 1.698, 1.159, PHS=-1.842,-0.232, 0.494, RAW= 252.3,  15.1, CAL= 254.7,  18.7, ROT= 255.3, -18.7

2025-08-22T17:24:30.748Z,1755883470.748 [DAT](INFO): #Rx 133: Read range and direction messages.
2025-08-22T17:24:30.749Z,1755883470.749 [DAT](INFO): direction in FSK: [-0.240362,-0.916206,0.320613]
2025-08-22T17:24:30.749Z,1755883470.749 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:30.757Z,1755883470.757 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:31.023Z,1755883471.023 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:31.023Z,1755883471.023 [MassServo](INFO): Powering down
2025-08-22T17:24:31.239Z,1755883471.239 [DAT](INFO): DAT read: Rx Time:17:24:31.9190 

2025-08-22T17:24:31.240Z,1755883471.240 [DAT](INFO): Rx dataTimestamp_ set to:1755883471.239244
2025-08-22T17:24:31.241Z,1755883471.241 [DAT](INFO): DAT read: Bearing  74.9, -41.0 (Local)

2025-08-22T17:24:31.241Z,1755883471.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.9, -41.0 (Local)

2025-08-22T17:24:31.243Z,1755883471.243 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.1

2025-08-22T17:24:31.248Z,1755883471.248 [DAT](INFO): DAT read: 17:24:31.9190 LVL= 18656, 15825, 12482, 19219, AGC= 34, IDX= 504, 0.04, 0.263, 1.899, 2.752, 2.189, PHS=-1.823,-0.245, 0.519, RAW= 251.3,  14.8, CAL= 253.6,  18.1, ROT= 256.4, -18.1

2025-08-22T17:24:31.249Z,1755883471.249 [DAT](INFO): got valid direction response:
 17:24:31.9190 LVL= 18656, 15825, 12482, 19219, AGC= 34, IDX= 504, 0.04, 0.263, 1.899, 2.752, 2.189, PHS=-1.823,-0.245, 0.519, RAW= 251.3,  14.8, CAL= 253.6,  18.1, ROT= 256.4, -18.1

2025-08-22T17:24:31.249Z,1755883471.249 [DAT](INFO): #Rx 134: Read range and direction messages.
2025-08-22T17:24:31.250Z,1755883471.250 [DAT](INFO): direction in FSK: [-0.223506,-0.923864,0.310676]
2025-08-22T17:24:31.250Z,1755883471.250 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:31.743Z,1755883471.743 [DAT](INFO): DAT read: Rx Time:17:24:32.4190 

2025-08-22T17:24:31.744Z,1755883471.744 [DAT](INFO): Rx dataTimestamp_ set to:1755883471.743433
2025-08-22T17:24:31.745Z,1755883471.745 [DAT](INFO): DAT read: Bearing  75.4, -43.0 (Local)

2025-08-22T17:24:31.745Z,1755883471.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.4, -43.0 (Local)

2025-08-22T17:24:31.747Z,1755883471.747 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.1

2025-08-22T17:24:31.752Z,1755883471.752 [DAT](INFO): DAT read: 17:24:32.4190 LVL= 20512, 13809, 10738, 17203, AGC= 33, IDX= 504,-0.34,-2.472,-0.852, 0.052,-0.564, PHS=-1.806,-0.243, 0.573, RAW= 250.3,  14.0, CAL= 252.1,  16.7, ROT= 257.9, -16.7

2025-08-22T17:24:31.753Z,1755883471.753 [DAT](INFO): got valid direction response:
 17:24:32.4190 LVL= 20512, 13809, 10738, 17203, AGC= 33, IDX= 504,-0.34,-2.472,-0.852, 0.052,-0.564, PHS=-1.806,-0.243, 0.573, RAW= 250.3,  14.0, CAL= 252.1,  16.7, ROT= 257.9, -16.7

2025-08-22T17:24:31.753Z,1755883471.753 [DAT](INFO): #Rx 135: Read range and direction messages.
2025-08-22T17:24:31.754Z,1755883471.754 [DAT](INFO): direction in FSK: [-0.200777,-0.936543,0.287361]
2025-08-22T17:24:31.755Z,1755883471.755 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:31.875Z,1755883471.875 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:32.001Z,1755883472.001 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:32.006Z,1755883472.006 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:32.006Z,1755883472.006 [MassServo] No Fault, FailCount= 1
2025-08-22T17:24:32.247Z,1755883472.247 [DAT](INFO): DAT read: Rx Time:17:24:32.9190 

2025-08-22T17:24:32.248Z,1755883472.248 [DAT](INFO): Rx dataTimestamp_ set to:1755883472.247334
2025-08-22T17:24:32.249Z,1755883472.249 [DAT](INFO): DAT read: Bearing  74.7, -43.5 (Local)

2025-08-22T17:24:32.249Z,1755883472.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.7, -43.5 (Local)

2025-08-22T17:24:32.251Z,1755883472.251 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.1

2025-08-22T17:24:32.263Z,1755883472.263 [DAT](INFO): DAT read: 17:24:32.9190 LVL= 20688, 16689, 13042, 20131, AGC= 35, IDX= 504, 0.13,-1.346, 0.242, 1.161, 0.547, PHS=-1.791,-0.260, 0.570, RAW= 249.7,  14.2, CAL= 251.7,  16.9, ROT= 258.3, -16.9

2025-08-22T17:24:32.264Z,1755883472.264 [DAT](INFO): got valid direction response:
 17:24:32.9190 LVL= 20688, 16689, 13042, 20131, AGC= 35, IDX= 504, 0.13,-1.346, 0.242, 1.161, 0.547, PHS=-1.791,-0.260, 0.570, RAW= 249.7,  14.2, CAL= 251.7,  16.9, ROT= 258.3, -16.9

2025-08-22T17:24:32.264Z,1755883472.264 [DAT](INFO): #Rx 136: Read range and direction messages.
2025-08-22T17:24:32.266Z,1755883472.266 [DAT](INFO): direction in FSK: [-0.194030,-0.936934,0.290702]
2025-08-22T17:24:32.266Z,1755883472.266 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:32.751Z,1755883472.751 [DAT](INFO): DAT read: Rx Time:17:24:33.4190 

2025-08-22T17:24:32.752Z,1755883472.752 [DAT](INFO): Rx dataTimestamp_ set to:1755883472.751247
2025-08-22T17:24:32.753Z,1755883472.753 [DAT](INFO): DAT read: Bearing  75.4, -45.4 (Local)

2025-08-22T17:24:32.753Z,1755883472.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.4, -45.4 (Local)

2025-08-22T17:24:32.755Z,1755883472.755 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed -0.1

2025-08-22T17:24:32.760Z,1755883472.760 [DAT](INFO): DAT read: 17:24:33.4190 LVL= 21424, 14977, 11474, 18787, AGC= 34, IDX= 504,-0.25, 1.933,-2.768,-1.805,-2.473, PHS=-1.775,-0.249, 0.625, RAW= 248.9,  13.2, CAL= 250.4,  15.5, ROT= 259.6, -15.5

2025-08-22T17:24:32.761Z,1755883472.761 [DAT](INFO): got valid direction response:
 17:24:33.4190 LVL= 21424, 14977, 11474, 18787, AGC= 34, IDX= 504,-0.25, 1.933,-2.768,-1.805,-2.473, PHS=-1.775,-0.249, 0.625, RAW= 248.9,  13.2, CAL= 250.4,  15.5, ROT= 259.6, -15.5

2025-08-22T17:24:32.761Z,1755883472.761 [DAT](INFO): #Rx 137: Read range and direction messages.
2025-08-22T17:24:32.762Z,1755883472.762 [DAT](INFO): direction in FSK: [-0.173954,-0.947799,0.267238]
2025-08-22T17:24:32.762Z,1755883472.762 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:33.255Z,1755883473.255 [DAT](INFO): DAT read: Rx Time:17:24:33.9191 

2025-08-22T17:24:33.256Z,1755883473.256 [DAT](INFO): Rx dataTimestamp_ set to:1755883473.255303
2025-08-22T17:24:33.257Z,1755883473.257 [DAT](INFO): DAT read: Bearing  74.9, -45.4 (Local)

2025-08-22T17:24:33.257Z,1755883473.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.9, -45.4 (Local)

2025-08-22T17:24:33.259Z,1755883473.259 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.1

2025-08-22T17:24:33.263Z,1755883473.263 [DAT](INFO): DAT read: 17:24:33.9191 LVL= 21744, 15169, 11474, 18851, AGC= 34, IDX= 505, 0.18,-0.824, 0.746, 1.700, 1.046, PHS=-1.768,-0.255, 0.610, RAW= 248.9,  1= 250.5,  15.8, ROT= 259.5, -15.8

2025-08-22T17:24:33.264Z,1755883473.264 [DAT](INFO): unknown deviceResponse_: 17:24:33.9191 LVL= 21744, 15169, 11474, 18851, AGC= 34, IDX= 505, 0.18,-0.824, 0.746, 1.700, 1.046, PHS=-1.768,-0.255, 0.610, RAW= 248.9,  1= 250.5,  15.8, ROT= 259.5, -15.8

2025-08-22T17:24:33.265Z,1755883473.265 [DAT](ERROR): #Rx 138: Read range message, but no direction.
2025-08-22T17:24:33.759Z,1755883473.759 [DAT](INFO): DAT read: Rx Time:17:24:34.4191 

2025-08-22T17:24:33.760Z,1755883473.760 [DAT](INFO): Rx dataTimestamp_ set to:1755883473.759350
2025-08-22T17:24:33.761Z,1755883473.761 [DAT](INFO): DAT read: Bearing  75.6, -47.4 (Local)

2025-08-22T17:24:33.761Z,1755883473.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.6, -47.4 (Local)

2025-08-22T17:24:33.763Z,1755883473.763 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed -0.1

2025-08-22T17:24:33.768Z,1755883473.768 [DAT](INFO): DAT read: 17:24:34.4191 LVL= 21392, 15921, 12530, 19955, AGC= 34, IDX= 505,-0.22, 2.213,-2.525,-1.533,-2.235, PHS=-1.732,-0.244, 0.659, RAW= 248.0,  12.6, CAL= 249.2,  14.5, ROT= 260.8, -14.5

2025-08-22T17:24:33.769Z,1755883473.769 [DAT](INFO): got valid direction response:
 17:24:34.4191 LVL= 21392, 15921, 12530, 19955, AGC= 34, IDX= 505,-0.22, 2.213,-2.525,-1.533,-2.235, PHS=-1.732,-0.244, 0.659, RAW= 248.0,  12.6, CAL= 249.2,  14.5, ROT= 260.8, -14.5

2025-08-22T17:24:33.769Z,1755883473.769 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-08-22T17:24:33.770Z,1755883473.770 [DAT](INFO): direction in FSK: [-0.154789,-0.955694,0.250380]
2025-08-22T17:24:33.770Z,1755883473.770 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:34.263Z,1755883474.263 [DAT](INFO): DAT read: Rx Time:17:24:34.9192 

2025-08-22T17:24:34.264Z,1755883474.264 [DAT](INFO): Rx dataTimestamp_ set to:1755883474.263341
2025-08-22T17:24:34.265Z,1755883474.265 [DAT](INFO): DAT read: Bearing  74.6, -47.0 (Local)

2025-08-22T17:24:34.265Z,1755883474.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.6, -47.0 (Local)

2025-08-22T17:24:34.267Z,1755883474.267 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.1

2025-08-22T17:24:34.272Z,1755883474.272 [DAT](INFO): DAT read: 17:24:34.9192 LVL= 22736, 15185, 11362, 20019, AGC= 34, IDX= 506, 0.16,-0.862, 0.681, 1.659, 0.979, PHS=-1.739,-0.254, 0.636, RAW= 248.3,  13.0, CAL= 249.6,  15.1, ROT= 260.4, -15.1

2025-08-22T17:24:34.273Z,1755883474.273 [DAT](INFO): got valid direction response:
 17:24:34.9192 LVL= 22736, 15185, 11362, 20019, AGC= 34, IDX= 506, 0.16,-0.862, 0.681, 1.659, 0.979, PHS=-1.739,-0.254, 0.636, RAW= 248.3,  13.0, CAL= 249.6,  15.1, ROT= 260.4, -15.1

2025-08-22T17:24:34.273Z,1755883474.273 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-08-22T17:24:34.274Z,1755883474.274 [DAT](INFO): direction in FSK: [-0.161011,-0.951952,0.260505]
2025-08-22T17:24:34.275Z,1755883474.275 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:34.771Z,1755883474.771 [DAT](INFO): DAT read: Rx Time:17:24:35.4192 

2025-08-22T17:24:34.772Z,1755883474.772 [DAT](INFO): Rx dataTimestamp_ set to:1755883474.771525
2025-08-22T17:24:34.773Z,1755883474.773 [DAT](INFO): DAT read: Bearing  74.5, -48.2 (Local)

2025-08-22T17:24:34.774Z,1755883474.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.5, -48.2 (Local)

2025-08-22T17:24:34.776Z,1755883474.776 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed -0.1

2025-08-22T17:24:34.783Z,1755883474.783 [DAT](INFO): DAT read: 17:24:35.4192 LVL= 22128, 15649, 11538, 20211, AGC= 34, IDX= 506,-0.26, 2.734,-2.024,-1.016,-1.724, PHS=-1.723,-0.255, 0.664, RAW= 247.6,  12.6, CAL= 248.8,  14.5, ROT= 261.2, -14.5

2025-08-22T17:24:34.784Z,1755883474.784 [DAT](INFO): got valid direction response:
 17:24:35.4192 LVL= 22128, 15649, 11538, 20211, AGC= 34, IDX= 506,-0.26, 2.734,-2.024,-1.016,-1.724, PHS=-1.723,-0.255, 0.664, RAW= 247.6,  12.6, CAL= 248.8,  14.5, ROT= 261.2, -14.5

2025-08-22T17:24:34.785Z,1755883474.785 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-08-22T17:24:34.796Z,1755883474.796 [DAT](INFO): direction in FSK: [-0.148113,-0.956751,0.250380]
2025-08-22T17:24:34.796Z,1755883474.796 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:35.275Z,1755883475.275 [DAT](INFO): DAT read: Rx Time:17:24:35.9193 

2025-08-22T17:24:35.276Z,1755883475.276 [DAT](INFO): Rx dataTimestamp_ set to:1755883475.275537
2025-08-22T17:24:35.277Z,1755883475.277 [DAT](INFO): DAT read: Bearing  73.8, -48.1 (Local)

2025-08-22T17:24:35.277Z,1755883475.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.8, -48.1 (Local)

2025-08-22T17:24:35.279Z,1755883475.279 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.1

2025-08-22T17:24:35.284Z,1755883475.284 [DAT](INFO): DAT read: 17:24:35.9193 LVL= 21312, 16113, 11746, 21491, AGC= 34, IDX= 507, 0.12,-0.401, 1.119, 2.115, 1.421, PHS=-1.719,-0.257, 0.650, RAW= 247.7,  12.8, CAL= 249.0,  14.7, ROT= 261.0, -14.7

2025-08-22T17:24:35.285Z,1755883475.285 [DAT](INFO): got valid direction response:
 17:24:35.9193 LVL= 21312, 16113, 11746, 21491, AGC= 34, IDX= 507, 0.12,-0.401, 1.119, 2.115, 1.421, PHS=-1.719,-0.257, 0.650, RAW= 247.7,  12.8, CAL= 249.0,  14.7, ROT= 261.0, -14.7

2025-08-22T17:24:35.285Z,1755883475.285 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-08-22T17:24:35.286Z,1755883475.286 [DAT](INFO): direction in FSK: [-0.151314,-0.955359,0.253758]
2025-08-22T17:24:35.287Z,1755883475.287 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:35.779Z,1755883475.779 [DAT](INFO): DAT read: Rx Time:17:24:36.4193 

2025-08-22T17:24:35.780Z,1755883475.780 [DAT](INFO): Rx dataTimestamp_ set to:1755883475.779264
2025-08-22T17:24:35.781Z,1755883475.781 [DAT](INFO): DAT read: Bearing  73.7, -49.7 (Local)

2025-08-22T17:24:35.781Z,1755883475.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.7, -49.7 (Local)

2025-08-22T17:24:35.783Z,1755883475.783 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.1

2025-08-22T17:24:35.788Z,1755883475.788 [DAT](INFO): DAT read: 17:24:36.4193 LVL= 21104, 16161, 11826, 20723, AGC= 34, IDX= 507,-0.28, 2.569,-2.215,-1.182,-1.911, PHS=-1.701,-0.259, 0.685, RAW= 246.9,  12.2, CAL= 247.9,  14.0, ROT= 262.1, -14.0

2025-08-22T17:24:35.789Z,1755883475.789 [DAT](INFO): got valid direction response:
 17:24:36.4193 LVL= 21104, 16161, 11826, 20723, AGC= 34, IDX= 507,-0.28, 2.569,-2.215,-1.182,-1.911, PHS=-1.701,-0.259, 0.685, RAW= 246.9,  12.2, CAL= 247.9,  14.0, ROT= 262.1, -14.0

2025-08-22T17:24:35.789Z,1755883475.789 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-08-22T17:24:35.790Z,1755883475.790 [DAT](INFO): direction in FSK: [-0.133362,-0.961087,0.241922]
2025-08-22T17:24:35.790Z,1755883475.790 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:36.283Z,1755883476.283 [DAT](INFO): DAT read: Rx Time:17:24:36.9193 

2025-08-22T17:24:36.284Z,1755883476.284 [DAT](INFO): Rx dataTimestamp_ set to:1755883476.283339
2025-08-22T17:24:36.285Z,1755883476.285 [DAT](INFO): DAT read: Bearing  73.1, -50.0 (Local)

2025-08-22T17:24:36.285Z,1755883476.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.1, -50.0 (Local)

2025-08-22T17:24:36.287Z,1755883476.287 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.1

2025-08-22T17:24:36.292Z,1755883476.292 [DAT](INFO): DAT read: 17:24:36.9193 LVL= 20432, 16241, 12786, 22435, AGC= 35, IDX= 507, 0.14,-2.126,-0.650, 0.375,-0.342, PHS=-1.682,-0.262, 0.673, RAW= 246.8,  12.3, CAL= 247.9,  14.1, ROT= 262.1, -14.1

2025-08-22T17:24:36.293Z,1755883476.293 [DAT](INFO): got valid direction response:
 17:24:36.9193 LVL= 20432, 16241, 12786, 22435, AGC= 35, IDX= 507, 0.14,-2.126,-0.650, 0.375,-0.342, PHS=-1.682,-0.262, 0.673, RAW= 246.8,  12.3, CAL= 247.9,  14.1, ROT= 262.1, -14.1

2025-08-22T17:24:36.293Z,1755883476.293 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-08-22T17:24:36.294Z,1755883476.294 [DAT](INFO): direction in FSK: [-0.133303,-0.960667,0.243615]
2025-08-22T17:24:36.294Z,1755883476.294 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:36.787Z,1755883476.787 [DAT](INFO): DAT read: Rx Time:17:24:37.4193 

2025-08-22T17:24:36.788Z,1755883476.788 [DAT](INFO): Rx dataTimestamp_ set to:1755883476.787556
2025-08-22T17:24:36.790Z,1755883476.790 [DAT](INFO): DAT read: Bearing  72.9, -51.5 (Local)

2025-08-22T17:24:36.790Z,1755883476.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.9, -51.5 (Local)

2025-08-22T17:24:36.793Z,1755883476.793 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed -0.1

2025-08-22T17:24:36.799Z,1755883476.799 [DAT](INFO): DAT read: 17:24:37.4193 LVL= 20752, 16433, 12082, 22643, AGC= 35, IDX= 507,-0.25, 1.166, 2.635,-2.575, 2.949, PHS=-1.681,-0.269, 0.715, RAW= 245.9,  11.8, CAL= 246.8,  13.5, ROT= 263.2, -13.5

2025-08-22T17:24:36.800Z,1755883476.800 [DAT](INFO): got valid direction response:
 17:24:37.4193 LVL= 20752, 16433, 12082, 22643, AGC= 35, IDX= 507,-0.25, 1.166, 2.635,-2.575, 2.949, PHS=-1.681,-0.269, 0.715, RAW= 245.9,  11.8, CAL= 246.8,  13.5, ROT= 263.2, -13.5

2025-08-22T17:24:36.800Z,1755883476.800 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-08-22T17:24:36.801Z,1755883476.801 [DAT](INFO): direction in FSK: [-0.115132,-0.965530,0.233445]
2025-08-22T17:24:36.801Z,1755883476.801 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:37.291Z,1755883477.291 [DAT](INFO): DAT read: Rx Time:17:24:37.9194 

2025-08-22T17:24:37.292Z,1755883477.292 [DAT](INFO): Rx dataTimestamp_ set to:1755883477.291286
2025-08-22T17:24:37.293Z,1755883477.293 [DAT](INFO): DAT read: Bearing  71.9, -50.7 (Local)

2025-08-22T17:24:37.293Z,1755883477.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.9, -50.7 (Local)

2025-08-22T17:24:37.295Z,1755883477.295 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.1

2025-08-22T17:24:37.300Z,1755883477.300 [DAT](INFO): DAT read: 17:24:37.9194 LVL= 18800, 15457, 10210, 19747, AGC= 36, IDX= 508, 0.17,-1.343, 0.118, 1.156, 0.442, PHS=-1.682,-0.278, 0.671, RAW= 246.4,  12.5, CAL= 247.6,  14.4, ROT= 262.4, -14.4

2025-08-22T17:24:37.301Z,1755883477.301 [DAT](INFO): got valid direction response:
 17:24:37.9194 LVL= 18800, 15457, 10210, 19747, AGC= 36, IDX= 508, 0.17,-1.343, 0.118, 1.156, 0.442, PHS=-1.682,-0.278, 0.671, RAW= 246.4,  12.5, CAL= 247.6,  14.4, ROT= 262.4, -14.4

2025-08-22T17:24:37.301Z,1755883477.301 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-08-22T17:24:37.302Z,1755883477.302 [DAT](INFO): direction in FSK: [-0.128101,-0.960075,0.248690]
2025-08-22T17:24:37.302Z,1755883477.302 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:37.795Z,1755883477.795 [DAT](INFO): DAT read: Rx Time:17:24:38.4194 

2025-08-22T17:24:37.796Z,1755883477.796 [DAT](INFO): Rx dataTimestamp_ set to:1755883477.795324
2025-08-22T17:24:37.797Z,1755883477.797 [DAT](INFO): DAT read: Bearing  71.3, -52.0 (Local)

2025-08-22T17:24:37.797Z,1755883477.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.3, -52.0 (Local)

2025-08-22T17:24:37.799Z,1755883477.799 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.1

2025-08-22T17:24:37.804Z,1755883477.804 [DAT](INFO): DAT read: 17:24:38.4194 LVL= 20960, 16929, 10914, 21875, AGC= 37, IDX= 508,-0.14, 1.789,-3.051,-1.969,-2.714, PHS=-1.679,-0.293, 0.701, RAW= 245.4,  12.2, CAL= 246.6,  14.0, ROT= 263.4, -14.0

2025-08-22T17:24:37.805Z,1755883477.805 [DAT](INFO): got valid direction response:
 17:24:38.4194 LVL= 20960, 16929, 10914, 21875, AGC= 37, IDX= 508,-0.14, 1.789,-3.051,-1.969,-2.714, PHS=-1.679,-0.293, 0.701, RAW= 245.4,  12.2, CAL= 246.6,  14.0, ROT= 263.4, -14.0

2025-08-22T17:24:37.805Z,1755883477.805 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-08-22T17:24:37.806Z,1755883477.806 [DAT](INFO): direction in FSK: [-0.111523,-0.963865,0.241922]
2025-08-22T17:24:37.807Z,1755883477.806 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:38.299Z,1755883478.299 [DAT](INFO): DAT read: Rx Time:17:24:38.9195 

2025-08-22T17:24:38.300Z,1755883478.300 [DAT](INFO): Rx dataTimestamp_ set to:1755883478.299498
2025-08-22T17:24:38.301Z,1755883478.301 [DAT](INFO): DAT read: Bearing  71.1, -53.3 (Local)

2025-08-22T17:24:38.301Z,1755883478.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1, -53.3 (Local)

2025-08-22T17:24:38.303Z,1755883478.303 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.1

2025-08-22T17:24:38.308Z,1755883478.308 [DAT](INFO): DAT read: 17:24:38.9195 LVL= 20544, 16321, 11714, 24291, AGC= 36, IDX= 509, 0.39,-2.225,-0.808, 0.294,-0.475, PHS=-1.649,-0.289, 0.725, RAW= 244.8,  11.7, CAL= 245.7,  13.4, ROT= 264.3, -13.4

2025-08-22T17:24:38.309Z,1755883478.309 [DAT](INFO): got valid direction response:
 17:24:38.9195 LVL= 20544, 16321, 11714, 24291, AGC= 36, IDX= 509, 0.39,-2.225,-0.808, 0.294,-0.475, PHS=-1.649,-0.289, 0.725, RAW= 244.8,  11.7, CAL= 245.7,  13.4, ROT= 264.3, -13.4

2025-08-22T17:24:38.309Z,1755883478.309 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-08-22T17:24:38.310Z,1755883478.310 [DAT](INFO): direction in FSK: [-0.096616,-0.967966,0.231748]
2025-08-22T17:24:38.310Z,1755883478.310 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:38.762Z,1755883478.762 [MassServo](FAULT): Overload Error
2025-08-22T17:24:38.762Z,1755883478.762 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:38.762Z,1755883478.762 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:38.803Z,1755883478.803 [DAT](INFO): DAT read: Rx Time:17:24:39.4194 

2025-08-22T17:24:38.803Z,1755883478.803 [DAT](INFO): Rx dataTimestamp_ set to:1755883478.803210
2025-08-22T17:24:38.805Z,1755883478.805 [DAT](INFO): DAT read: Bearing  70.6, -53.9 (Local)

2025-08-22T17:24:38.805Z,1755883478.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6, -53.9 (Local)

2025-08-22T17:24:38.807Z,1755883478.807 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed -0.1

2025-08-22T17:24:38.812Z,1755883478.812 [DAT](INFO): DAT read: 17:24:39.4194 LVL= 20096, 15985, 11250, 23763, AGC= 36, IDX= 509, 0.04, 2.731,-2.142,-1.024,-1.804, PHS=-1.646,-0.293, 0.736, RAW= 244.5,  11.6, CAL= 245.4,  13.2, ROT= 264.6, -13.2

2025-08-22T17:24:38.813Z,1755883478.813 [DAT](INFO): got valid direction response:
 17:24:39.4194 LVL= 20096, 15985, 11250, 23763, AGC= 36, IDX= 509, 0.04, 2.731,-2.142,-1.024,-1.804, PHS=-1.646,-0.293, 0.736, RAW= 244.5,  11.6, CAL= 245.4,  13.2, ROT= 264.6, -13.2

2025-08-22T17:24:38.813Z,1755883478.813 [DAT](INFO): #Rx 149: Read range and direction messages.
2025-08-22T17:24:38.814Z,1755883478.814 [DAT](INFO): direction in FSK: [-0.091622,-0.969258,0.228351]
2025-08-22T17:24:38.814Z,1755883478.814 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:38.890Z,1755883478.890 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:39.071Z,1755883479.071 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:39.071Z,1755883479.071 [MassServo](INFO): Powering down
2025-08-22T17:24:39.307Z,1755883479.307 [DAT](INFO): DAT read: Rx Time:17:24:39.9196 

2025-08-22T17:24:39.308Z,1755883479.308 [DAT](INFO): Rx dataTimestamp_ set to:1755883479.307338
2025-08-22T17:24:39.309Z,1755883479.309 [DAT](INFO): DAT read: Bearing  69.9, -55.1 (Local)

2025-08-22T17:24:39.309Z,1755883479.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.9, -55.1 (Local)

2025-08-22T17:24:39.311Z,1755883479.311 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.1

2025-08-22T17:24:39.316Z,1755883479.316 [DAT](INFO): DAT read: 17:24:39.9196 LVL= 19712, 15777, 10674, 23459, AGC= 36, IDX= 511,-0.26, 2.549,-2.334,-1.174,-1.984, PHS=-1.648,-0.305, 0.766, RAW= 243.7,  11.3, CAL= 244.5,  12.9, ROT= 265.5, -12.9

2025-08-22T17:24:39.317Z,1755883479.317 [DAT](INFO): got valid direction response:
 17:24:39.9196 LVL= 19712, 15777, 10674, 23459, AGC= 36, IDX= 511,-0.26, 2.549,-2.334,-1.174,-1.984, PHS=-1.648,-0.305, 0.766, RAW= 243.7,  11.3, CAL= 244.5,  12.9, ROT= 265.5, -12.9

2025-08-22T17:24:39.317Z,1755883479.317 [DAT](INFO): #Rx 150: Read range and direction messages.
2025-08-22T17:24:39.318Z,1755883479.318 [DAT](INFO): direction in FSK: [-0.076479,-0.971756,0.223250]
2025-08-22T17:24:39.319Z,1755883479.319 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:39.811Z,1755883479.811 [DAT](INFO): DAT read: Rx Time:17:24:40.4195 

2025-08-22T17:24:39.812Z,1755883479.812 [DAT](INFO): Rx dataTimestamp_ set to:1755883479.811281
2025-08-22T17:24:39.813Z,1755883479.813 [DAT](INFO): DAT read: Bearing  69.8, -55.4 (Local)

2025-08-22T17:24:39.813Z,1755883479.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.8, -55.4 (Local)

2025-08-22T17:24:39.815Z,1755883479.815 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed -0.1

2025-08-22T17:24:39.820Z,1755883479.820 [DAT](INFO): DAT read: 17:24:40.4195 LVL= 19344, 15329, 10354, 23539, AGC= 36, IDX= 510, 0.26, 2.939,-1.945,-0.790,-1.603, PHS=-1.639,-0.298, 0.769, RAW= 243.8,  11.2, CAL= 244.5,  12.7, ROT= 265.5, -12.7

2025-08-22T17:24:39.821Z,1755883479.821 [DAT](INFO): got valid direction response:
 17:24:40.4195 LVL= 19344, 15329, 10354, 23539, AGC= 36, IDX= 510, 0.26, 2.939,-1.945,-0.790,-1.603, PHS=-1.639,-0.298, 0.769, RAW= 243.8,  11.2, CAL= 244.5,  12.7, ROT= 265.5, -12.7

2025-08-22T17:24:39.821Z,1755883479.821 [DAT](INFO): #Rx 151: Read range and direction messages.
2025-08-22T17:24:39.833Z,1755883479.833 [DAT](INFO): direction in FSK: [-0.076540,-0.972527,0.219846]
2025-08-22T17:24:39.833Z,1755883479.833 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:40.120Z,1755883480.120 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:40.239Z,1755883480.239 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:40.247Z,1755883480.247 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:40.247Z,1755883480.247 [MassServo] No Fault, FailCount= 1
2025-08-22T17:24:40.315Z,1755883480.315 [DAT](INFO): DAT read: Rx Time:17:24:40.9196 

2025-08-22T17:24:40.316Z,1755883480.316 [DAT](INFO): Rx dataTimestamp_ set to:1755883480.315312
2025-08-22T17:24:40.317Z,1755883480.317 [DAT](INFO): DAT read: Bearing  69.4, -56.2 (Local)

2025-08-22T17:24:40.317Z,1755883480.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.4, -56.2 (Local)

2025-08-22T17:24:40.319Z,1755883480.319 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.1

2025-08-22T17:24:40.324Z,1755883480.324 [DAT](INFO): DAT read: 17:24:40.9196 LVL= 19312, 15505,  9842, 22675, AGC= 36, IDX= 511,-0.02, 1.698, 3.095,-2.004,-2.840, PHS=-1.644,-0.304, 0.792, RAW= 243.3,  10.9, CAL= 243.9,  12.4, ROT= 266.1, -12.4

2025-08-22T17:24:40.326Z,1755883480.326 [DAT](INFO): got valid direction response:
 17:24:40.9196 LVL= 19312, 15505,  9842, 22675, AGC= 36, IDX= 511,-0.02, 1.698, 3.095,-2.004,-2.840, PHS=-1.644,-0.304, 0.792, RAW= 243.3,  10.9, CAL= 243.9,  12.4, ROT= 266.1, -12.4

2025-08-22T17:24:40.326Z,1755883480.326 [DAT](INFO): #Rx 152: Read range and direction messages.
2025-08-22T17:24:40.327Z,1755883480.327 [DAT](INFO): direction in FSK: [-0.066428,-0.974411,0.214735]
2025-08-22T17:24:40.327Z,1755883480.327 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:40.819Z,1755883480.819 [DAT](INFO): DAT read: Rx Time:17:24:41.4196 

2025-08-22T17:24:40.820Z,1755883480.820 [DAT](INFO): Rx dataTimestamp_ set to:1755883480.819308
2025-08-22T17:24:40.821Z,1755883480.821 [DAT](INFO): DAT read: Bearing  69.2, -57.0 (Local)

2025-08-22T17:24:40.821Z,1755883480.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.2, -57.0 (Local)

2025-08-22T17:24:40.823Z,1755883480.823 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.1

2025-08-22T17:24:40.828Z,1755883480.828 [DAT](INFO): DAT read: 17:24:41.4196 LVL= 19008, 15857,  9426, 21875, AGC= 36, IDX= 511,-0.36,-0.005, 1.394, 2.601, 1.744, PHS=-1.647,-0.305, 0.813, RAW= 243.0,  10.7, CAL= 243.5,  12.1, ROT= 266.5, -12.1

2025-08-22T17:24:40.829Z,1755883480.829 [DAT](INFO): got valid direction response:
 17:24:41.4196 LVL= 19008, 15857,  9426, 21875, AGC= 36, IDX= 511,-0.36,-0.005, 1.394, 2.601, 1.744, PHS=-1.647,-0.305, 0.813, RAW= 243.0,  10.7, CAL= 243.5,  12.1, ROT= 266.5, -12.1

2025-08-22T17:24:40.829Z,1755883480.829 [DAT](INFO): #Rx 153: Read range and direction messages.
2025-08-22T17:24:40.830Z,1755883480.830 [DAT](INFO): direction in FSK: [-0.059692,-0.975959,0.209619]
2025-08-22T17:24:40.830Z,1755883480.830 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:41.327Z,1755883481.327 [DAT](INFO): DAT read: Rx Time:17:24:41.9197 

2025-08-22T17:24:41.330Z,1755883481.330 [DAT](INFO): Rx dataTimestamp_ set to:1755883481.328073
2025-08-22T17:24:41.335Z,1755883481.335 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.1

2025-08-22T17:24:41.342Z,1755883481.342 [DAT](ERROR): #Rx 154: Read range message, but no direction.
2025-08-22T17:24:41.579Z,1755883481.579 [DAT](INFO): DAT read: Rx Time:17:24:42.4197 

2025-08-22T17:24:41.582Z,1755883481.582 [DAT](INFO): Rx dataTimestamp_ set to:1755883481.580362
2025-08-22T17:24:41.827Z,1755883481.827 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed -0.1

2025-08-22T17:24:41.828Z,1755883481.828 [DAT](ERROR): #Rx 155: Read range message, but no direction.
2025-08-22T17:24:42.082Z,1755883482.082 [DAT](INFO): DAT read: Rx Time:17:24:42.9198 

2025-08-22T17:24:42.084Z,1755883482.084 [DAT](INFO): Rx dataTimestamp_ set to:1755883482.082731
2025-08-22T17:24:42.331Z,1755883482.331 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.1

2025-08-22T17:24:42.332Z,1755883482.332 [DAT](ERROR): #Rx 156: Read range message, but no direction.
2025-08-22T17:24:42.588Z,1755883482.588 [DAT](INFO): DAT read: Rx Time:17:24:43.4198 

2025-08-22T17:24:42.590Z,1755883482.590 [DAT](INFO): Rx dataTimestamp_ set to:1755883482.588804
2025-08-22T17:24:42.593Z,1755883482.593 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed -0.1

2025-08-22T17:24:42.594Z,1755883482.594 [DAT](ERROR): #Rx 157: Read range message, but no direction.
2025-08-22T17:24:43.089Z,1755883483.089 [DAT](INFO): DAT read: Rx Time:17:24:43.9200 

2025-08-22T17:24:43.091Z,1755883483.091 [DAT](INFO): Rx dataTimestamp_ set to:1755883483.089735
2025-08-22T17:24:43.093Z,1755883483.093 [DAT](INFO): DAT read: Bearing  68.8, -58.8 (Local)

2025-08-22T17:24:43.094Z,1755883483.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.8, -58.8 (Local)

2025-08-22T17:24:43.340Z,1755883483.340 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.1

2025-08-22T17:24:43.344Z,1755883483.344 [DAT](INFO): DAT read: 17:24:43.9200 LVL= 20464, 15649,  6898, 18803, AGC= 40, IDX=   3,-0.37, 1.728, 3.131,-1.941,-2.833, PHS=-1.620,-0.274, 0.849, RAW= 243.0,   9.8, CAL= 243.1,  11.0, ROT= 266.9, -11.0

2025-08-22T17:24:43.345Z,1755883483.345 [DAT](INFO): got valid direction response:
 17:24:43.9200 LVL= 20464, 15649,  6898, 18803, AGC= 40, IDX=   3,-0.37, 1.728, 3.131,-1.941,-2.833, PHS=-1.620,-0.274, 0.849, RAW= 243.0,   9.8, CAL= 243.1,  11.0, ROT= 266.9, -11.0

2025-08-22T17:24:43.346Z,1755883483.346 [DAT](INFO): #Rx 158: Read range and direction messages.
2025-08-22T17:24:43.347Z,1755883483.347 [DAT](INFO): direction in FSK: [-0.053085,-0.980191,0.190809]
2025-08-22T17:24:43.347Z,1755883483.347 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:43.596Z,1755883483.596 [DAT](INFO): DAT read: Rx Time:17:24:44.4199 

2025-08-22T17:24:43.598Z,1755883483.598 [DAT](INFO): Rx dataTimestamp_ set to:1755883483.596497
2025-08-22T17:24:43.602Z,1755883483.602 [DAT](INFO): DAT read: Bearing  69.3, -58.4 (Local)

2025-08-22T17:24:43.604Z,1755883483.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.3, -58.4 (Local)

2025-08-22T17:24:43.630Z,1755883483.630 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.1

2025-08-22T17:24:43.633Z,1755883483.633 [DAT](ERROR): #Rx 159: Read range message, but no direction.
2025-08-22T17:24:43.851Z,1755883483.851 [DAT](INFO): DAT read: 17:24:44.4199 LVL= 20704, 15329,  9954, 21747, AGC= 37, IDX= 498, 0.12, 2.831,-2.049,-0.884,-1.752, PHS=-1.598,-0.251, 0.824, RAW= 243.7,   9.8, CAL= 243.7,  11.0, ROT= 266.3, -11.0

2025-08-22T17:24:43.852Z,1755883483.852 [DAT](INFO): got valid direction response:
 17:24:44.4199 LVL= 20704, 15329,  9954, 21747, AGC= 37, IDX= 498, 0.12, 2.831,-2.049,-0.884,-1.752, PHS=-1.598,-0.251, 0.824, RAW= 243.7,   9.8, CAL= 243.7,  11.0, ROT= 266.3, -11.0

2025-08-22T17:24:43.852Z,1755883483.852 [DAT](INFO): #Rx 160: Read direction message, but no range.
2025-08-22T17:24:43.854Z,1755883483.854 [DAT](INFO): direction in FSK: [-0.063347,-0.979581,0.190809]
2025-08-22T17:24:44.098Z,1755883484.098 [DAT](INFO): DAT read: Rx Time:17:24:44.9200 

2025-08-22T17:24:44.100Z,1755883484.100 [DAT](INFO): Rx dataTimestamp_ set to:1755883484.098930
2025-08-22T17:24:44.104Z,1755883484.104 [DAT](INFO): DAT read: Bearing  69.1, -59.3 (Local)

2025-08-22T17:24:44.106Z,1755883484.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.1, -59.3 (Local)

2025-08-22T17:24:44.126Z,1755883484.126 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.1

2025-08-22T17:24:44.129Z,1755883484.129 [DAT](ERROR): #Rx 161: Read range message, but no direction.
2025-08-22T17:24:44.350Z,1755883484.350 [DAT](INFO): DAT read: 17:24:44.9200 LVL= 20784, 15633,  9842, 21587, AGC= 37, IDX= 499,-0.21, 0.803, 2.212,-2.866, 2.511, PHS=-1.606,-0.254, 0.862, RAW= 243.2,   9.4, CAL= 243.0,  10.5, ROT= 267.0, -10.5

2025-08-22T17:24:44.351Z,1755883484.351 [DAT](INFO): got valid direction response:
 17:24:44.9200 LVL= 20784, 15633,  9842, 21587, AGC= 37, IDX= 499,-0.21, 0.803, 2.212,-2.866, 2.511, PHS=-1.606,-0.254, 0.862, RAW= 243.2,   9.4, CAL= 243.0,  10.5, ROT= 267.0, -10.5

2025-08-22T17:24:44.352Z,1755883484.352 [DAT](INFO): #Rx 162: Read direction message, but no range.
2025-08-22T17:24:44.353Z,1755883484.353 [DAT](INFO): direction in FSK: [-0.051460,-0.981907,0.182236]
2025-08-22T17:24:44.604Z,1755883484.604 [DAT](INFO): DAT read: Rx Time:17:24:45.4199 

2025-08-22T17:24:44.606Z,1755883484.606 [DAT](INFO): Rx dataTimestamp_ set to:1755883484.604702
2025-08-22T17:24:44.610Z,1755883484.610 [DAT](INFO): DAT read: Bearing  69.1, -58.7 (Local)

2025-08-22T17:24:44.612Z,1755883484.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.1, -58.7 (Local)

2025-08-22T17:24:44.622Z,1755883484.622 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed -0.1

2025-08-22T17:24:44.625Z,1755883484.625 [DAT](ERROR): #Rx 163: Read range message, but no direction.
2025-08-22T17:24:44.855Z,1755883484.855 [DAT](INFO): DAT read: 17:24:45.4199 LVL= 22208, 16865, 11330, 22611, AGC= 37, IDX= 498, 0.25, 1.850,-3.019,-1.852,-2.730, PHS=-1.601,-0.244, 0.834, RAW= 243.8,   9.6, CAL= 243.7,  10.7, ROT= 266.3, -10.7

2025-08-22T17:24:44.856Z,1755883484.856 [DAT](INFO): got valid direction response:
 17:24:45.4199 LVL= 22208, 16865, 11330, 22611, AGC= 37, IDX= 498, 0.25, 1.850,-3.019,-1.852,-2.730, PHS=-1.601,-0.244, 0.834, RAW= 243.8,   9.6, CAL= 243.7,  10.7, ROT= 266.3, -10.7

2025-08-22T17:24:44.856Z,1755883484.856 [DAT](INFO): #Rx 164: Read direction message, but no range.
2025-08-22T17:24:44.861Z,1755883484.861 [DAT](INFO): direction in FSK: [-0.063411,-0.980565,0.185667]
2025-08-22T17:24:45.106Z,1755883485.106 [DAT](INFO): DAT read: Rx Time:17:24:45.9201 

2025-08-22T17:24:45.107Z,1755883485.107 [DAT](INFO): Rx dataTimestamp_ set to:1755883485.106294
2025-08-22T17:24:45.110Z,1755883485.110 [DAT](INFO): DAT read: Bearing  69.2, -59.6 (Local)

2025-08-22T17:24:45.111Z,1755883485.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.2, -59.6 (Local)

2025-08-22T17:24:45.116Z,1755883485.116 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed -0.1

2025-08-22T17:24:45.122Z,1755883485.122 [DAT](ERROR): #Rx 165: Read range message, but no direction.
2025-08-22T17:24:45.232Z,1755883485.232 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-22T17:24:45.232Z,1755883485.232 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-22T17:24:45.267Z,1755883485.267 [DockingStepper](INFO): Changing to mode: 4
2025-08-22T17:24:45.363Z,1755883485.363 [DAT](INFO): DAT read: 17:24:45.9201 LVL= 20208, 14913,  9954, 20819, AGC= 37, IDX= 500,-0.08, 1.156, 2.566,-2.521, 2.851, PHS=-1.593,-0.240, 0.867, RAW= 243.3,   9.1, CAL= 243.0,  10.1, ROT= 267.0, -10.1

2025-08-22T17:24:45.364Z,1755883485.364 [DAT](INFO): got valid direction response:
 17:24:45.9201 LVL= 20208, 14913,  9954, 20819, AGC= 37, IDX= 500,-0.08, 1.156, 2.566,-2.521, 2.851, PHS=-1.593,-0.240, 0.867, RAW= 243.3,   9.1, CAL= 243.0,  10.1, ROT= 267.0, -10.1

2025-08-22T17:24:45.364Z,1755883485.364 [DAT](INFO): #Rx 166: Read direction message, but no range.
2025-08-22T17:24:45.366Z,1755883485.366 [DAT](INFO): direction in FSK: [-0.051525,-0.983154,0.175367]
2025-08-22T17:24:45.644Z,1755883485.644 [DAT](INFO): DAT read: Rx Time:17:24:46.4200 

2025-08-22T17:24:45.646Z,1755883485.646 [DAT](INFO): Rx dataTimestamp_ set to:1755883485.644683
2025-08-22T17:24:45.649Z,1755883485.649 [DAT](INFO): DAT read: Bearing  69.4, -59.3 (Local)

2025-08-22T17:24:45.652Z,1755883485.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.4, -59.3 (Local)

2025-08-22T17:24:45.654Z,1755883485.654 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed -0.1

2025-08-22T17:24:45.659Z,1755883485.659 [DAT](INFO): DAT read: 17:24:46.4200 LVL= 19888, 14385, 10226, 21875, AGC= 37, IDX= 499, 0.48, 1.094, 2.502,-2.609, 2.778, PHS=-1.582,-0.231, 0.852, RAW= 243.6,   9.1, CAL= 243.3,  10.1, ROT= 266.7, -10.1

2025-08-22T17:24:45.660Z,1755883485.660 [DAT](INFO): got valid direction response:
 17:24:46.4200 LVL= 19888, 14385, 10226, 21875, AGC= 37, IDX= 499, 0.48, 1.094, 2.502,-2.609, 2.778, PHS=-1.582,-0.231, 0.852, RAW= 243.6,   9.1, CAL= 243.3,  10.1, ROT= 266.7, -10.1

2025-08-22T17:24:45.660Z,1755883485.660 [DAT](INFO): #Rx 167: Read range and direction messages.
2025-08-22T17:24:45.661Z,1755883485.661 [DAT](INFO): direction in FSK: [-0.056672,-0.982871,0.175367]
2025-08-22T17:24:45.662Z,1755883485.662 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:46.143Z,1755883486.143 [DAT](INFO): DAT read: Rx Time:17:24:46.9202 

2025-08-22T17:24:46.144Z,1755883486.144 [DAT](INFO): Rx dataTimestamp_ set to:1755883486.143415
2025-08-22T17:24:46.145Z,1755883486.145 [DAT](INFO): DAT read: Bearing  69.3, -59.4 (Local)

2025-08-22T17:24:46.145Z,1755883486.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.3, -59.4 (Local)

2025-08-22T17:24:46.147Z,1755883486.147 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.1

2025-08-22T17:24:46.153Z,1755883486.153 [DAT](INFO): DAT read: 17:24:46.9202 LVL= 21872, 15985, 10274, 22643, AGC= 38, IDX= 501, 0.09, 2.256,-2.622,-1.447,-2.346, PHS=-1.579,-0.231, 0.855, RAW= 243.6,   9.1, CAL= 243.3,  10.1, ROT= 266.7, -10.1

2025-08-22T17:24:46.154Z,1755883486.154 [DAT](INFO): got valid direction response:
 17:24:46.9202 LVL= 21872, 15985, 10274, 22643, AGC= 38, IDX= 501, 0.09, 2.256,-2.622,-1.447,-2.346, PHS=-1.579,-0.231, 0.855, RAW= 243.6,   9.1, CAL= 243.3,  10.1, ROT= 266.7, -10.1

2025-08-22T17:24:46.155Z,1755883486.155 [DAT](INFO): #Rx 168: Read range and direction messages.
2025-08-22T17:24:46.156Z,1755883486.156 [DAT](INFO): direction in FSK: [-0.056672,-0.982871,0.175367]
2025-08-22T17:24:46.156Z,1755883486.156 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:46.653Z,1755883486.653 [DAT](INFO): DAT read: Rx Time:17:24:47.4202 

2025-08-22T17:24:46.654Z,1755883486.654 [DAT](INFO): Rx dataTimestamp_ set to:1755883486.653144
2025-08-22T17:24:46.656Z,1755883486.656 [DAT](INFO): DAT read: Bearing  69.3, -60.3 (Local)

2025-08-22T17:24:46.656Z,1755883486.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.3, -60.3 (Local)

2025-08-22T17:24:46.659Z,1755883486.659 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed -0.2

2025-08-22T17:24:46.685Z,1755883486.685 [DAT](INFO): DAT read: 17:24:47.4202 LVL= 21696, 15857, 11298, 21203, AGC= 38, IDX= 501,-0.17,-0.769, 0.638, 1.862, 0.920, PHS=-1.587,-0.237, 0.898, RAW= 242.9,   8.6, CAL= 242.4,   9.6, ROT= 267.6,  -9.6

2025-08-22T17:24:46.691Z,1755883486.691 [DAT](INFO): got valid direction response:
 17:24:47.4202 LVL= 21696, 15857, 11298, 21203, AGC= 38, IDX= 501,-0.17,-0.769, 0.638, 1.862, 0.920, PHS=-1.587,-0.237, 0.898, RAW= 242.9,   8.6, CAL= 242.4,   9.6, ROT= 267.6,  -9.6

2025-08-22T17:24:46.691Z,1755883486.691 [DAT](INFO): #Rx 169: Read range and direction messages.
2025-08-22T17:24:46.692Z,1755883486.692 [DAT](INFO): direction in FSK: [-0.041289,-0.985131,0.166769]
2025-08-22T17:24:46.693Z,1755883486.693 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:47.151Z,1755883487.151 [DAT](INFO): DAT read: Rx Time:17:24:47.9203 

2025-08-22T17:24:47.152Z,1755883487.152 [DAT](INFO): Rx dataTimestamp_ set to:1755883487.151860
2025-08-22T17:24:47.154Z,1755883487.154 [DAT](INFO): DAT read: Bearing  69.4, -59.3 (Local)

2025-08-22T17:24:47.154Z,1755883487.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.4, -59.3 (Local)

2025-08-22T17:24:47.157Z,1755883487.157 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.1

2025-08-22T17:24:47.198Z,1755883487.198 [DAT](INFO): DAT read: 17:24:47.9203 LVL= 22400, 16225, 10690, 22899, AGC= 38, IDX= 502, 0.43, 2.345,-2.539,-1.366,-2.263, PHS=-1.574,-0.231, 0.853, RAW= 243.5,   9.1, CAL= 243.2,  10.1, ROT= 266.8, -10.1

2025-08-22T17:24:47.199Z,1755883487.199 [DAT](INFO): got valid direction response:
 17:24:47.9203 LVL= 22400, 16225, 10690, 22899, AGC= 38, IDX= 502, 0.43, 2.345,-2.539,-1.366,-2.263, PHS=-1.574,-0.231, 0.853, RAW= 243.5,   9.1, CAL= 243.2,  10.1, ROT= 266.8, -10.1

2025-08-22T17:24:47.199Z,1755883487.199 [DAT](INFO): #Rx 170: Read range and direction messages.
2025-08-22T17:24:47.200Z,1755883487.200 [DAT](INFO): direction in FSK: [-0.054957,-0.982968,0.175367]
2025-08-22T17:24:47.200Z,1755883487.200 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:47.663Z,1755883487.663 [DAT](INFO): DAT read: Rx Time:17:24:48.4203 

2025-08-22T17:24:47.665Z,1755883487.665 [DAT](INFO): Rx dataTimestamp_ set to:1755883487.663622
2025-08-22T17:24:47.676Z,1755883487.676 [DAT](INFO): DAT read: Bearing  69.2, -59.3 (Local)

2025-08-22T17:24:47.686Z,1755883487.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.2, -59.3 (Local)

2025-08-22T17:24:47.689Z,1755883487.689 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed -0.2

2025-08-22T17:24:47.706Z,1755883487.706 [DAT](INFO): DAT read: 17:24:48.4203 LVL= 22272, 16801, 10370, 22771, AGC= 38, IDX= 502, 0.12, 1.137, 2.534,-2.569, 2.813, PHS=-1.574,-0.235, 0.856, RAW= 243.4,   9.1, CAL= 243.1,  10.1, ROT= 266.9, -10.1

2025-08-22T17:24:47.707Z,1755883487.707 [DAT](INFO): got valid direction response:
 17:24:48.4203 LVL= 22272, 16801, 10370, 22771, AGC= 38, IDX= 502, 0.12, 1.137, 2.534,-2.569, 2.813, PHS=-1.574,-0.235, 0.856, RAW= 243.4,   9.1, CAL= 243.1,  10.1, ROT= 266.9, -10.1

2025-08-22T17:24:47.708Z,1755883487.708 [DAT](INFO): #Rx 171: Read range and direction messages.
2025-08-22T17:24:47.709Z,1755883487.709 [DAT](INFO): direction in FSK: [-0.053241,-0.983063,0.175367]
2025-08-22T17:24:47.709Z,1755883487.709 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:48.164Z,1755883488.164 [DAT](INFO): DAT read: Rx Time:17:24:48.9204 

2025-08-22T17:24:48.165Z,1755883488.165 [DAT](INFO): Rx dataTimestamp_ set to:1755883488.164605
2025-08-22T17:24:48.167Z,1755883488.167 [DAT](INFO): DAT read: Bearing  69.0, -60.3 (Local)

2025-08-22T17:24:48.168Z,1755883488.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.0, -60.3 (Local)

2025-08-22T17:24:48.171Z,1755883488.171 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.2

2025-08-22T17:24:48.179Z,1755883488.179 [DAT](INFO): DAT read: 17:24:48.9204 LVL= 22656, 17521, 11346, 22115, AGC= 38, IDX= 503,-0.09,-0.825, 0.570, 1.805, 0.857, PHS=-1.579,-0.242, 0.904, RAW= 242.6,   8.6, CAL= 242.1,   9.6, ROT= 267.9,  -9.6

2025-08-22T17:24:48.181Z,1755883488.181 [DAT](INFO): got valid direction response:
 17:24:48.9204 LVL= 22656, 17521, 11346, 22115, AGC= 38, IDX= 503,-0.09,-0.825, 0.570, 1.805, 0.857, PHS=-1.579,-0.242, 0.904, RAW= 242.6,   8.6, CAL= 242.1,   9.6, ROT= 267.9,  -9.6

2025-08-22T17:24:48.181Z,1755883488.181 [DAT](INFO): #Rx 172: Read range and direction messages.
2025-08-22T17:24:48.183Z,1755883488.183 [DAT](INFO): direction in FSK: [-0.036131,-0.985334,0.166769]
2025-08-22T17:24:48.183Z,1755883488.183 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:48.226Z,1755883488.226 [MassServo](FAULT): Overload Error
2025-08-22T17:24:48.226Z,1755883488.226 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:48.226Z,1755883488.226 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:48.338Z,1755883488.338 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:48.535Z,1755883488.535 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:48.535Z,1755883488.535 [MassServo](INFO): Powering down
2025-08-22T17:24:48.670Z,1755883488.670 [DAT](INFO): DAT read: Rx Time:17:24:49.4204 

2025-08-22T17:24:48.672Z,1755883488.672 [DAT](INFO): Rx dataTimestamp_ set to:1755883488.670897
2025-08-22T17:24:48.676Z,1755883488.676 [DAT](INFO): DAT read: Bearing  68.7, -60.6 (Local)

2025-08-22T17:24:48.677Z,1755883488.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.7, -60.6 (Local)

2025-08-22T17:24:48.683Z,1755883488.683 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed -0.1

2025-08-22T17:24:48.688Z,1755883488.688 [DAT](INFO): DAT read: 17:24:49.4204 LVL= 22176, 17361, 11186, 23075, AGC= 38, IDX= 503,-0.34,-2.391,-1.009, 0.243,-0.717, PHS=-1.573,-0.247, 0.916, RAW= 242.2,   8.4, CAL= 241.7,   9.5, ROT= 268.3,  -9.5

2025-08-22T17:24:48.689Z,1755883488.689 [DAT](INFO): got valid direction response:
 17:24:49.4204 LVL= 22176, 17361, 11186, 23075, AGC= 38, IDX= 503,-0.34,-2.391,-1.009, 0.243,-0.717, PHS=-1.573,-0.247, 0.916, RAW= 242.2,   8.4, CAL= 241.7,   9.5, ROT= 268.3,  -9.5

2025-08-22T17:24:48.689Z,1755883488.689 [DAT](INFO): #Rx 173: Read range and direction messages.
2025-08-22T17:24:48.690Z,1755883488.690 [DAT](INFO): direction in FSK: [-0.029259,-0.985851,0.165048]
2025-08-22T17:24:48.691Z,1755883488.691 [DAT](INFO): publishing direction and range info
2025-08-22T17:24:49.419Z,1755883489.419 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:49.538Z,1755883489.538 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:49.543Z,1755883489.543 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:49.543Z,1755883489.543 [MassServo] No Fault, FailCount= 1
2025-08-22T17:24:58.626Z,1755883498.626 [MassServo](FAULT): Overload Error
2025-08-22T17:24:58.626Z,1755883498.626 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:24:58.626Z,1755883498.626 [MassServo](ERROR): Hardware Fault
2025-08-22T17:24:58.742Z,1755883498.742 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:24:58.926Z,1755883498.926 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.0  +0    +0.00,  20.00,1732.52
2025-08-22T17:24:59.054Z,1755883499.054 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:24:59.054Z,1755883499.054 [MassServo](INFO): Powering down
2025-08-22T17:24:59.836Z,1755883499.836 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:24:59.954Z,1755883499.954 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:24:59.959Z,1755883499.959 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:24:59.959Z,1755883499.959 [MassServo] No Fault, FailCount= 1
2025-08-22T17:25:11.554Z,1755883511.554 [MassServo](FAULT): Overload Error
2025-08-22T17:25:11.554Z,1755883511.554 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T17:25:11.554Z,1755883511.554 [MassServo](ERROR): Hardware Fault
2025-08-22T17:25:11.670Z,1755883511.670 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T17:25:11.994Z,1755883511.994 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T17:25:11.995Z,1755883511.995 [MassServo](INFO): Powering down
2025-08-22T17:25:12.868Z,1755883512.868 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T17:25:12.984Z,1755883512.984 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T17:25:13.001Z,1755883513.001 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T17:25:13.001Z,1755883513.001 [MassServo] No Fault, FailCount= 1
2025-08-22T17:25:18.935Z,1755883518.935 [DAT](INFO): DAT read: user:681>Rx Time:17:25:19.4270

2025-08-22T17:25:18.936Z,1755883518.936 [DAT](INFO): Rx dataTimestamp_ set to:1755883518.935702
2025-08-22T17:25:19.443Z,1755883519.443 [DAT](INFO): DAT read: 17:25:19.4270 LVL= 23024, 15825, 10258, 23139, AGC= 48, IDX=  61,-0.37,-1.847,-0.606, 0.528,-0.513, PHS=-1.232,-0.048, 0.997, RAW= 242.1,   3.0, CAL= 239.2,   3.4, ROT= 270.8,  -3.4

2025-08-22T17:25:19.444Z,1755883519.444 [DAT](INFO): got valid direction response:
 17:25:19.4270 LVL= 23024, 15825, 10258, 23139, AGC= 48, IDX=  61,-0.37,-1.847,-0.606, 0.528,-0.513, PHS=-1.232,-0.048, 0.997, RAW= 242.1,   3.0, CAL= 239.2,   3.4, ROT= 270.8,  -3.4

2025-08-22T17:25:19.444Z,1755883519.444 [DAT](INFO): DAT read: range request

2025-08-22T17:25:19.444Z,1755883519.444 [DAT](INFO): received a range request message
2025-08-22T17:25:19.445Z,1755883519.445 [DAT](INFO): DAT read: Tx time:17:25:21.0298

2025-08-22T17:25:19.445Z,1755883519.445 [DAT](INFO): Ping request sent.
2025-08-22T17:25:19.446Z,1755883519.446 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:25:19.446Z,1755883519.446 [DAT](INFO): #Rx 174: Read direction message, but no range.
2025-08-22T17:25:19.447Z,1755883519.447 [DAT](INFO): direction in FSK: [0.013937,-0.998143,0.059306]
2025-08-22T17:25:19.447Z,1755883519.447 [DAT](INFO): publishing transmit ping time
2025-08-22T17:25:19.447Z,1755883519.447 [DAT](INFO): publishing range request flag
2025-08-22T17:25:19.450Z,1755883519.450 [DAT](INFO): publishing transmit ping time
2025-08-22T17:25:19.451Z,1755883519.451 [DAT](INFO): publishing range request flag
2025-08-22T17:25:36.505Z,1755883536.505 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.810000m. At depth:71.521362m.
2025-08-22T17:25:42.941Z,1755883542.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T17:25:43.130Z,1755883543.130 [DAT](INFO): ****** received valid address query ******
2025-08-22T17:25:43.130Z,1755883543.130 [DAT](INFO): ****** received valid ping request ******
2025-08-22T17:25:43.131Z,1755883543.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T17:25:43.383Z,1755883543.383 [DAT](INFO): DAT read: 

2025-08-22T17:25:43.383Z,1755883543.383 [DAT](INFO): DAT read: Tx time:17:25:44.3835

2025-08-22T17:25:43.384Z,1755883543.384 [DAT](INFO): Ping request sent.
2025-08-22T17:25:43.384Z,1755883543.384 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:25:43.384Z,1755883543.384 [DAT](INFO): publishing transmit ping time
2025-08-22T17:25:43.384Z,1755883543.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-08-22T17:25:43.635Z,1755883543.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752
2025-08-22T17:25:43.887Z,1755883543.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502749
2025-08-22T17:25:44.138Z,1755883544.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754542
2025-08-22T17:25:44.391Z,1755883544.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006841
2025-08-22T17:25:44.648Z,1755883544.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263682
2025-08-22T17:25:44.894Z,1755883544.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510644
2025-08-22T17:25:45.147Z,1755883545.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763615
2025-08-22T17:25:45.399Z,1755883545.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014820
2025-08-22T17:25:45.651Z,1755883545.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267514
2025-08-22T17:25:45.903Z,1755883545.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519428
2025-08-22T17:25:46.155Z,1755883546.155 [DAT](INFO): DAT read: Rx Time:17:25:46.8088

2025-08-22T17:25:46.156Z,1755883546.156 [DAT](INFO): Rx dataTimestamp_ set to:1755883546.155388
2025-08-22T17:25:46.156Z,1755883546.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772724
2025-08-22T17:25:46.407Z,1755883546.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022984
2025-08-22T17:25:46.659Z,1755883546.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275083
2025-08-22T17:25:46.916Z,1755883546.916 [DAT](INFO): DAT read: 17:25:46.8088 LVL= 28240, 22753, 17906, 29235, AGC= 51, IDX= 470,-0.46, 1.785, 2.993,-2.447, 2.926, PHS=-1.039, 0.112, 0.866, RAW= 246.9,   0.7, CAL= 242.6,   0.1, ROT= 267.4,  -0.1

2025-08-22T17:25:46.917Z,1755883546.917 [DAT](INFO): got valid direction response:
 17:25:46.8088 LVL= 28240, 22753, 17906, 29235, AGC= 51, IDX= 470,-0.46, 1.785, 2.993,-2.447, 2.926, PHS=-1.039, 0.112, 0.866, RAW= 246.9,   0.7, CAL= 242.6,   0.1, ROT= 267.4,  -0.1

2025-08-22T17:25:46.918Z,1755883546.918 [DAT](INFO): DAT read: Bearing  93.7, -73.4 (Local)

2025-08-22T17:25:46.918Z,1755883546.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7, -73.4 (Local)

2025-08-22T17:25:46.919Z,1755883546.919 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m  (Round-trip  21.1 ms) speed -0.2 m/s

2025-08-22T17:25:46.920Z,1755883546.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T17:25:46.921Z,1755883546.921 [DAT](INFO): direction in FSK: [-0.045363,-0.998969,0.001745]
2025-08-22T17:25:46.921Z,1755883546.921 [DAT](INFO): publishing direction and range info
2025-08-22T17:25:47.034Z,1755883547.034 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Off dock, range to dock 15.800000 exceeded threshold.
2025-08-22T17:25:47.034Z,1755883547.034 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-22T17:26:12.956Z,1755883572.956 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022721133284,35.0, +10.2,   0.0, 0
2025-08-22T17:26:15.370Z,1755883575.370 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-22T17:26:15.370Z,1755883575.370 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-22T17:26:15.507Z,1755883575.507 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T17:26:15.941Z,1755883575.941 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:26:16.191Z,1755883576.191 [DAT](INFO): DAT read: user:682>

2025-08-22T17:26:16.191Z,1755883576.191 [DAT](INFO): DAT read: Tx time:17:26:17.2324

2025-08-22T17:26:16.192Z,1755883576.192 [DAT](INFO): Ping request sent.
2025-08-22T17:26:16.192Z,1755883576.192 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:16.192Z,1755883576.192 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:16.192Z,1755883576.192 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:26:16.442Z,1755883576.442 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T17:26:17.116Z,1755883577.116 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-22T17:26:17.118Z,1755883577.118 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-22T17:26:17.118Z,1755883577.118 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-22T17:26:17.118Z,1755883577.118 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T17:26:17.118Z,1755883577.118 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-22T17:26:17.168Z,1755883577.168 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T17:26:17.398Z,1755883577.398 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-22T17:26:17.398Z,1755883577.398 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T17:26:17.398Z,1755883577.398 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-22T17:26:17.399Z,1755883577.399 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-22T17:26:17.399Z,1755883577.399 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T17:26:17.399Z,1755883577.399 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-22T17:26:17.805Z,1755883577.805 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-22T17:26:17.806Z,1755883577.806 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-22T17:26:18.270Z,1755883578.270 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-22T17:26:18.271Z,1755883578.271 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-22T17:26:18.272Z,1755883578.272 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-22T17:26:18.272Z,1755883578.272 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-22T17:26:18.272Z,1755883578.272 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-22T17:26:18.608Z,1755883578.608 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-22T17:26:18.609Z,1755883578.609 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-22T17:26:18.609Z,1755883578.609 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-22T17:26:18.609Z,1755883578.609 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-22T17:26:18.609Z,1755883578.609 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-22T17:26:18.609Z,1755883578.609 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-22T17:26:18.610Z,1755883578.610 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-22T17:26:18.610Z,1755883578.610 [lineCaptureHoming:Lap] Stopped
2025-08-22T17:26:18.610Z,1755883578.610 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-22T17:26:18.631Z,1755883578.631 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-22T17:26:18.632Z,1755883578.632 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-22T17:26:18.632Z,1755883578.632 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:B] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:C] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:E] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T17:26:18.632Z,1755883578.632 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T17:26:18.633Z,1755883578.633 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:TrackAC.] Stopped
2025-08-22T17:26:18.638Z,1755883578.638 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T17:26:18.698Z,1755883578.698 [WetLabsBB2FL](INFO): Powering down
2025-08-22T17:26:18.716Z,1755883578.716 [DAT](INFO): DAT read: Rx Time:17:26:19.1325

2025-08-22T17:26:18.717Z,1755883578.717 [DAT](INFO): Rx dataTimestamp_ set to:1755883578.716127
2025-08-22T17:26:18.760Z,1755883578.760 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-22T17:26:18.939Z,1755883578.939 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-22T17:26:18.939Z,1755883578.939 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-22T17:26:18.951Z,1755883578.951 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-22T17:26:19.223Z,1755883579.223 [DAT](INFO): DAT read: 17:26:19.1325 LVL= 29248, 20673, 15474, 24547, AGC= 55, IDX= 169, 0.01, 1.147, 2.164,-3.106, 2.234, PHS=-0.985,-0.025, 0.899, RAW= 240.6,   1.4, CAL= 237.2,   1.7, ROT= 272.8,  -1.7

2025-08-22T17:26:19.224Z,1755883579.224 [DAT](INFO): got valid direction response:
 17:26:19.1325 LVL= 29248, 20673, 15474, 24547, AGC= 55, IDX= 169, 0.01, 1.147, 2.164,-3.106, 2.234, PHS=-0.985,-0.025, 0.899, RAW= 240.6,   1.4, CAL= 237.2,   1.7, ROT= 272.8,  -1.7

2025-08-22T17:26:19.224Z,1755883579.224 [DAT](INFO): DAT read: OK

2025-08-22T17:26:19.225Z,1755883579.225 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T17:26:19.225Z,1755883579.225 [DAT](INFO): DAT read: user:683>

2025-08-22T17:26:19.226Z,1755883579.226 [DAT](INFO): DAT read: Tx time:17:26:20.2324

2025-08-22T17:26:19.226Z,1755883579.226 [DAT](INFO): Ping request sent.
2025-08-22T17:26:19.226Z,1755883579.226 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:19.227Z,1755883579.227 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T17:26:19.228Z,1755883579.228 [DAT](INFO): direction in FSK: [0.048828,-0.998367,0.029666]
2025-08-22T17:26:19.228Z,1755883579.228 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:19.231Z,1755883579.231 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:21.487Z,1755883581.487 [DAT](INFO): DAT read: Rx Time:17:26:22.1329

2025-08-22T17:26:21.487Z,1755883581.487 [DAT](INFO): Rx dataTimestamp_ set to:1755883581.486817
2025-08-22T17:26:22.247Z,1755883582.247 [DAT](INFO): DAT read: 17:26:22.1329 LVL= 23248, 20977, 13410, 28435, AGC= 55, IDX= 429, 0.24,-0.412, 0.922, 1.966, 0.960, PHS=-1.270, 0.007, 0.961, RAW= 244.8,   3.2, CAL= 241.8,   3.3, ROT= 268.2,  -3.3

2025-08-22T17:26:22.248Z,1755883582.248 [DAT](INFO): got valid direction response:
 17:26:22.1329 LVL= 23248, 20977, 13410, 28435, AGC= 55, IDX= 429, 0.24,-0.412, 0.922, 1.966, 0.960, PHS=-1.270, 0.007, 0.961, RAW= 244.8,   3.2, CAL= 241.8,   3.3, ROT= 268.2,  -3.3

2025-08-22T17:26:22.248Z,1755883582.248 [DAT](INFO): DAT read: OK

2025-08-22T17:26:22.248Z,1755883582.248 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T17:26:22.249Z,1755883582.249 [DAT](INFO): DAT read: user:684>

2025-08-22T17:26:22.250Z,1755883582.250 [DAT](INFO): DAT read: Tx time:17:26:23.2324

2025-08-22T17:26:22.250Z,1755883582.250 [DAT](INFO): Ping request sent.
2025-08-22T17:26:22.250Z,1755883582.250 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:22.250Z,1755883582.250 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-22T17:26:22.251Z,1755883582.251 [DAT](INFO): direction in FSK: [-0.031359,-0.997849,0.057564]
2025-08-22T17:26:22.252Z,1755883582.252 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:22.255Z,1755883582.255 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:24.388Z,1755883584.388 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-22T17:26:24.396Z,1755883584.396 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-22T17:26:24.401Z,1755883584.401 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-22T17:26:24.406Z,1755883584.406 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-22T17:26:24.430Z,1755883584.430 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-22T17:26:24.437Z,1755883584.437 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-22T17:26:24.498Z,1755883584.498 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-22T17:26:24.508Z,1755883584.508 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-22T17:26:24.513Z,1755883584.513 [DAT](INFO): DAT read: Rx Time:17:26:25.1331

2025-08-22T17:26:24.513Z,1755883584.513 [DAT](INFO): Rx dataTimestamp_ set to:1755883584.512773
2025-08-22T17:26:24.521Z,1755883584.521 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-22T17:26:24.540Z,1755883584.540 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-22T17:26:24.544Z,1755883584.544 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-22T17:26:24.556Z,1755883584.556 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-22T17:26:24.560Z,1755883584.560 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-22T17:26:24.572Z,1755883584.572 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-22T17:26:24.572Z,1755883584.572 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T17:26:24.572Z,1755883584.572 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T17:26:24.578Z,1755883584.578 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T17:26:24.718Z,1755883584.718 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-22T17:26:24.727Z,1755883584.727 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T17:26:24.732Z,1755883584.732 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T17:26:24.751Z,1755883584.751 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T17:26:24.756Z,1755883584.756 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T17:26:24.774Z,1755883584.774 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T17:26:24.791Z,1755883584.791 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T17:26:24.816Z,1755883584.816 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T17:26:24.894Z,1755883584.894 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-22T17:26:24.894Z,1755883584.894 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-22T17:26:24.896Z,1755883584.896 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-22T17:26:25.018Z,1755883585.018 [DAT](INFO): DAT read: ,   1.4, CAL= 248.4,  -0.5, ROT= 261.6,   0.5

2025-08-22T17:26:25.018Z,1755883585.018 [DAT](INFO): unknown deviceResponse_: ,   1.4, CAL= 248.4,  -0.5, ROT= 261.6,   0.5

2025-08-22T17:26:25.019Z,1755883585.019 [DAT](INFO): DAT read: OK

2025-08-22T17:26:25.019Z,1755883585.019 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T17:26:25.020Z,1755883585.020 [DAT](INFO): DAT read: user:685>

2025-08-22T17:26:25.045Z,1755883585.045 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-22T17:26:25.059Z,1755883585.059 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-22T17:26:25.090Z,1755883585.090 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-22T17:26:25.108Z,1755883585.108 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-22T17:26:25.109Z,1755883585.109 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-22T17:26:25.116Z,1755883585.116 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-22T17:26:25.267Z,1755883585.267 [DAT](INFO): DAT read: Tx time:17:26:26.2323

2025-08-22T17:26:25.267Z,1755883585.267 [DAT](INFO): Ping request sent.
2025-08-22T17:26:25.267Z,1755883585.267 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:25.267Z,1755883585.267 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:25.407Z,1755883585.407 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-22T17:26:25.417Z,1755883585.417 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-22T17:26:25.429Z,1755883585.429 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-22T17:26:25.437Z,1755883585.437 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-22T17:26:25.444Z,1755883585.444 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-22T17:26:25.474Z,1755883585.474 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-22T17:26:25.491Z,1755883585.491 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-22T17:26:25.499Z,1755883585.499 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-22T17:26:25.505Z,1755883585.505 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T17:26:25.506Z,1755883585.506 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T17:26:25.515Z,1755883585.515 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T17:26:27.535Z,1755883587.535 [DAT](INFO): DAT read: Rx Time:17:26:28.1333

2025-08-22T17:26:27.535Z,1755883587.535 [DAT](INFO): Rx dataTimestamp_ set to:1755883587.534830
2025-08-22T17:26:28.043Z,1755883588.043 [DAT](INFO): DAT read: 17:26:28.1333 LVL= 23984, 19473, 18866, 28659, AGC= 54, IDX= 434, 0.18, 2.665,-2.172,-1.408,-2.288, PHS=-1.229, 0.161, 0.836, RAW= 251.3,   2.6, CAL= 247.3,   1.3, ROT= 262.7,  -1.3

2025-08-22T17:26:28.044Z,1755883588.044 [DAT](INFO): got valid direction response:
 17:26:28.1333 LVL= 23984, 19473, 18866, 28659, AGC= 54, IDX= 434, 0.18, 2.665,-2.172,-1.408,-2.288, PHS=-1.229, 0.161, 0.836, RAW= 251.3,   2.6, CAL= 247.3,   1.3, ROT= 262.7,  -1.3

2025-08-22T17:26:28.044Z,1755883588.044 [DAT](INFO): DAT read: OK

2025-08-22T17:26:28.044Z,1755883588.044 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T17:26:28.045Z,1755883588.045 [DAT](INFO): DAT read: user:686>

2025-08-22T17:26:28.046Z,1755883588.046 [DAT](INFO): DAT read: Tx time:17:26:29.2323

2025-08-22T17:26:28.046Z,1755883588.046 [DAT](INFO): Ping request sent.
2025-08-22T17:26:28.046Z,1755883588.046 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:28.046Z,1755883588.046 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-22T17:26:28.047Z,1755883588.047 [DAT](INFO): direction in FSK: [-0.127032,-0.991639,0.022687]
2025-08-22T17:26:28.048Z,1755883588.048 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:28.051Z,1755883588.051 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:29.586Z,1755883589.586 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-22T17:26:29.627Z,1755883589.627 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-22T17:26:29.631Z,1755883589.631 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-22T17:26:29.635Z,1755883589.635 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-22T17:26:29.639Z,1755883589.639 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T17:26:29.642Z,1755883589.642 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T17:26:29.646Z,1755883589.646 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T17:26:29.650Z,1755883589.650 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-22T17:26:29.654Z,1755883589.654 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T17:26:29.658Z,1755883589.658 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T17:26:29.687Z,1755883589.687 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T17:26:29.691Z,1755883589.691 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-22T17:26:29.735Z,1755883589.735 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-22T17:26:29.747Z,1755883589.747 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T17:26:29.759Z,1755883589.759 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T17:26:29.778Z,1755883589.778 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T17:26:29.788Z,1755883589.788 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T17:26:29.809Z,1755883589.809 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T17:26:29.817Z,1755883589.817 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T17:26:29.825Z,1755883589.825 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T17:26:29.846Z,1755883589.846 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T17:26:29.854Z,1755883589.854 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T17:26:29.858Z,1755883589.858 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T17:26:29.866Z,1755883589.866 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T17:26:29.873Z,1755883589.873 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T17:26:29.882Z,1755883589.882 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-22T17:26:29.890Z,1755883589.890 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-22T17:26:29.895Z,1755883589.895 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-22T17:26:29.908Z,1755883589.908 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T17:26:29.916Z,1755883589.916 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T17:26:29.934Z,1755883589.934 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T17:26:29.938Z,1755883589.938 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-22T17:26:29.952Z,1755883589.952 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-22T17:26:29.960Z,1755883589.960 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-22T17:26:29.973Z,1755883589.973 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-22T17:26:29.982Z,1755883589.982 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T17:26:29.990Z,1755883589.990 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T17:26:29.998Z,1755883589.998 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T17:26:30.014Z,1755883590.014 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T17:26:30.022Z,1755883590.022 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-22T17:26:30.030Z,1755883590.030 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T17:26:30.042Z,1755883590.042 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-22T17:26:30.050Z,1755883590.050 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-22T17:26:30.058Z,1755883590.058 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-22T17:26:30.066Z,1755883590.066 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T17:26:30.074Z,1755883590.074 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T17:26:30.082Z,1755883590.082 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T17:26:30.087Z,1755883590.087 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T17:26:30.135Z,1755883590.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-22T17:26:30.144Z,1755883590.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-22T17:26:30.163Z,1755883590.163 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-22T17:26:30.190Z,1755883590.190 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-22T17:26:30.220Z,1755883590.220 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-22T17:26:30.265Z,1755883590.265 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-22T17:26:30.277Z,1755883590.277 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-22T17:26:30.281Z,1755883590.281 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-22T17:26:30.289Z,1755883590.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-22T17:26:30.299Z,1755883590.299 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T17:26:30.311Z,1755883590.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T17:26:30.326Z,1755883590.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-22T17:26:30.334Z,1755883590.334 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-22T17:26:30.340Z,1755883590.340 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T17:26:30.362Z,1755883590.362 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T17:26:30.374Z,1755883590.374 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-22T17:26:30.379Z,1755883590.379 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-22T17:26:30.391Z,1755883590.391 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-22T17:26:30.407Z,1755883590.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-22T17:26:30.422Z,1755883590.422 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-22T17:26:30.430Z,1755883590.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-22T17:26:30.437Z,1755883590.437 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-22T17:26:30.441Z,1755883590.441 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T17:26:30.449Z,1755883590.449 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T17:26:30.462Z,1755883590.462 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-22T17:26:30.471Z,1755883590.471 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-22T17:26:30.480Z,1755883590.480 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-22T17:26:30.485Z,1755883590.485 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T17:26:30.534Z,1755883590.534 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T17:26:30.546Z,1755883590.546 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T17:26:30.559Z,1755883590.559 [DAT](INFO): DAT read: Rx Time:17:26:31.1335

2025-08-22T17:26:30.559Z,1755883590.559 [DAT](INFO): Rx dataTimestamp_ set to:1755883590.558777
2025-08-22T17:26:30.560Z,1755883590.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T17:26:30.568Z,1755883590.568 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T17:26:30.589Z,1755883590.589 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T17:26:30.601Z,1755883590.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T17:26:30.613Z,1755883590.613 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T17:26:30.630Z,1755883590.630 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T17:26:30.642Z,1755883590.642 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T17:26:30.648Z,1755883590.648 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T17:26:30.668Z,1755883590.668 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T17:26:30.673Z,1755883590.673 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T17:26:30.694Z,1755883590.694 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T17:26:30.702Z,1755883590.702 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T17:26:30.710Z,1755883590.710 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T17:26:30.716Z,1755883590.716 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T17:26:30.732Z,1755883590.732 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T17:26:30.737Z,1755883590.737 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T17:26:30.760Z,1755883590.760 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T17:26:30.764Z,1755883590.764 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T17:26:30.776Z,1755883590.776 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T17:26:30.796Z,1755883590.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T17:26:30.800Z,1755883590.800 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T17:26:30.813Z,1755883590.813 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T17:26:30.821Z,1755883590.821 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T17:26:30.838Z,1755883590.838 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T17:26:30.846Z,1755883590.846 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T17:26:30.853Z,1755883590.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T17:26:30.861Z,1755883590.861 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T17:26:30.870Z,1755883590.870 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T17:26:30.878Z,1755883590.878 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T17:26:30.886Z,1755883590.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T17:26:30.893Z,1755883590.893 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T17:26:30.897Z,1755883590.897 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T17:26:30.905Z,1755883590.905 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T17:26:30.954Z,1755883590.954 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T17:26:30.966Z,1755883590.966 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T17:26:30.987Z,1755883590.987 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T17:26:31.024Z,1755883591.024 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T17:26:31.035Z,1755883591.035 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T17:26:31.047Z,1755883591.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T17:26:31.067Z,1755883591.067 [DAT](INFO): DAT read: 17:26:31.1335 LVL= 26656, 19921, 20706, 29283, AGC= 55, IDX= 420, 0.33,-0.600, 0.995, 1.507, 0.616, PHS=-1.114, 0.425, 0.847, RAW= 258.2,  -1.8, CAL= 255.3,  -5.9, ROT= 254.7,   5.9

2025-08-22T17:26:31.068Z,1755883591.068 [DAT](INFO): got valid direction response:
 17:26:31.1335 LVL= 26656, 19921, 20706, 29283, AGC= 55, IDX= 420, 0.33,-0.600, 0.995, 1.507, 0.616, PHS=-1.114, 0.425, 0.847, RAW= 258.2,  -1.8, CAL= 255.3,  -5.9, ROT= 254.7,   5.9

2025-08-22T17:26:31.068Z,1755883591.068 [DAT](INFO): DAT read: OK

2025-08-22T17:26:31.069Z,1755883591.069 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T17:26:31.069Z,1755883591.069 [DAT](INFO): DAT read: user:687>

2025-08-22T17:26:31.070Z,1755883591.070 [DAT](INFO): DAT read: Tx time:17:26:32.2323

2025-08-22T17:26:31.070Z,1755883591.070 [DAT](INFO): Ping request sent.
2025-08-22T17:26:31.070Z,1755883591.070 [DAT](INFO): transmitted an acoustic signal
2025-08-22T17:26:31.071Z,1755883591.071 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-22T17:26:31.072Z,1755883591.072 [DAT](INFO): direction in FSK: [-0.262475,-0.959448,-0.102793]
2025-08-22T17:26:31.072Z,1755883591.072 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:31.075Z,1755883591.075 [DAT](INFO): publishing transmit ping time
2025-08-22T17:26:31.079Z,1755883591.079 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-22T17:26:31.098Z,1755883591.098 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-22T17:26:31.106Z,1755883591.106 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-22T17:26:31.118Z,1755883591.118 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-22T17:26:31.123Z,1755883591.123 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-22T17:26:31.135Z,1755883591.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-22T17:26:31.143Z,1755883591.143 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-22T17:26:31.157Z,1755883591.157 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T17:26:31.174Z,1755883591.174 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T17:26:31.182Z,1755883591.182 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-22T17:26:31.190Z,1755883591.190 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-22T17:26:31.195Z,1755883591.195 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-22T17:26:31.207Z,1755883591.207 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-22T17:26:31.215Z,1755883591.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-22T17:26:31.220Z,1755883591.220 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-22T17:26:31.236Z,1755883591.236 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-22T17:26:31.241Z,1755883591.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-22T17:26:31.351Z,1755883591.351 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.415Z,1755883591.415 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T17:26:31.462Z,1755883591.462 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T17:26:31.492Z,1755883591.492 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.533Z,1755883591.533 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.567Z,1755883591.567 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T17:26:31.618Z,1755883591.618 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.655Z,1755883591.655 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.680Z,1755883591.680 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T17:26:31.711Z,1755883591.711 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.782Z,1755883591.782 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T17:26:31.853Z,1755883591.853 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.884Z,1755883591.884 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T17:26:31.940Z,1755883591.940 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:31.970Z,1755883591.970 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T17:26:32.025Z,1755883592.025 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T17:26:32.056Z,1755883592.056 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T17:26:32.150Z,1755883592.150 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T17:26:32.296Z,1755883592.296 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-22T17:26:32.304Z,1755883592.304 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-22T17:26:32.310Z,1755883592.310 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-22T17:26:32.312Z,1755883592.312 [OnDock:N.Docked](DEBUG): Construct.
2025-08-22T17:26:32.312Z,1755883592.312 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T17:26:32.360Z,1755883592.360 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-22T17:26:32.361Z,1755883592.361 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T17:26:32.497Z,1755883592.497 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-08-22T17:26:32.510Z,1755883592.510 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-22T17:26:32.722Z,1755883592.722 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,768,-32768,-32768,-32768,V
2025-08-22T17:26:32.749Z,1755883592.749 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T17:26:32.758Z,1755883592.758 [DefaultWithUndock] Running Loop=1
2025-08-22T17:26:32.758Z,1755883592.758 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T17:26:32.758Z,1755883592.758 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T17:26:32.758Z,1755883592.758 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T17:26:33.583Z,1755883593.583 [DAT](INFO): DAT read: Rx Time:17:26:34.1337